Update RSI configuration readme

kuka_rsi_hw_interface/krl/README.md

@@ -1,4 +1,93 @@
-# KRL CODE
+# Configuring RSI on the controller
+
+This guide highlights the steps needed in order to successfully configure the **RSI interface** on the controller to work with the **kuka_rsi_hardware_interface** on your PC with ROS.
+
+## 1. Controller network configuration
+
+Windows runs behind the SmartHMI on the teach pad. Make sure that the **Windows interface** of the controller and the **PC with ROS** is connected to the same subnet.
+
+1. Log in as **Administrator** on the teach pad and navigate to **Network configuration** (Main menu -> Start-up -> Network configuration -> Activate advanced configuration).
+2. There should already be an interface checked out as the **Windows interface**.
+   * **IP**: e.g. 192.168.250.20
+   * **Subnet mask**: 255.255.255.0
+   * **Default gateway**: 192.168.250.20
+   * **Windows interface checkbox** should be checked.
+3. Minimize the SmartHMI (Main menu -> Start-up -> Service -> Minimize HMI).
+4. Run the application called **RSI-Network** from the Windows desktop environment on the teach pad.
+5. Check that the **Network - Kuka User Interface** show the Windows interface with the specified IP address.
+6. Add a new IP address on another subnet (e.g. 192.168.1.20) for the **RSI interface**.
+   * This should be possible within **RSI-Network**, if not, then do it within the SmartHMI at **Network configuration**.
+7. Reboot the controller (Main menu -> Shutdown -> Check **Force cold start** and **Reload files** -> Reboot control PC).
+8. After reboot, minimize the SmartHMI (Main menu -> Start-up -> Service -> Minimize HMI).
+9. Run **cmd.exe** and ping the PC you want to communicate with on the same subnet (e.g. 192.168.250.xx).
+
+If your **PC** has an IP address on the same subnet as the **Windows interface** on the controller, the controller should receive answers from the PC:
+* If this is the case, add another IP address to the current PC connection (e.g. 192.168.1.xx) on the same subnet as the **RSI** interface.
+
+## 2. KRL Files
+
+The files included in this folder specifies the data transferred via RSI. Some of the files needs to be modified to work for your specific configuration.
+
+##### ros_rsi_ethernet.xml
+1. Edit the `IP_NUMBER` tag so that it corresponds to the IP address (192.168.1.xx) previously added for your PC.
+2. Keep the `PORT` tag as it is (49152) or change it if you want.
+
+##### ros_rsi.rsi.xml
+This file may be edited with application specific joint limits.
+* Edit the parameters within the RSIObject `AXISCORR` to specify joint limits such as **LowerLimA1, UpperLimA1** etc.
+* Edit the parameters within `AXISCORRMON` to specify the amount of degrees in which the robot should have reached its goal. The values of **MaxA1, MaxA2** etc. may be large to allow free movement within the specified joint limits in `AXISCORR`.
+
+Notice the RSIObject of type `ETHERNET`. Within this object is a parameter called **Timeout**. This parameter is set to **100** by default. The RSI interface operates at 250 Hz and expects new data every 4ms. If the connected **PC with ROS** does not fulfill this, a message is missed and a counter is incremented. When this counter hits **100**, the RSI connection will shut down. If you have problems with the connection to RSI shutting down now and then while moving the robot it is suggested to:
+* Compile and install a [RT-Preempt](https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO) kernel for your PC.
+* Give **kuka_rsi_hardware_interface** on your PC real-time priority when the RSI connection is established.
+
+##### ros_rsi.src
+This should only be edited if the start position specified within the file is not desirable for your application.
+
+##### Copy files to controller
+The files **ros_rsi.rsi** and **ros_rsi.rsi.diagram** should not be edited. All files should now be ready to be copied to the Kuka controller:
+
+1. Copy the files to a USB-stick.
+2. Plug it into the teach pad or controller.
+3. Log in as **Expert** or **Administrator**.
+4. Copy the `ros_rsi.src` file to `KRC:\R1\Program`.
+5. Copy the rest of the files to `C:\KRC\ROBOTER\Config\User\Common\SensorInterface`.
+
+## 3. Edit kuka_rsi_hw_interface configuration files
+Inside `/kuka_rsi_hw_interface/test` in this repository is a set of `*.yaml` files. Ensure that these files have the correct **joint names** corresponding to the robot description (URDF or .xacro) and correct **IP address** and **port** corresponding to the RSI setup specified in **ros_rsi_ethernet.xml**.
+
+## 4. Testing
+At this point you are ready to test the RSI interface. Inside `/kuka_rsi_hw_interface/test` is a launch-file called `test_hardware_interface.launch` and a file called `test_params.yaml`. The latter file should have been updated with the correct IP address and port in the last step. In order to successfully launch the **kuka_rsi_hardware_interface** a parameter `robot_description` needs to be present on the ROS parameter server. This parameter can be set manually or by adding this line inside the launch file (replace support package and .xacro to match your application):
+
+```
+<param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
+```
+
+The next steps describe how to launch the test file:
+
+* In a new terminal:
+
+```
+$ roscore
+```
+
+* Open new terminal and run:
+
+```
+$ roslaunch kuka_rsi_hw_interface test_hardware_interface.launch sim:=false
+```
+
+The **kuka_rsi_hardware_interface** is now spinning and waiting for the robot controller to connect. Follow the next steps to connect RSI:
+
+1. On the teach pad, enter mode **T1** for testing purposes.
+2. Navigate to `KRC:\R1\Program` and select `ros_rsi.src`.
+3. Press and hold the run/play-button and the robot will first move to the start position.
+4. Press and hold again. This time the terminal where the **kuka_rsi_hardware_interface** is running should output *Got connection from robot*. The RSI connection is now up and running.
+5. In a new terminal:
+
+```
+$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
+```
+
+* Choose **controller manager ns** and **controller** and you should be able to move each robot joint.
 
-1. copy `*.src` files to "KRC:\R1\Program"
-2. copy the rest of the files to "C:\KRC\ROBOTER\Config\User\Common\SensorInterface"