ROS Driver on Fanuc R-J3iB?

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A similar question from (quite) a few years ago would be #q173769. The OP there had a V5.20 system, which turned out to be difficult to simulate, but could have worked after I made some changes. Unfortunately the OP never responded, so it didn't get tested.

I should still have that version somewhere, you could see whether it'll work.

If you could open an issue on ros-industrial/fanuc we can discuss this over there, that'd be easier to track and relate to software changes.

I'll update this answer if/when we get things to work (and also in case we don't).

Socket Messaging (SKMG)

Note: the requirement is actually for User Socket Messaging. There is a similar option (which may be called SKMG on older controllers), but that's not usable for Karel programs. Seeing as you mention MSG_CONNECT(..) et al., you probably have the required option installed, but I wanted to mention it.

Edit: post on the issue tracker: ros-industrial/fanuc#325.