name: fanuc-ros2-troubleshoot
description: 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.
Troubleshoot FANUC ROS 2 Driver
Build Issues
| 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 |
Launch Issues
| 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 |
Hardware Connection Issues
| 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 Software Requirements
| 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).
Diagnostic Commands
# 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>
References
By