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Kassow Robot Setup

To controller Kassow robot with b»controlled box, you will need install KORD CBun v3.0.1. You can download it from the KORD CBun release page here, copy it on an USB stick and plug it in the robot controller. For details on installing CBun refer to the Kassow official documenation - nevertheless the process is also self explainatory - so you might just try by yourself 😃

The rest of the manual assumes that you have setup your ctrlX CORE to the standard setup for running b»controlled box App explained here.

Connect the Kassow Controller to the ctrlX CORE on the the X12 (CORE X7) or X51 (CORE X3) interface directly via ethernet cable.

Kassow Controller Setup

Setup the IP address of the robot controller to be visible from the ctrlX CORE on the X12 (CORE X7) or X51 (CORE X3) interface. Recommended IP address is 10.23.23.238. To change it do the following:

  1. Choose Workcell in the left or right sidebar menu.
  2. Choose ethnet under INTERFACES section and then Options in the sidebar menu.
  3. Select Static IP and set parameters: IP ADDRESS: 10.23.23.238 NETMASK: 255.255.255.0
  4. And confirm by pressing Re- Activate button.

Now you have to be able to ping the robot from the ctrlX CORE. (see Troubleshooting section for details)

Activating CBun

  1. Press the 3 dot icon in the upper right corner and then CBuns

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  1. When in CBuns tab choose the right + symbol to add CBun to the Workcell.

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  1. Now select the CBun with the name KORD in the Workcell and press options in the left or right sidebar menu to see the settings and activation display of KORD CBun. Make sure to set the port of the CBun to the correct value as defined by the URDF. Default value is 28283.

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  1. Activate the KORD.

Next Steps

The KUKA robot is now configured. Proceed to the Commissioning PC Setup to launch the ROS 2 environment and start controlling the robot.

I changed the IP address of the CtrlX device, now I don't see ROS topics anymore on my commissioning PC/container

Restart the ctrlX CORE.

I can ping the CtrlX from my workspace and back, but I see no ROS topics.

Ensure your IP address is 192.168.28.202 or 192.168.28.201. These are the IPs the ROS network from b»controlled box sees. Ensure you have exported ROS_STATIC_PEERS="192.168.28.7 in you workspace terminal, to ensure the ROS network from your workspace sees the nodes from b»controlled box. Ensure that you have the ROS_DOMAIN_ID=0.

Try restarting ROS 2 daemon with the following commands:

ros2 daemon stop
ros2 daemon start
ros2 topic list

For other cases check the troubleshooting in kord_kassow_driver repository.