Add documentation for KUKA Sunrise features and programs
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons. - Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller. - Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. - Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording. - Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux. - Created a section on installing a Windows compatibility tool (PortProton) on Linux. - Documented the installation process for SunriseWorkbench on Linux using PortProton. - Added installation instructions for SunriseWorkbench on Windows. - Created troubleshooting documentation for configuration errors and SSL errors during installation. - Implemented a hook to generate the shared PDF only during the default-language build.
This commit is contained in:
Даниил Грабарь
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# SSL error during installation
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## Problem description
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When running `cobot setup` or `rosdep update`, an SSL handshake error may occur while downloading ROS dependency indexes from GitHub.
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**Possible causes:**
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- network restrictions such as a corporate firewall or ISP filtering;
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- GitHub being blocked by the router or ISP;
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- DNS resolution problems for `raw.githubusercontent.com`;
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- restricted TLS connections caused by Deep Packet Inspection.
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## Symptoms
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=== "cobot setup"
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```
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[rosdep] Initializing rosdep...
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ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
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<urlopen error _ssl.c:983: The handshake operation timed out>
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ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
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<urlopen error _ssl.c:983: The handshake operation timed out>
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ERROR: Not all sources were able to be updated.
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```
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=== "rosdep update"
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```
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/usr/bin/rosdep:6: DeprecationWarning: pkg_resources is deprecated as an API.
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from pkg_resources import load_entry_point
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ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
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<urlopen error _ssl.c:983: The handshake operation timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
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ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
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<urlopen error _ssl.c:983: The handshake operation timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
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ERROR: Not all sources were able to be updated.
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[[[
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ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
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<urlopen error _ssl.c:983: The handshake operation timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
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ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
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<urlopen error _ssl.c:983: The handshake operation timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
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```
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---
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## Solution: WireGuard VPN
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The recommended way to bypass network restrictions is to establish a WireGuard VPN tunnel. For **WireGuard server** setup, see the [official WireGuard documentation](https://www.wireguard.com/quickstart/) or your cloud provider's documentation.
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The following steps configure the **client** on the workstation.
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---
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### 1. Install WireGuard
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```bash
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sudo apt update && sudo apt install -y wireguard-tools
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```
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---
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### 2. Configure the client
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Create the configuration file:
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```bash
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sudo nano /etc/wireguard/wg0.conf
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```
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Add the following content and substitute your server details:
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```ini
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[Interface]
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# Client private key (generate with: wg genkey)
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PrivateKey = <YOUR_PRIVATE_KEY>
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# Client address on the VPN network
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Address = 10.0.0.2/24
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# DNS servers (optional)
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DNS = 8.8.8.8, 1.1.1.1
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[Peer]
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# WireGuard server public key
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PublicKey = <SERVER_PUBLIC_KEY>
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# Server address and UDP port
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Endpoint = <SERVER_IP>:51820
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# Route all traffic through the VPN
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AllowedIPs = 0.0.0.0/0
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# Keepalive for clients behind NAT
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PersistentKeepalive = 25
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```
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!!! tip "Generating keys"
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If you do not have a key pair, generate one:
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```bash
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# Private key
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wg genkey | tee privatekey
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# Public key (send it to the server administrator)
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cat privatekey | wg pubkey
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```
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!!! note "Split routing"
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To route only GitHub traffic through the VPN, replace `AllowedIPs` with:
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```ini
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AllowedIPs = 140.82.112.0/20, 185.199.108.0/22
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```
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!!! warning "MTU problems"
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If the connection is established but packets are lost, reduce the MTU in `[Interface]`:
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```ini
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MTU = 1420
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```
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---
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### 3. Manage the tunnel
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```bash
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# Start the tunnel
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sudo wg-quick up wg0
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# Check connection status and statistics
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sudo wg show
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# Stop the tunnel
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sudo wg-quick down wg0
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```
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---
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### 4. Start automatically at boot
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```bash
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sudo systemctl enable wg-quick@wg0
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sudo systemctl start wg-quick@wg0
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```
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---
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### 5. Verify the connection
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```bash
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# Verify that the interface is up
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ip addr show wg0
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# Check routes
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ip route show
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# Ping the VPN server
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ping 10.0.0.1
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# Check the external IP (it should match the VPN server IP)
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curl -s ifconfig.me
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```
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After the connection succeeds, run installation again:
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```bash
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cobot setup
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```
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or update only rosdep:
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```bash
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rosdep update
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```
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---
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### 6. Diagnostics
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If the tunnel does not start, inspect the system log:
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```bash
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sudo journalctl -u wg-quick@wg0 -f
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```
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Make sure that UDP port `51820` is open on the **server**:
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```bash
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# Check on the server
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sudo ufw status
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# or
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sudo iptables -L -n | grep 51820
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```
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