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  • rongoldman
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  • in reply to: cartesian velocity control broken #5222


    Thinking more about this it seems that maybe the Cartesian velocity control was previously just used by the joystick where (from the JACO User Guide):

    “When controlling the arm in Cartesian mode with the joystick, the user commands the
    end-effector’s translations (position variations) with respect to the base and the rotations
    (orientation variations) around the end-effector’s reference point.”

    That makes sense for joystick control, but not sure it is best for programmatic control.

    in reply to: SDK on USB stick broken #4402



    Thanks. I haven’t tried calling setClientConfiguration since it is not available through the ROS interface. For now we can live with joint 7 always being 0 degrees for the retracted & home positions. The saved positions won’t matter once we start running an application.

    I’ll try out your recommended fix for the permissions issues (I did something similar) and pass it on to my teammates who will be installing the SDK on their computers.

    Any idea when an updated version of the SDK might be downloadable from the Kinova web site?

    — Ron —

    in reply to: SDK on USB stick broken #4387


    One last update:

    Please ignore point 3 in the first post, the problem was a system setting in Displays. The scale for menu and title bars was set to 1.85. When I reset it to 1 the DevelopmentCenter windows were displayed correctly.

    in reply to: SDK on USB stick broken #4386


    Here are some more details:

    1. On starting DevelopmentCenter:

    % ./DevelopmentCenter.sh
    linux-vdso.so.1 => (0x00007ffeab68f000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f788be73000)
    libQt5WebKitWidgets.so.5 => /usr/lib/x86_64-linux-gnu/libQt5WebKitWidgets.so.5 (0x00007f788bc30000)
    libQt5Widgets.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Widgets.so.5 (0x00007f788b3e0000)
    libQt5Gui.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Gui.so.5 (0x00007f788ac54000)
    libQt5Xml.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Xml.so.5 (0x00007f788aa18000)
    libQt5Network.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Network.so.5 (0x00007f788a6ba000)
    libQt5Core.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Core.so.5 (0x00007f7889f9c000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f7889c97000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f7889a81000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f78896b8000)
    /lib64/ld-linux-x86-64.so.2 (0x000056082f353000)
    libQt5WebKit.so.5 => /usr/lib/x86_64-linux-gnu/libQt5WebKit.so.5 (0x00007f78873eb000)
    libQt5OpenGL.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5OpenGL.so.5 (0x00007f7887194000)
    libQt5PrintSupport.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5PrintSupport.so.5 (0x00007f7886f28000)
    libQt5Sensors.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Sensors.so.5 (0x00007f7886cea000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f7886acc000)
    libGL.so.1 => /usr/lib/nvidia-375/libGL.so.1 (0x00007f7886828000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f7886521000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f7886308000)
    libicui18n.so.56 => /opt/JACO2SDK/GUI/./lib/./libicui18n.so.56 (0x00007f7885e6d000)
    libicuuc.so.56 => /opt/JACO2SDK/GUI/./lib/./libicuuc.so.56 (0x00007f7885ab5000)
    libicudata.so.56 => /opt/JACO2SDK/GUI/./lib/./libicudata.so.56 (0x00007f78840d2000)
    libgthread-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgthread-2.0.so.0 (0x00007f7883ecf000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f7883cc7000)
    libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007f78839bf000)
    libXrender.so.1 => /usr/lib/x86_64-linux-gnu/libXrender.so.1 (0x00007f78837b4000)
    libXcomposite.so.1 => /usr/lib/x86_64-linux-gnu/libXcomposite.so.1 (0x00007f78835b1000)
    libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f788335c000)
    libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f7883135000)
    libicui18n.so.52 => /usr/lib/x86_64-linux-gnu/libicui18n.so.52 (0x00007f7882d2e000)
    libicuuc.so.52 => /usr/lib/x86_64-linux-gnu/libicuuc.so.52 (0x00007f78829b5000)
    libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007f788267f000)
    libxslt.so.1 => /usr/lib/x86_64-linux-gnu/libxslt.so.1 (0x00007f7882442000)
    libxml2.so.2 => /usr/lib/x86_64-linux-gnu/libxml2.so.2 (0x00007f78820db000)
    libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007f7881e89000)
    libgstreamer-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libgstreamer-1.0.so.0 (0x00007f7881b85000)
    libgstapp-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libgstapp-1.0.so.0 (0x00007f7881978000)
    libgstbase-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libgstbase-1.0.so.0 (0x00007f788171f000)
    libgstpbutils-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libgstpbutils-1.0.so.0 (0x00007f78814f9000)
    libgstvideo-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libgstvideo-1.0.so.0 (0x00007f78812b3000)
    libgstaudio-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libgstaudio-1.0.so.0 (0x00007f7881068000)
    libsqlite3.so.0 => /usr/lib/x86_64-linux-gnu/libsqlite3.so.0 (0x00007f7880daf000)
    libQt5Quick.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Quick.so.5 (0x00007f78807be000)
    libQt5Qml.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Qml.so.5 (0x00007f78801c5000)
    libQt5Sql.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Sql.so.5 (0x00007f787ff80000)
    libQt5Positioning.so.5 => /opt/JACO2SDK/GUI/./lib/./libQt5Positioning.so.5 (0x00007f787fd41000)
    libGLX.so.0 => /usr/lib/nvidia-375/libGLX.so.0 (0x00007f787fb10000)
    libGLdispatch.so.0 => /usr/lib/nvidia-375/libGLdispatch.so.0 (0x00007f787f842000)
    libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f787f603000)
    libicudata.so.52 => /usr/lib/x86_64-linux-gnu/libicudata.so.52 (0x00007f787dd96000)
    libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f787db76000)
    liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007f787d954000)
    libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007f787d74c000)
    libgmodule-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgmodule-2.0.so.0 (0x00007f787d547000)
    liborc-0.4.so.0 => /usr/lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007f787d2c5000)
    libgsttag-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libgsttag-1.0.so.0 (0x00007f787d08c000)
    libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007f787ce7a000)
    libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007f787cc75000)
    libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f787ca6f000)
    Initializing sockets . . .
    Creating sockets . . .
    Sockets creation successful.

    Binding socket to address . . .
    Bind failed with error
    Initializing sockets . . .
    Creating sockets . . .
    Sockets creation successful.

    Binding socket to address . . .
    Bind failed with error
    Initializing sockets . . .
    Creating sockets . . .
    Sockets creation successful.

    Binding socket to address . . .
    Bind failed with error


    Why the error messages here? Is this from looking for an arm connected using ethernet? Our arm is connected via USB.

    2. After clicking on the “General menu” button to bring up the Configuration window:

    libpng warning: iCCP: known incorrect sRGB profile

    3. After clicking on the “Virtual Joystoick” button:

    QLayout: Attempting to add QLayout “” to CAbstractModuleFrame “m_MainPanel”, which already has a layout

    4. My problem setting new retracted & home locations was not noticing the (tiny) Activate checkbox above the position list. Once I clicked it things worked much better. Though it would still be nice to add a button that would move to the selected position.

    5. The stored retracted & home positions do not seem to be saving (or reading?) the value for joint 7. After rebooting the arm that joint moves to a position of 0 degrees.

    There also were some problems installing the SDK:

    6. For Ubuntu 14_04 / 64 bits the executable permission is not set for installSDK54.sh & SDK_JACO2_1.4.0_install64. So one needs to manually copy that folder to the computer’s disk & change the permissions to install the SDK.

    7. Doing the install using sudo results in inaccessible folders in the /opt/JACO2SDK folder. The permissions are too restrictive:

    % ls -l /opt/JACO2SDK-test/
    total 27028
    drwx—— 2 root root 4096 Jul 10 10:57 API
    -rw-r–r– 1 root root 3347 Jul 10 10:57 components.xml
    drwx—— 3 root root 4096 Jul 10 10:57 Documentation
    drwx—— 12 root root 4096 Jul 10 10:57 Examples
    drwx—— 9 root root 4096 Jul 10 10:57 GUI
    drwx—— 2 root root 4096 Jul 10 10:57 Guides
    -rw-rw-r– 1 root root 22002 Apr 27 2015 Icon_torque.png
    -rw-r–r– 1 root root 3500 Jul 10 10:57 InstallationLog.txt
    drwxr-xr-x 2 root root 4096 Jul 10 10:57 Licenses
    -rwxr-xr-x 1 root root 26977856 Jul 10 10:57 maintenancetool
    -rw-r–r– 1 root root 622147 Jul 10 10:57 maintenancetool.dat
    -rw-r–r– 1 root root 2653 Jul 10 10:57 maintenancetool.ini
    -rw-r–r– 1 root root 362 Jul 10 10:57 network.xml
    drwx—— 3 root root 4096 Jul 10 10:57 RobotConfiguration
    -rw-rw-r– 1 root root 2855 Dec 12 2014 SDK.png

    8. Executables in the subdirectories do not have the executable permission set. E.g. GUI/DevelopmentCenter*, GUI/bin/*, Examples/Example_AngularControl/Debug/Example_AngularControl

    Hopefully a new SDK that has been tested on Ubuntu will be made available.


    — Ron —

    in reply to: SDK on USB stick broken #4383


    Whoops it looks like the new retracted position is not being saved. It may be that the home position is also not being saved, but it changed when I modified the arm from left-handed to right-handed.

Viewing 5 posts - 1 through 5 (of 5 total)

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