Даниил Грабарь
79d88db930
- 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.
181 lines
9.6 KiB
Markdown
181 lines
9.6 KiB
Markdown
# ServerFriRos2
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**ServerFriRos2** is a KUKA Sunrise Cabinet controller program that creates an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. Through this connection, `ros2_control` receives the current robot state and, depending on the selected mode, sends motion commands to the controller.
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The program connects the two parts of the system: the KUKA controller application and the ROS 2 control node on the external computer. A physical robot cannot be controlled through ROS 2 unless `ServerFriRos2` is running.
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The program has been tested on a KUKA LBR iiwa 7 R800 with Sunrise OS 1.16 and FRI 1.16. The source code is located at [`src/iiwa_sunrise/src/ServerFriRos2.java`](https://github.com/Daniel-Robotic/lightweight-cobot/blob/dev/src/iiwa_sunrise/src/ServerFriRos2.java).
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See [FRI protocol](../../../getting-started/concepts/fri-protocol.md) for an overview of the communication channel and [SunriseWorkbench setup](../../../getting-started/sunrise-setup.md) for cabling and Sunrise project preparation.
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!!! warning "Before starting"
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Verify that the configured initial positions are safe for the installed tool and robot cell. Keep the workspace clear during automatic motion. Impedance and manual-guidance modes do not replace standard KUKA safety functions.
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## Required configuration
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Before synchronizing the project with the controller, open `ServerFriRos2.java` in Sunrise Workbench and check the parameters for your setup.
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### Network addresses
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The Java class contains addresses of the **ROS 2 computer** as seen through each controller interface:
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```java
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private static final String KONI_IP = "192.170.10.10";
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private static final String KLI_IP = "192.168.21.31";
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```
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Do not confuse these with `robot.ip` in `cobot-setting.yaml`. That parameter is the address of the **KUKA controller** accessed by the ROS 2 computer. See [System configuration](../../../getting-started/configuration.md) for details.
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### Tool and load data
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The program attaches the tool named in the `@Named` annotation to the flange:
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```java
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@Named("tool1")
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private Tool _tool;
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```
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Replace `tool1` with the tool name from **Sunrise Workbench → Object Templates**. In Monitor mode, **Load Data** must contain the mass, center of mass, and inertia tensor. Before enabling gravity compensation, the program checks these parameters and warns the operator if the load model is invalid.
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See [Load data](../features/robot-menu.md#load-data) for calibration and verification instructions.
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### Initial positions
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Before FRI starts, the robot automatically moves to one of the configured joint positions:
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```java
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private static final double[] ZERO_POSITION =
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{0, 0, 0, 0, 0, 0, 0};
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private static final double[] MONITOR_WORKING_POSITION =
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{0, 0, 0, -1.57, 0, 1.57, 0};
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```
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`ZERO_POSITION` is used in Position and JointImpedance modes. In Monitor mode, the robot first passes through the zero position and then moves to `MONITOR_WORKING_POSITION`. If necessary, change these arrays to prevent collisions with fixtures, the table, or the installed tool.
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### FRI period
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For Position and JointImpedance, the value selected on the smartPAD must match `robot.fri_cycle_ms` in `cobot-setting.yaml`:
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| Selected period | Update rate | When to use it |
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|---|---:|---|
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| 10 ms | 100 Hz | Standard and most stable option; required for KLI |
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| 5 ms | 200 Hz | Higher-rate control through the dedicated KONI interface |
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Monitor uses a fixed 2 ms period and does not display a separate period-selection dialog.
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## Starting the application
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Open [Applications](../features/applications.md) on the smartPAD, find `ServerFriRos2` in the robot application list, and activate it. The program then appears in the top smartHMI bar.
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Press the green **Start** button on the smartPAD. The program prompts you to select a network interface, control mode, and any additional FRI parameters required by that mode.
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## Step 1: selecting the network interface
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The first dialog displays the configured ROS 2 computer addresses. Select the interface to which the control computer is physically connected.
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| Interface | Characteristics | Available modes | Period |
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|---|---|---|---|
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| **KONI (X66)** | Dedicated FRI network; recommended | Position, JointImpedance, Monitor | 5 or 10 ms; Monitor: 2 ms |
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| **KLI (X6)** | Shared control network; fallback option | Position, JointImpedance | 10 ms only |
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KONI is better suited to real-time control because its dedicated channel provides lower latency and a more stable cycle. Use KLI when KONI is unavailable. Monitor mode is disabled over KLI because of shared-network latency.
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## Step 2: selecting the control mode
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Available buttons depend on the selected network interface.
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Over KLI, only Position and JointImpedance are available:
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Over KONI, Monitor is also available:
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### Position
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Position is the primary mode for ordinary ROS 2 control, including MoveIt trajectory execution. The controller follows position commands precisely; joint stiffness cannot be adjusted in this mode.
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After the parameters are selected, the robot moves to `ZERO_POSITION`, creates an FRI session in `POSITION` command mode, and waits for the ROS 2 client.
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### JointImpedance
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JointImpedance also receives position commands from ROS 2, but executes them with configured joint stiffness. Use this mode to control mechanical impedance while following a target trajectory.
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After selecting the mode, the program asks for one stiffness value for all seven joints:
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| Stiffness | Robot behavior |
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|---:|---|
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| 1500 Nm/rad | Stiffest command tracking among the available options |
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| 1000 Nm/rad | High joint stiffness |
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| 800 Nm/rad | Medium joint stiffness |
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| 500 Nm/rad | Softest behavior among the available options |
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The program sets damping to 0.7 for every joint. After configuration, the robot moves to `ZERO_POSITION` and waits for an FRI client as in Position mode.
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### Monitor
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Monitor is intended for manual guidance while transmitting the current robot state to ROS 2. The computer sends no motion commands: the FRI session uses `NO_COMMAND_MODE`, and the controller transmits joint positions and torques every 2 ms.
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Before connecting, the robot moves through `ZERO_POSITION` to `MONITOR_WORKING_POSITION`. The program then checks the tool Load Data and enables joint impedance with zero stiffness and damping of 0.7. Gravity compensation allows the robot to be guided carefully by hand.
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Start the ROS 2 node on the computer before confirming the dialog. Press **OK — ROS2 ready** only after `ros2_control_node` is active.
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!!! danger "Monitor and the load model"
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Do not enable manual guidance with invalid tool parameters. Incorrect mass, center of mass, or inertia makes gravity compensation inaccurate: the robot may resist the operator or drift unexpectedly.
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## Step 3: selecting the send period
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For Position or JointImpedance over KONI, the program offers a 10 or 5 ms period. Over KLI, this step is skipped because the period is fixed at 10 ms.
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Start with 10 ms unless the task requires a higher control rate. Use 5 ms over KONI only for tasks that need a 200 Hz cycle.
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## Connecting ROS 2
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Start the physical-robot stack on the ROS 2 computer:
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```bash
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cobot run
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```
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Select the physical robot when prompted. The command starts `ros2_control_node`, the FRI hardware interface, controllers, MoveIt, and configured additional services. See [cobot CLI commands](../../../getting-started/cli-reference.md) and [Control via ROS 2](../../../getting-started/control/ros2-control.md).
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For the most reliable startup, run `cobot run` on the computer first and then start `ServerFriRos2` on the smartPAD. If the KUKA application is already waiting for a client, ROS 2 must start within 30 seconds. After the timeout, the program closes the FRI session and reports an error in the log.
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After connection, the smartHMI log displays:
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- FRI session state;
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- connection quality;
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- `latency`;
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- packet delivery time variation (`jitter`).
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When the FRI client stops, the session closes, the active mode ends, and connection resources are released. Start the smartPAD application again for a new connection.
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## If the connection cannot be established
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Check the following first:
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1. The selected interface is the one connected to the ROS 2 computer.
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2. `KONI_IP` or `KLI_IP` matches the computer address on the selected network.
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3. `cobot-setting.yaml` contains the KUKA controller address, not the computer address.
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4. The 5/10 ms period in the Java program matches `robot.fri_cycle_ms`.
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5. `ros2_control_node` starts before the 30-second timeout expires.
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6. FRI UDP port `30200` is configured and not blocked by a firewall.
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If the application cannot start because the tool or frame configuration was lost, see [Configuration error](../../../troubleshooting/config-error.md).
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