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Merged
aalmrad merged 1 commit into from
Sep 17, 2026
Merged

Added instructions to verify the ethernet connection #428

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29 changes: 22 additions & 7 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,24 @@

**P.S.** Please refer to the Gen3 user guide for more details if needed

2. Take each arm to 'home' position using the webapp
2. Verify the connection with the arms by running this command:

3. In a terminal window, run the following to command to start Moveit in RVIZ:
```
ethtool enp129s0 | grep -E 'Speed|Duplex'
```

It should print something like this:

```
Speed: 1000Mb/s
Duplex: Full
```

If you see "Duplex: Half" then the connection will not work for the real time operation. Make sure you are using good Cat5e/Cat6 ethernet cables. Only proceed if the `ethtool` command prints "Duplex: Full".

3. Take each arm to 'home' position using the webapp

4. In a terminal window, run the following to command to start Moveit in RVIZ:

```
ros2 launch kinova_gen3_7dof_robotiq_2f_85_dual_moveit_config robot.launch.py \
Expand All @@ -29,7 +44,7 @@ fraction of a millimetre and any tracking error becomes a real collision. The
against the *world*, and self-collision -- which is what arm-vs-arm is, since both
arms are links of one robot -- is checked unpadded. Step 5 is what adds the margin.

4. In a new terminal window, re-apply the realtime userspace tuning:
5. In a new terminal window, re-apply the realtime userspace tuning:

```
sudo ~/workspace/ros2_gen3_ws/rt-tune/rt-fix-userspace.sh
Expand Down Expand Up @@ -64,7 +79,7 @@ Expect the control loop and the two async component workers at `rtprio` 80 on
cpu 2, 6 and 7, **plus** the transport threads at 85. If 80 is the only priority
you see, the script has not been run for this launch.

5. In the same terminal window, give the arms a real keep-apart margin:
6. In the same terminal window, give the arms a real keep-apart margin:

```
ros2 run kinova_gen3_7dof_robotiq_2f_85_dual_moveit_config arm_padding.py \
Expand All @@ -82,7 +97,7 @@ anything. `arm_padding.py status` says whether it is active; `arm_padding.py
remove` takes it off. 10 mm is close to the most the current `demo` pose can
take: it has 10-15 mm of true clearance at the wrist/gripper.

6. In the same terminal, run the following python script:
7. In the same terminal, run the following python script:
```
cd ~/workspace/ros2_gen3_ws/src/ros2_kortex/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_dual_moveit_config/scripts

Expand All @@ -93,7 +108,7 @@ The demo has its own conservatism controls -- `--sequential` moves one arm at a
time, `--velocity` slows everything down, and `--plan-only` previews in RViz
without touching the hardware. Run `./dual_arm_demo.py --help` for the rest.

7. The user can interrupt the script using Ctrl+C then command the arm from the RVIZ graphical interface.
8. The user can interrupt the script using Ctrl+C then command the arm from the RVIZ graphical interface.

8. To resume the script again, simply run it another time as previously specified in step 6.
9. To resume the script again, simply run it another time as previously specified in step 6.