Troubleshoot FANUC ROS 2 Driver build failures, launch errors, or hardware connection issues. Use when colcon build fails, launch crashes, robot is unreachable, or motion does not execute.
| Symptom | Cause | Fix |
|---|---|---|
git-lfs errors on clone | Git LFS not installed | sudo apt install git-lfs && git lfs install, re-clone |
| Missing dependencies | rosdep not run | rosdep install --ignore-src --from-paths src -y |
| CMake errors | Wrong ROS 2 version | Verify ROS 2 Humble: printenv ROS_DISTRO must show humble |
| Submodule missing | Forgot --recurse-submodules | cd src/fanuc_driver && git submodule update --init --recursive |
| Symptom | Cause |
|---|
| Fix |
|---|
| Package not found | Workspace not sourced | source ~/ws_fanuc/install/setup.bash |
| Launch file not found | Wrong package name | URDF: fanuc_crx_description; MoveIt: fanuc_moveit_config |
| RViz2 blank | GPU/display issue | Check echo $DISPLAY; for WSL2 use VcXsrv or WSLg |
| Symptom | Cause | Fix |
|---|---|---|
| Cannot reach robot | Network misconfigured | Verify PC/robot on same subnet; ping <robot_ip> |
| "Streaming motion not available" | Missing controller option | Verify J519 + R912 or S636 on pendant: STATUS > Version ID > CONFIG |
| Robot does not move | Safety fault or E-stop | Clear faults on pendant; verify robot is in AUTO mode |
| Controller | Minimum Version |
|---|---|
| R-30iB Plus | V9.40P/81 |
| R-30iB Mate Plus | V9.40P/81 |
| R-30iB Mini Plus | V9.40P/77 |
| R-50iA | V10.10P/26 |
Required options: J519 (Stream Motion) + R912 (Remote Motion), or S636 (External Control Package).
# Check ROS 2 environment
printenv ROS_DISTRO
ros2 pkg list | grep fanuc
# Check topics
ros2 topic list
ros2 topic echo /joint_states
# Check controllers
ros2 control list_controllers
# Network
ping <robot_ip>