search

IFL-CAMP / iiwa_stack

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
Other
331 stars 248 forks source link

ROSSmartServo error, java.net.BindException: Address already in use #183

Open isabellahuang opened 5 years ago

isabellahuang commented 5 years ago

I'm trying to run the ROSSmartServo program but it is unable to connect to the ROS master. I've attached a picture of the error message I receive. Any tips why this might be the case? The IP address is set correctly and I can ping the controller just fine.

IMG_20190612_162504

exo-core commented 5 years ago

Just restart the controller by powering it off and on again.

matthiashh commented 5 years ago

Just restart the controller by powering it off and on again.

That's also what I did up to now when having this error message. It felt like a quite unsatisfactory solution though.

SalvoVirga commented 5 years ago

Yes, that is a known issue and restarting the cabinet is the only solution at the moment :\

From our experience, the error appears only after some event leads to a not correct setup of the communication with the ROS Master and consequent exceptions are thrown. In practice if ROSSmartServo starts and stops correctly, this error will not appear.

This should show that the dispose() function in ROSBaseApplication.java does its job correctly, everything it disposed when the application quits. This function is an overload from the base class RoboticsAPIApplication that should be automatically called internally by KUKA. My understanding is that in some cases this doesn't happen, or something else prevents resources (in our case a socket) to be released correctly.

I will try to at least find a way to replicate the error in structured manner so that we can test solutions, but it will be painful since one needs to restart the cabinet every time the solution doesn't work :D

isabellahuang commented 5 years ago

Thank you so much everyone, this is super helpful. A restart didn't work for me this time, but once I fixed my issue posted in #182, it worked.

matthiashh commented 5 years ago

Should we keep this open since this error still arises in other configurations? I had quite a lot of these before I figured out a stable setup.

BrunoScaglioni commented 5 years ago

From our experience, the error appears only after some event leads to a not correct setup of the communication with the ROS Master and consequent exceptions are thrown. In practice if ROSSmartServo starts and stops correctly, this error will not appear.

Probably a trivial question but I can't figure it out: How is it possible to stop the application correctly? From the smartPad it is possible to stop it and reset it, but reset throws an exception (because it is interrupted), and the app is an infinite loop, as it should be.
Is there another way?

SalvoVirga commented 5 years ago

We usually have the following to start everything:

And to stop:

There should not be any error, if you can reproduce some steps that always give you an exception please let me know.

BrunoScaglioni commented 5 years ago

Hi Salvo,

the steps you mentioned are exactly the same we do when starting/stopping the application. i didn't realize that the BindException is thrown after the application has previously stopped with an error but this makes sense, as dispose() is not called correctly. On our platform sometimes the application does not stops within 15 seconds and this triggers an error in the scheduler that terminates it, that is why we often have this issue. I don't know if there is a way to extend this time or prevent the scheduler from stopping the application.

SalvoVirga commented 5 years ago

It is strange that you have that often, to us it happens only when somehow we mess up something. But I don't have yet a good way to reproduce the error at will. I believe those 15 seconds are set by KUKA, whenever you stop the application, it will be forcefully stopped if it doesn't exit cleanly after 15 seconds.

In any case, however, that dispose() method is an override of the one in the base class RoboticsAPIApplication and it should just be called anytime the application is 'disposed', so it should always be called automatically, just likeinitialize() and run(). Since it seems that this is not the case, we have an explicit call in the catch block of the main application loop. It might worth a try to move this call to the finally block actually, that should be its proper spot.

But again, dispose() should be always called internally by KUKA when the application is closed, in any case, if it is not it is a problem on their side.

jacknlliu commented 5 years ago

Same issue after terminating the previous ROSSmartServo instance.

In remote windows 7, we get the following information about applications on SmartPAD

[MainThread 1@de.tum.in.camp.kuka.ros.app.ROSSmartServo@ROSIiwaStack] ERR
OR com.kuka.task.internal.TaskInstanceManagementThread - There is still an activ
e thread 'Thread[Thread-133,5,1@de.tum.in.camp.kuka.ros.app.ROSSmartServo@ROSIiw
aStack]' in task thread group '1@de.tum.in.camp.kuka.ros.app.ROSSmartServ
o@ROSIiwaStack'.

[pool-ServiceRegistration method executor for Service: DeploymentService-thread-
1] ERROR com.kuka.project.provider.internal.BundleProjectClassLoader - Classload
er of user project bundle 'com.kuka.project.user.ROSIiwaStack_1.0.0 [139]
' was NOT garbage collected. There seems to be a memory leak!!!
[pool-ServiceRegistration method executor for Service: DataService-thread-1] WAR
N com.kuka.roboticsAPI.applicationServer.services.dataService.internal.DataServi
ce - Data source for retrieving project data not open.
jacknlliu commented 5 years ago

@SalvoVirga Is there any relationship with https://github.com/rosjava/rosjava_core/pull/291 ?

ghost commented 5 years ago

Hello,

I am also encountered with similar issues after I updated iiwa_ros_java in Sunrise Workbench. I have followed the steps provided by @SalvoVirga in the above discussion. Also, I have followed the issue #190 and pinged robot and ROS master system to each other and it is successful. However, I am not able to remove the error.

When I connect it for the first time I get the following error. 20190902_112448

When I connect for the second time and onwards. 20190902_103210

Is there any working solution?

Thank you.

AlessandroPiz commented 1 month ago

I personally found that RosSmartServo is correctly closed if and only if i close it before stopping the ROS master