RobertWilbrandt
commented
5 months ago Can you please confirm that you started the driver (e.g. ros2 launch ur_robot_driver ur5.launch.py robot_ip:=192.168.1.102) before trying to start the program on the teach pendant? Normally, the driver should start and once the program on the robot runs the lines
[ur_ros2_control_node-1] [INFO] [1712049174.230316167] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1712049174.230392708] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1712049174.273144694] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.should appear in your driver console.
padit1337
fmauch
Muhammad-Arsalan03
I have a Local Network of just one Ubuntu 22 Computer and UR5 CB3 robot with a direct LAN connection. Nothing else is in this network and Ubuntu 22 is updated, and the Firmware of the UR5 is at 3.15.8, the most recent version. I followed this tutorial to set up the driver and this tutorial to set up the robot. Everything until step 3 of the tutorial works just fine (obviously I adapted the command in step 3 to my UR5 and the robot IP), but in step 4 I am asked to press the play button after loading the program on the teach pendant. I can press the play button, but directly get the error message "Connections refused" by the program. The command
ping 192.168.1.102generates a normal ping output, so the physical connection seems ok. (The IP of the robot is 192.168.1.102 and the IP of Ubuntu is 192.168.1.101) Furthermore, during the robot setup, I am able to generate a proper .ymal calibration file with this command:$ ros2 launch ur_calibration calibration_correction.launch.py robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml, so there MUST exist a way to communicate with the robot.And now it gets even weirder. When I use netcat
I am completely clueless what to do, but I need the robot for my master thesis, so I am a bit desperate. Is there anything I can do?
nc -lvnp 50002to listen to the relevant port, while repeating step 3 and 4 of the tutorial, the program does NOT crash, but displays a "starting program... please wait..." screen,but nothing happens. I can not use the teach pendant any more (it recognises my touch by displaying the small cursor, but there is no button to abort the process). But as soon as I stop the netcat command, the program crashes and displays the following error: "Compile error: name 'null' is not defined." "Error Position Line 2"