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Controlling KUKA digital output using kuka_experimental Hi, I am using KUKA eki-interface from kuka_experimental package

Kinect calibration a setting pose in Rviz Hi, I am trying to make pick&place application using KUKA robot and Kinect

Hello, I am trying to connect ROS melodic with KUKA robot KR6 r900 sixx using kuka-experimental. However, after having done all things in README.md about configuring EKI on the controller, I am getting the error:

Failed to read from robot EKI server within alloted time of 5 seconds. Make sure eki_hw_interface is running on the robot controller and all configurations are correct.

At the side of KUKA controller I have done these things:

1. setting IP, creating new port 54600 (for udp)
2. copy EkiHwInterface into C:\KRC\ROBOTER\Config\User\Common\EthernetKRL\ (with same IP as in the previous step)
3. copy kuka_eki_hw_interface.dat and kuka_eki_hw_interface.src to KRC:\R1\Program

At the side of ROS I have done:

1. The hardware_controllers.yaml and controller_joint_names.yaml I have not changed so the names of joints are as follows:

   #Publish all joint states
   joint_state_controller:
     type: joint_state_controller/JointStateController
     publish_rate: 50
   
   # Joint trajectory controller
   position_trajectory_controller:
     type: "position_controllers/JointTrajectoryController"
     joints:
       - joint_a1
       - joint_a2
       - joint_a3
       - joint_a4
       - joint_a5
       - joint_a6
   
     state_publish_rate: 50 # Defaults to 50
     action_monitor_rate: 20 # Defaults to 20
   

   Is the fact that I have written here the wrong names of the joints why I cant read from EKI server?

2. The test_params.yaml file is as follows:

eki:
  robot_address: "192.168.100.2"
  robot_port: "54600"
  socket_timeout: 5

My launch file is as follows:

<?xml version="1.0" encoding="utf-8"?>
<launch>
    <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>

   <rosparam file="$(find kuka_eki_hw_interface)/test/test_params.yaml" command="load" />

   <!-- Start EKI interface -->
   <node name="kuka_eki_hardware_interface" pkg="kuka_eki_hw_interface"
     type="kuka_eki_hw_interface_node"
     respawn="false"
     output="screen"
     required="true"/>

   <!-- Load joint controller configurations from YAML file to parameter server -->
   <rosparam file="$(find kuka_eki_hw_interface)/config/hardware_controllers.yaml"
     command="load"/>

   <!-- Load standard kuka controller joint names from YAML file to parameter server -->
   <rosparam file="$(find kuka_eki_hw_interface)/config/controller_joint_names.yaml"
     command="load"/>

   <!-- Load controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" args="position_trajectory_controller joint_state_controller --shutdown-timeout 1"/>
   <!-- Load robot state publisher -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch>

Does anyone see where the mistake might be?

Thank you all in advance

@gvdhoorn @BrettHemes I have found a solution. The problem was that I added new port within KUKA controller with value 5

@gvdhoorn @BrettHemes I have found a solution. The problem was that I added new port within KUKA controller with value 5

I can be surely wrong but doesnt it mean that something is wrong on the way where KUKA is responding to ROS? I think it

I can be surely wrong but doesnt it mean that something is wrong on the way where KUKA is responding to ROS? Because of

@gvdhoorn Yes I meant the file in the krl sub directory So I have made the capture using Wireshark. ( IP.2 is the addre

@gvdhoorn Yes I meant the file in the krl sub directory So I have made the capture using Wireshark. ( IP.2 is the addre

@gvdhoorn Yes I meant the file in the krl sub directory So I have made the capture using Wireshark. ( IP.2 is the addres

I think that I tested it utterly wrong (if yes I am sorry). I executed at one PC(Windows) Wireshark scan and also execut

https://github.com/ros-industrial/kuka_experimental/issues/160

Should I post it at kuka_experimental github?

I can ping from PC to KUKA and also the other way Yes I have done it, in the EkiHwInterface.xml is address of KUKA cont

I can ping from PC to KUKA and also the other way Yes I have done it, in the EkiHwInterface.xml is address of KUKA cont

I can ping from PC to KUKA and also the other way Yes I have done it, in the EkiHwInterface.xml is address of KUKA cont

I can ping from PC to KUKA and also the other way Yes I have done it, in the EkiHwInterface.xml is address of KUKA cont

I can ping from PC to KUKA and also the other way Yes I have done it, in the EkiHwInterface.xml is address of KUKA cont

Failed to read from robot EKI server Hello, I am trying to connect ROS melodic with KUKA robot KR6 r900 sixx using kuka-