{"action":"created","issue":{"url":"https://api.github.com/repos/ahundt/grl/issues/98","repository_url":"https://api.github.com/repos/ahundt/grl","labels_url":"https://api.github.com/repos/ahundt/grl/issues/98/labels{/name}","comments_url":"https://api.github.com/repos/ahundt/grl/issues/98/comments","events_url":"https://api.github.com/repos/ahundt/grl/issues/98/events","html_url":"https://github.com/ahundt/grl/issues/98","id":159267945,"number":98,"title":"FRI not running on the Arm","user":{"login":"rkojcev","id":989083,"avatar_url":"https://avatars.githubusercontent.com/u/989083?v=3","gravatar_id":"","url":"https://api.github.com/users/rkojcev","html_url":"https://github.com/rkojcev","followers_url":"https://api.github.com/users/rkojcev/followers","following_url":"https://api.github.com/users/rkojcev/following{/other_user}","gists_url":"https://api.github.com/users/rkojcev/gists{/gist_id}","starred_url":"https://api.github.com/users/rkojcev/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rkojcev/subscriptions","organizations_url":"https://api.github.com/users/rkojcev/orgs","repos_url":"https://api.github.com/users/rkojcev/repos","events_url":"https://api.github.com/users/rkojcev/events{/privacy}","received_events_url":"https://api.github.com/users/rkojcev/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-06-08T20:50:39Z","updated_at":"2016-06-08T22:50:40Z","closed_at":null,"body":"Hi Andrew,\r\n\r\n1. When I run the grl_driver I get the following error at the beginning:\r\n\r\n[ INFO] [1465417757.473397698]: done creating subscribers\r\nusing:  192.170.10.100 30200 192.170.10.2 30200\r\n[2016-06-08 16:29:17.474941] [0x3993c7c0] [trace]   KukaLBRiiwaRosPlugin: Connecting ZeroMQ Socket from tcp://0.0.0.0:30010 to tcp://172.31.1.147:30010\r\nNo new FRI data available, is an FRI application running on the Kuka arm? \r\n Total sucessful transfers: 0\r\n Total attempts: 1\r\n Consecutive Failures: 1\r\n Consecutive Successes: 0\r\n\r\nEverything seems to be fine on the FRI side, right ports, ip, everything. I have confirmed this with pinging the ip of the FRI on the controller as well as running the KUKA FRI demo apps.\r\n\r\n2. Second interesting thing is that when you start the grl driver without issuing any  position commands, the arm locks itself and becomes stiff. If in Cartesian Impedance Mode this is bad because the arm suddenly becomes stiff. \r\n\r\nAfter issuing joint pose commands via ROS, the arm moves in the right position and then the Cartesian Impedance is always on. And it stays like this without self locking.\r\n\r\nIs this behavior how it should be in your code or is something we can have a look to improve?"},"comment":{"url":"https://api.github.com/repos/ahundt/grl/issues/comments/224754892","html_url":"https://github.com/ahundt/grl/issues/98#issuecomment-224754892","issue_url":"https://api.github.com/repos/ahundt/grl/issues/98","id":224754892,"user":{"login":"ahundt","id":55744,"avatar_url":"https://avatars.githubusercontent.com/u/55744?v=3","gravatar_id":"","url":"https://api.github.com/users/ahundt","html_url":"https://github.com/ahundt","followers_url":"https://api.github.com/users/ahundt/followers","following_url":"https://api.github.com/users/ahundt/following{/other_user}","gists_url":"https://api.github.com/users/ahundt/gists{/gist_id}","starred_url":"https://api.github.com/users/ahundt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ahundt/subscriptions","organizations_url":"https://api.github.com/users/ahundt/orgs","repos_url":"https://api.github.com/users/ahundt/repos","events_url":"https://api.github.com/users/ahundt/events{/privacy}","received_events_url":"https://api.github.com/users/ahundt/received_events","type":"User","site_admin":false},"created_at":"2016-06-08T22:50:40Z","updated_at":"2016-06-08T22:50:40Z","body":"Are you trying to send FRI commands? That's very close to working but not\nquite there yet. If FRI commands are not enabled that may be a bug in\nrecent patches I added to work towards getting FRI working properly but\ndidn't get 100% there\n\nOn Wednesday, June 8, 2016, Risto Kojcev <notifications@github.com> wrote:\n\n> Hi Andrew,\n>\n>    1. When I run the grl_driver I get the following error at the\n>    beginning:\n>\n> [ INFO] [1465417757.473397698]: done creating subscribers\n> using: 192.170.10.100 30200 192.170.10.2 30200\n> [2016-06-08 16:29:17.474941] [0x3993c7c0] [trace] KukaLBRiiwaRosPlugin:\n> Connecting ZeroMQ Socket from tcp://0.0.0.0:30010 to tcp://\n> 172.31.1.147:30010\n> No new FRI data available, is an FRI application running on the Kuka arm?\n> Total sucessful transfers: 0\n> Total attempts: 1\n> Consecutive Failures: 1\n> Consecutive Successes: 0\n>\n> Everything seems to be fine on the FRI side, right ports, ip, everything.\n> I have confirmed this with pinging the ip of the FRI on the controller as\n> well as running the KUKA FRI demo apps.\n>\n>    1. Second interesting thing is that when you start the grl driver\n>    without issuing any position commands, the arm locks itself and becomes\n>    stiff. If in Cartesian Impedance Mode this is bad because the arm suddenly\n>    becomes stiff.\n>\n> After issuing joint pose commands via ROS, the arm moves in the right\n> position and then the Cartesian Impedance is always on. And it stays like\n> this without self locking.\n>\n> Is this behavior how it should be in your code or is something we can have\n> a look to improve?\n>\n> —\n> You are receiving this because you are subscribed to this thread.\n> Reply to this email directly, view it on GitHub\n> <https://github.com/ahundt/grl/issues/98>, or mute the thread\n> <https://github.com/notifications/unsubscribe/AADZwK7eUh4_Yoqje7v2qukW1HNMheoPks5qJysfgaJpZM4IxYsF>\n> .\n>\n\n\n-- \nCheers!\nAndrew Hundt\n\nPh.D. Student\nJohns Hopkins University\n"}}
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