err = ST_ETHERNET

[Prawee682]

I'am using Kuka kr16-2 and still stuck

External instruction rsi_krlExterXML not load

@tingelst suggested me to go through here last time, for which I'm very grateful. It belongs to krc4, but I'm using krc2, which I've read and followed of krc2 tutorial. And now I'm still having the same problem. In the ros_rsi.src file on the teach pad the line I'm stuck with is

err = ST_ETHERNET(hEthernet,containerID,configFileName[])

On PC terminal when I running test_hardware_interface.launch

process[kuka_hardware_interface-2]: started with pid [16300]
process[controller_spawner-3]: started with pid [16301]
[ INFO] [1678348893.746368104]: Starting hardware interface...
process[robot_state_publisher-4]: started with pid [16302]
process[ros_control_controller_manager-5]: started with pid [16303]
[ INFO] [1678348893.756996416]: Loaded kuka_rsi_hardware_interface
[ INFO] [1678348893.758313402]: Setting up RSI server on: (172.31.32.200, 49152)
[ WARN] [1678348893.767712117]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1678348893.794886783]: Waiting for robot!
Loaded 'joint_group_position_controller'
[WARN] [1678348894.203755]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1678348894.208561]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1678348894.214594]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1678348894.220826]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1678348894.228262]: Loading controller: position_trajectory_controller
[INFO] [1678348894.302660]: Loading controller: joint_state_controller
[INFO] [1678348894.310275]: Controller Spawner: Loaded controllers: position_trajectory_controller, joint_state_controller
[ros_control_controller_manager-5] process has finished cleanly
log file: /home/prawee/.ros/log/9b160bc2-be50-11ed-b358-9d2fd1398119/ros_control_controller_manager-5*.log

[gavanderhoorn]

First thing to check: your controller does have the RSI option/tech package.

[Prawee682]

Thankyou
Yes, I am using KSS 5.4.8 and installed RSI v2.2.0 already. I have tried to check in <Setup -> Install additional Software> that there is RSI and also tried uninstalled and reinstalled it which every step I restarted the machine but I still same problem.