add kassow port docs

README.md

@@ -31,17 +31,6 @@ The architecture consists of physical devices: the PC with ROS 2 high-level appl
 
 # Compatibility
 
-### Robot Controller compatibility
-
-| Robot Controller             | `b»controlled box` v3.5.8 | `b»controlled box` v3.5.9 |
-| :--------------------------- | :-----------------------: | :-----------------------: |
-| **KUKA** |                           |                           |
-|    KRC4 (RSI) |            🔬             |             ✅            |
-|    KRC5 (RSI) |            🔬             |             ✅            |
-|    EKI        |            ❌             |             🚧            |
-| **Universal Robots**         |             ✅            |             🔬            |
-| **Yaskawa**                  |             ❌            |             🚧            |
-
 #### Legend:
 * **✅ Tested:** Fully tested and supported in production.
 * **🔬 Preliminary:** In development; basic functionality is confirmed in the lab.
@@ -54,8 +43,7 @@ The architecture consists of physical devices: the PC with ROS 2 high-level appl
 
 | `b»controlled box`         |  ROS 2 Version         |  `CtrlX RT SDK`         |
 | :------------------------- | :--------------------: | :---------------------: |
-| **3.5.9 (Latest)**         |         Jazzy          |           3.2           |
-| **3.5.8**                  |         Jazzy          |           3.2           |
+| **3.5.5 (Latest)**         |         Jazzy          |         3.6.3           |
 
 
 
@@ -68,6 +56,7 @@ The process is divided into three main parts:
 2. setting up the robot itself - refer to **manufacturer-specific instruction**
      * [**KUKA**](docs/supported_robots/KUKA.md)
      * [**UR**](docs/supported_robots/UR.md)
+     * [**Kassow**](docs/supported_robots/KASSOW.md)
 3. setting up [**b»Controlled Box commissioning environment**](docs/SETUP_COMMMISSIONING.md)
 
 ## How It Works: A Typical Data Flow

docs/supported_robots/KASSOW.md

@@ -0,0 +1,103 @@
+# 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](https://gitlab.com/kassowrobots/kord-api/-/wikis/Master-CBun), 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](https://github.com/b-robotized/b_ctrldbox_commissioning/blob/docs/kassow_port_guide/docs/SETUP_CTRLX.md).
+
+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`
+  <p align="center">
+  <img src="../assets/kassow/kassow_1.jpg" alt="Description of image" width="60%">
+  </p>
+
+2. When in CBuns tab choose the **right** `+` symbol to add CBun to the `Workcell`.
+
+<p align="center">
+<img src="../assets/kassow/kassow_2.jpg" alt="Description of image" width="60%">
+</p>
+
+3. 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*.**
+
+<p align="center">
+<img src="../assets/kassow/kassow_3.jpg" alt="Description of image" width="60%">
+</p>
+
+4. Activate the KORD.
+
+## Controlling the robot from your ROS 2 computer
+
+Make sure that you set the IP addresses and ROS 2 variables on your host computer as described in the [Commissioning PC Setup](../SETUP_COMMMISSIONING.md).
+
+**THE KASSOW ROBOT IS NOT YET INTEGRATED IN THE COMMISSIONING CONTAINER - YOU WILL HAVE TO SETUP THE ROS 2 WORKSPACE LOCALLY AS DESCRIBED IN THE [kassow_kord_driver repository](https://github.com/b-robotized/kassow_kord_driver).**
+
+### Controling the robot using b»controlled box
+
+1. Download the b»controlled box Application for ctrlX CORE x7 from [here](https://cloud.b-robotized.com/s/sXbakM34YBDFP8g) and install it.
+2. In your local workspace list the ROS 2 topics using `ros2 topic list` and you should see multiple `/b_controlled_box_cm/*` topics.
+3. In one terminal output the `activity` topic of the controller manager to observe the internal states of the system:
+   ```
+   ros2 topic echo /b_controlled_box_cm/activity
+   ```
+4. In another terminal publish the description for single robot application:
+   ```
+   ros2 launch kassow_kord_bringup kassow_kord_description.launch.xml use_mock_hardware:=false ip_address:=10.23.23.238 port:=28283
+   ```
+   **Make sure that the port and IP address are set correctly!**
+5. In third terminal load the controllers and active the whole system. For this enter the `scripts` folder of the `kassow_kord_bringup` package.
+   ```
+   rosd kassow_kord_bringup && cd scripts  # if you are using RTW this command works
+   ./activate_kassow_robot.bash
+   ```
+   *As compoentns are getting activated you will see new output on the `activity` topic.*
+6. Start path planning framework MoveIt2 and visualization software `rviz2` using:
+   ```
+   ros2 launch kassow_kord_bringup kassow_kord_moveit.launch.xml
+   ```
+** IMPORTANT: b»controlled box currently support control only of one Kassow robot, as controlling multiple robots might lead to instabilities of the startup system. **
+
+
+## Troubleshooting
+
+#### Connection issues when trying to set the robot to `inactive` state.
+Make sure that the IP addresses are set correctly and you can ping the robot.
+To ping it choose `Setting` » `Network Diagnostics` » `Ping` on the ctrlX CORE and enter the address of the robot controller in the `Address` filed.
+
+#### *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="192.168.28.28` 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](https://github.com/b-robotized/kassow_kord_driver?tab=readme-ov-file#troubleshooting).**
+