dignakov / ros2_control_kuka_driver

WIP ros2_control Kuka Driver

Dependencies:

• https://github.com/dignakov/kuka_experimental

Compiling:

Please follow the directions here https://github.com/ros-controls/ros2_control_demos to set up ros2_control, ros2_controllers, and ros2_control_demos.

For now the directory structure should look something like this to have everything compile:

colcon_ws/src
|
├── kuka_experimental (https://github.com/dignakov/kuka_experimental)
└── ros2_control_kuka_driver

Kuka Driver:

The minimal ros2 fork of kuka_experimental has a, somewhat rough, adaptation of the RSI simulator. It can be used to test the driver by callig:

ros2 run kuka_rsi_simulator kuka_rsi_simulator

In combination with launching the robot hardware (see https://github.com/ros-controls/ros2_control_demos for details on starting the driver).

ros2_control_kuka_driver's Issues

Kuka Drivers

Hello,

I can get the robot's position, but I cannot establish the connection.

I have tried ROS1; It is working perfectly for me.

In ROS2, I can get the position of the robot, but the Kuka Patent is not able to establish the connection. It's just given me the robot's position, and then it get exits.

any Idea what can be the problem?

Thanks for your help.

ros2 launch milking_robot_gazebo real_controller.launch.py 
[INFO] [launch]: All log files can be found below /home/airobo/.ros/log/2022-11-28-16-06-55-576748-airobo-125467
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [125469]
[INFO] [robot_state_publisher-2]: process started with pid [125471]
[INFO] [spawner-3]: process started with pid [125473]
[INFO] [spawner-4]: process started with pid [125475]
[ros2_control_node-1] [INFO] [1669651615.823489641] [resource_manager]: Loading hardware 'KukaSystemPositionOnlyHardware' 
[ros2_control_node-1] [INFO] [1669651615.824352747] [resource_manager]: Initialize hardware 'KukaSystemPositionOnlyHardware' 
[ros2_control_node-1] [INFO] [1669651615.824388725] [KukaSystemPositionOnlyHardware]: on_init()
[robot_state_publisher-2] Link roof_base had 1 children
[robot_state_publisher-2] Link base_link had 2 children
[robot_state_publisher-2] Link base had 0 children
[robot_state_publisher-2] Link link_1 had 1 children
[robot_state_publisher-2] Link link_2 had 1 children
[robot_state_publisher-2] Link link_3 had 1 children
[robot_state_publisher-2] Link link_4 had 1 children
[robot_state_publisher-2] Link link_5 had 1 children
[robot_state_publisher-2] Link link_6 had 2 children
[robot_state_publisher-2] Link camera_link had 1 children
[robot_state_publisher-2] Link camera_depth_frame had 4 children
[robot_state_publisher-2] Link camera_color_frame had 1 children
[robot_state_publisher-2] Link camera_color_optical_frame had 0 children
[robot_state_publisher-2] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-2] Link camera_left_ir_frame had 1 children
[robot_state_publisher-2] Link camera_left_ir_optical_frame had 0 children
[robot_state_publisher-2] Link camera_right_ir_frame had 1 children
[robot_state_publisher-2] Link camera_right_ir_optical_frame had 0 children
[robot_state_publisher-2] Link link_7 had 1 children
[robot_state_publisher-2] Link tool0 had 0 children
[robot_state_publisher-2] [INFO] [1669651615.824736296] [robot_state_publisher]: got segment base
[ros2_control_node-1] [INFO] [1669651615.824666545] [KukaSystemPositionOnlyHardware]: robot location: 192.168.2.210:49152
[ros2_control_node-1] [INFO] [1669651615.824679269] [resource_manager]: Successful initialization of hardware 'KukaSystemPositionOnlyHardware'
[ros2_control_node-1] [INFO] [1669651615.824686333] [KukaSystemPositionOnlyHardware]: export_state_interfaces()
[ros2_control_node-1] [INFO] [1669651615.824751930] [KukaSystemPositionOnlyHardware]: export_command_interfaces()
[ros2_control_node-1] [INFO] [1669651615.824849014] [resource_manager]: 'configure' hardware 'KukaSystemPositionOnlyHardware' 
[ros2_control_node-1] [INFO] [1669651615.824857701] [KukaSystemPositionOnlyHardware]: on_configure()
[ros2_control_node-1] [INFO] [1669651615.824863853] [resource_manager]: Successful 'configure' of hardware 'KukaSystemPositionOnlyHardware'
[ros2_control_node-1] [INFO] [1669651615.824871780] [resource_manager]: 'activate' hardware 'KukaSystemPositionOnlyHardware' 
[ros2_control_node-1] [INFO] [1669651615.824877167] [KukaSystemPositionOnlyHardware]: on_activate()
[ros2_control_node-1] [INFO] [1669651615.824911087] [KukaSystemPositionOnlyHardware]: Connecting to robot . . .
[robot_state_publisher-2] [INFO] [1669651615.824877090] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1669651615.824890422] [robot_state_publisher]: got segment camera_color_frame
[robot_state_publisher-2] [INFO] [1669651615.824898309] [robot_state_publisher]: got segment camera_color_optical_frame
[robot_state_publisher-2] [INFO] [1669651615.824905501] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-2] [INFO] [1669651615.824912394] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-2] [INFO] [1669651615.824928886] [robot_state_publisher]: got segment camera_left_ir_frame
[robot_state_publisher-2] [INFO] [1669651615.824934761] [robot_state_publisher]: got segment camera_left_ir_optical_frame
[robot_state_publisher-2] [INFO] [1669651615.824940475] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1669651615.824946033] [robot_state_publisher]: got segment camera_right_ir_frame
[robot_state_publisher-2] [INFO] [1669651615.824951604] [robot_state_publisher]: got segment camera_right_ir_optical_frame
[robot_state_publisher-2] [INFO] [1669651615.824957627] [robot_state_publisher]: got segment link_1
[robot_state_publisher-2] [INFO] [1669651615.824963472] [robot_state_publisher]: got segment link_2
[robot_state_publisher-2] [INFO] [1669651615.824970169] [robot_state_publisher]: got segment link_3
[robot_state_publisher-2] [INFO] [1669651615.824985349] [robot_state_publisher]: got segment link_4
[robot_state_publisher-2] [INFO] [1669651615.824990984] [robot_state_publisher]: got segment link_5
[robot_state_publisher-2] [INFO] [1669651615.824996732] [robot_state_publisher]: got segment link_6
[robot_state_publisher-2] [INFO] [1669651615.825003482] [robot_state_publisher]: got segment link_7
[robot_state_publisher-2] [INFO] [1669651615.825009712] [robot_state_publisher]: got segment roof_base
[robot_state_publisher-2] [INFO] [1669651615.825016348] [robot_state_publisher]: got segment tool0
[robot_state_publisher-2] [INFO] [1669651615.825022631] [robot_state_publisher]: got segment world
[spawner-3] [INFO] [1669651615.998111680] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-4] [INFO] [1669651615.999089191] [spawner_forward_command_controller_position]: Waiting for '/controller_manager' services to be available
[ros2_control_node-1] [INFO] [1669651617.146603014] [KukaSystemPositionOnlyHardware]: got some bytes
[ros2_control_node-1] [INFO] [1669651617.146767203] [KukaSystemPositionOnlyHardware]: System Sucessfully started!
[ros2_control_node-1] [INFO] [1669651617.146780458] [resource_manager]: Successful 'activate' of hardware 'KukaSystemPositionOnlyHardware'
[ros2_control_node-1] [INFO] [1669651617.149497250] [controller_manager]: update rate is 2 Hz
[ros2_control_node-1] [INFO] [1669651617.149653042] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-1] [INFO] [1669651617.149683861] [KukaSystemPositionOnlyHardware]: read()
[ros2_control_node-1] [INFO] [1669651617.150691265] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651617.150702403] [KukaSystemPositionOnlyHardware]: Got state -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651617.150705724] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651617.150708432] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651617.150712079] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651617.150714826] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651617.150721842] [KukaSystemPositionOnlyHardware]: write()
[ros2_control_node-1] [INFO] [1669651617.150725599] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651617.150728987] [KukaSystemPositionOnlyHardware]: Got command -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651617.150731810] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651617.150734483] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651617.150737301] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651617.150740217] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651617.209703927] [controller_manager]: Loading controller 'forward_command_controller_position'
[ros2_control_node-1] [INFO] [1669651617.649740684] [KukaSystemPositionOnlyHardware]: read()
[ros2_control_node-1] [INFO] [1669651617.649795887] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651617.649802714] [KukaSystemPositionOnlyHardware]: Got state -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651617.649805800] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651617.649808488] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651617.649811133] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651617.649813866] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651617.649831439] [KukaSystemPositionOnlyHardware]: write()
[ros2_control_node-1] [INFO] [1669651617.649835624] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651617.649838934] [KukaSystemPositionOnlyHardware]: Got command -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651617.649841842] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651617.649865599] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651617.649870130] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651617.649873078] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 5!
[spawner-4] [INFO] [1669651617.650641350] [spawner_forward_command_controller_position]: Loaded forward_command_controller_position
[ros2_control_node-1] [INFO] [1669651617.651239829] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1669651618.149773601] [KukaSystemPositionOnlyHardware]: read()
[ros2_control_node-1] [INFO] [1669651618.149842087] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651618.149849124] [KukaSystemPositionOnlyHardware]: Got state -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651618.149852365] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651618.149855184] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651618.149857908] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651618.149860567] [KukaSystemPositionOnlyHardware]: Got state -0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651618.149869022] [KukaSystemPositionOnlyHardware]: write()
[ros2_control_node-1] [INFO] [1669651618.149872724] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651618.149876148] [KukaSystemPositionOnlyHardware]: Got command -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651618.149878909] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651618.149881680] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651618.149884646] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651618.149887360] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651618.150033541] [controller_manager]: Configuring controller 'forward_command_controller_position'
[ros2_control_node-1] [INFO] [1669651618.150752902] [forward_command_controller_position]: configure successful
[spawner-3] [INFO] [1669651618.150779432] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1669651618.151538080] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1669651618.151594499] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [INFO] [1669651618.649744539] [KukaSystemPositionOnlyHardware]: read()
[ros2_control_node-1] [INFO] [1669651618.649823167] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651618.649832678] [KukaSystemPositionOnlyHardware]: Got state -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651618.649837894] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651618.649842878] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651618.649847679] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651618.649852469] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651618.649931065] [forward_command_controller_position]: activate successful
[ros2_control_node-1] [INFO] [1669651618.649958898] [KukaSystemPositionOnlyHardware]: write()
[ros2_control_node-1] [INFO] [1669651618.649964746] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651618.649970249] [KukaSystemPositionOnlyHardware]: Got command -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651618.649975289] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651618.649979972] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651618.649985791] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651618.649990725] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651619.149746133] [KukaSystemPositionOnlyHardware]: read()
[ros2_control_node-1] [INFO] [1669651619.149824716] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651619.149833343] [KukaSystemPositionOnlyHardware]: Got state -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651619.149838460] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651619.149843198] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651619.149848612] [KukaSystemPositionOnlyHardware]: Got state 1.57080 for joint 4!
[ros2_control_node-1] [INFO] [1669651619.149884016] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651619.149902422] [KukaSystemPositionOnlyHardware]: write()
[ros2_control_node-1] [INFO] [1669651619.149907960] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651619.149913128] [KukaSystemPositionOnlyHardware]: Got command -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651619.149917907] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651619.149922468] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651619.149927532] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651619.149932125] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 5!
[spawner-4] [INFO] [1669651619.150580022] [spawner_forward_command_controller_position]: Configured and activated forward_command_controller_position
[INFO] [spawner-4]: process has finished cleanly [pid 125475]
[ros2_control_node-1] [INFO] [1669651619.649741682] [KukaSystemPositionOnlyHardware]: read()
[ros2_control_node-1] [INFO] [1669651619.649799874] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651619.649806591] [KukaSystemPositionOnlyHardware]: Got state -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651619.649809765] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651619.649812540] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651619.649815735] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651619.649818469] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651619.649899252] [KukaSystemPositionOnlyHardware]: write()
[ros2_control_node-1] [INFO] [1669651619.649906552] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651619.649910268] [KukaSystemPositionOnlyHardware]: Got command -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651619.649913028] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651619.649915667] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651619.649918731] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651619.649921434] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651620.149744313] [KukaSystemPositionOnlyHardware]: read()
[ros2_control_node-1] [INFO] [1669651620.149828700] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651620.149838437] [KukaSystemPositionOnlyHardware]: Got state -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651620.149843701] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651620.149848508] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651620.149853774] [KukaSystemPositionOnlyHardware]: Got state 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651620.149858507] [KukaSystemPositionOnlyHardware]: Got state 0.00000 for joint 5!
[ros2_control_node-1] [INFO] [1669651620.149888830] [KukaSystemPositionOnlyHardware]: write()
[ros2_control_node-1] [INFO] [1669651620.149894760] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 0!
[ros2_control_node-1] [INFO] [1669651620.149900017] [KukaSystemPositionOnlyHardware]: Got command -1.57079 for joint 1!
[ros2_control_node-1] [INFO] [1669651620.149904953] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 2!
[ros2_control_node-1] [INFO] [1669651620.149909706] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 3!
[ros2_control_node-1] [INFO] [1669651620.149914808] [KukaSystemPositionOnlyHardware]: Got command 1.57079 for joint 4!
[ros2_control_node-1] [INFO] [1669651620.149919548] [KukaSystemPositionOnlyHardware]: Got command 0.00000 for joint 5!
[spawner-3] [INFO] [1669651620.150589627] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 125473]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2_control_node-1] [INFO] [1669651620.463779143] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1669651620.463789611] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 125471]