tips about merging the master branch to Sunrise 1.7

[jacknlliu]

Hi, for many reasons, we can't use the latest version of this repo. I hope to continue to maintain the Sunrise 1.7 version. Could you give me some tips about how to modify the master branch to Sunrise 1.7?

Thanks in advance!

[SalvoVirga]

It shouldn't be too hard.
Try to use the current (in master) Java code in Sunrise Workbench, using the APIs from Sunrise 1.7. You will most likely have some import error. Delete the imports that give you those errors, then you are going to have errors for missing references in the code.
Just over on top of the lines whose references are missing and you should automatically get a suggestion on what to import to fix the problem.

The only thing you might need extra is the file xml-apis-1.0.b2.jar that you can find in some very old commit like the one linked.

If you encounter particular errors let me know.

[GuancongLuo]

I meet the same problem.
And I can import some package
import com.kuka.connectivity.motionModel.smartServo.ServoMotion;
import com.kuka.connectivity.motionModel.smartServo.SmartServo;
import com.kuka.connectivity.motionModel.smartServoLIN.SmartServoLIN;
import com.kuka.task.ITaskLogger;

Actually, I have the 'conectivity' package, but the package name is different with the code.

I have no idea to fix that, because I have to continue to maintain the Sunrise 1.7 version.

@jacknlliu Did you solve your problem?
@SalvoVirga Could you give me some advance?

[jacknlliu]

@GuancongLuo We have updated the Sunrise OS to 1.11 using another backup hard disk, so I may not maintain the 1.7 branch recently. Good luck anyway！

[SalvoVirga]

@GuancongLuo Did you try to remove the imports that trigger the errors? Workbench should then mark the symbols with a missing import and suggest which import to add.
If that doesn't help, just explore the KUKA API's a bit, you should be able to find the right imports quite easily. You will also need to change the TaskLogger import btw, that change with some more modern version.

Let me know if you solved it, else I could try to install a Sunrise 1.7 on a VM

[jacknlliu]

@GuancongLuo I have committed a branch for Sunrise 1.7 here. You can checkout it using branch name update-v1.7-from-upstream.

[GuancongLuo]

@jacknlliu Thank you for your branch. I successfully installed ROSSmartServo application.
@SalvoVirga #183 (comment)
But iiwa 14 can't connect successfully with my ROS. I check the ROS IP and sunrise IP, this is right. I don't know how to solve this problem. Could you get me some advance?

ROS core and Ethernet address

Sunrise WorkBeach RoboticsAPI.data.XMl

Always waiting. And when I stop it, I get the error.

I need your help and thanks again.

[jacknlliu]

@GuancongLuo make sure that you are using the X66 port, and could you ping the robot ip from the PC?

[GuancongLuo]

Yes, I can ping the robot IP from PC. And I connected the PC with X66 port this morning. I started roscore first and then started ROSSmartServo. It is not working.

Still, have the same problem.

Is this a configuration issue for Sunrise WorkBeach?

[jacknlliu]

Could you show the initial communication log message on the SmartHMI?

And could you ping the ROS master IP from the robot remote windows system?

[GuancongLuo]

Thank you so much. I solve this problem. I use another PC to start roscore and according the PC IP address to modify the RobotAPI.data.xml in Sunrise WorkBench.
It was perfectly working. Thank you again.

[jacknlliu]

It's nice to hear that it works for you.