UniversalRobots
Issues to connect to external control and control a UR3 robot using ur robot driver
Affected ROS Driver version(s)
Latest
Used ROS distribution.
Noetic
Which combination of platform is the ROS driver running on.
Linux in a virtual machine
How is the UR ROS Driver installed.
Build both the ROS driver and UR Client Library from source
Which robot platform is the driver connected to.
UR CB3 robot
Robot SW / URSim version(s)
3.14
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
I would like to be able to control an UR robot. I use a virtual box vm to have linux. I connected the robot and my computer via ethernet. The IPV4 address is: 192.168.0.140. My Vm is connected via NAT and Ethernet bridge and has the IPVA address: 192.168.0.137. When I go to my vm, and ping 192.168.0.140, I receive the data. When I want to see the real position of the robot on my computer with rviz, I see it. The external control has a comment parameter: IP 192.168.0.137 and port 50002. But when I run the program on the external control's polyscope, I get the error on the terminal:
[ INFO] [1701765995.502192558]: Robot connected to reverse interface. Ready to receive control commands. [ WARN] [1701765995.598648173]: Connection attempt on port 50001 while maximum number of clients (1) is already connected. Closing connection. [ERROR] [1701765995.632654285]: Sending data through socket failed.
Relevant log output
No response
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When I try to connect to the headless_mode, I have : [INFO] [1701955996.347761]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1701955996.354172]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [ERROR] [1701955996.423552930]: Sending data through socket failed. [ INFO] [1701955996.423777966]: Connection to reverse interface dropped.
When I run rqt, I have a white screen : rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller When I echo the topic scaled_pos_joint , I have nothing : rostopic echo /scaled_pos_joint_traj_controller/state I set up a force sensor on my UR3 and I can read the data.
Hi @Elarak
[ INFO] [1701765995.502192558]: Robot connected to reverse interface. Ready to receive control commands. [ WARN] [1701765995.598648173]: Connection attempt on port 50001 while maximum number of clients (1) is already connected. Closing connection.
it sounds like a re-connection problem.
You can help us reproduce it by detailed describing:
- How have you setup your VM network. This is normally the source for connectivity problems when running the driver on a VM.
- How you start your ros nodes and specially the UR ROS driver
- Can you give us the full log on both the UR robot and UR ROS Driver
@RobertWilbrandt do you have other needs to help on this issue?
I'll close this due to inactivity. Please feel free to comment / reopen if the issue still persists.
