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UniversalRobots / Universal_Robots_ROS2_Driver

Universal Robots ROS2 driver supporting CB3 and e-Series
BSD 3-Clause "New" or "Revised" License
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The connection to the remote PC could not be established, Reason: connect time out. #1079

Open NorthWolf222 opened 1 month ago

NorthWolf222 commented 1 month ago

Affected ROS2 Driver version(s)

git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

UR CB3 robot, Real robot

Robot SW / URSim version(s)

I do not know

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

* Affected UR Software Version(s): 3.14.1 Affected Robot Hardware Version(s): UR5 URCaps Software version(s): external control 1.0.1

My computer is Ubuntu 22.04, ROS-Humble, After I enabled urcap in the teach pendant, It will pop up with the following error: 66jpg My PC's ros2_drivers seems to start up normally, but the URcap on the real robot arm UR5 is unable to establish a connection with the PC.*

Issue details

*When I run the launch file, the result is as follows:

shiou@wsoPC:~/UR5_Driver_WS$ ros2 launch ur_robot_driver ur5.launch.py robot_ip:=192.168.1.101 launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/shiou/.ros/log/2024-08-09-17-15-20-523833-wsoPC-29244
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [29249]
[INFO] [controller_stopper_node-3]: process started with pid [29251]
[INFO] [ur_ros2_control_node-1]: process started with pid [29247]
[INFO] [urscript_interface-4]: process started with pid [29253]
[INFO] [robot_state_publisher-5]: process started with pid [29255]
[INFO] [rviz2-6]: process started with pid [29257]
[INFO] [spawner-7]: process started with pid [29259]
[INFO] [spawner-8]: process started with pid [29261]
[INFO] [spawner-9]: process started with pid [29263]
[dashboard_client-2] [INFO] [1723194924.647880800] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[controller_stopper_node-3] [INFO] [1723194924.789804173] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_publisher-5] [INFO] [1723194925.486561503] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1723194925.487300465] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1723194925.487388370] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1723194925.487424695] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1723194925.487455522] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1723194925.487484975] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1723194925.487516618] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1723194925.487546504] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1723194925.487575596] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1723194925.487604354] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1723194925.487633541] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1723194925.487663094] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1723194925.487691877] [robot_state_publisher]: got segment wrist_3_link
[ur_ros2_control_node-1] [WARN] [1723194926.611125603] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ur_ros2_control_node-1] text not specified in the tf_prefix tag
[ur_ros2_control_node-1] [INFO] [1723194926.614088101] [resource_manager]: Loading hardware 'ur5' 
[ur_ros2_control_node-1] [INFO] [1723194926.769353985] [resource_manager]: Initialize hardware 'ur5' 
[ur_ros2_control_node-1] [INFO] [1723194926.770454096] [resource_manager]: Successful initialization of hardware 'ur5'
[ur_ros2_control_node-1] [INFO] [1723194926.772342129] [resource_manager]: 'configure' hardware 'ur5' 
[ur_ros2_control_node-1] [INFO] [1723194926.772457516] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1723194926.772581845] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [WARN] [1723194926.792472920] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-1] [INFO] [1723194926.893913932] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1723194926.894569087] [UR_Client_Library:]: Setting up RTDE communication with frequency 125.000000
[ur_ros2_control_node-1] [INFO] [1723194927.962264258] [URPositionHardwareInterface]: Calibration checksum: 'calib_209549117540498681'.
[ur_ros2_control_node-1] [ERROR] [1723194929.002549319] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/README.md] for details.
[ur_ros2_control_node-1] [INFO] [1723194929.002800942] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1723194929.002899469] [resource_manager]: Successful 'configure' of hardware 'ur5'
[ur_ros2_control_node-1] [INFO] [1723194929.003068672] [resource_manager]: 'activate' hardware 'ur5' 
[ur_ros2_control_node-1] [INFO] [1723194929.003099862] [URPositionHardwareInterface]: Activating HW interface
[ur_ros2_control_node-1] [INFO] [1723194929.003128399] [resource_manager]: Successful 'activate' of hardware 'ur5'
[controller_stopper_node-3] [INFO] [1723194929.042889572] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1723194929.043039368] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1723194929.043235312] [Controller stopper]: Service available
[ur_ros2_control_node-1] [WARN] [1723194929.070021674] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-1] [WARN] [1723194929.070928253] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-1] [INFO] [1723194929.635071761] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [WARN] [1723194930.239835838] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ur_ros2_control_node-1] [INFO] [1723194930.247169394] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-7] [INFO] [1723194930.249002762] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1723194930.375186261] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-8] [INFO] [1723194930.377932517] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1723194930.591714392] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[spawner-9] [INFO] [1723194930.591812113] [spawner_forward_position_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1723194930.592036498] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1723194930.592071283] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1723194930.592110133] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ur_ros2_control_node-1] [INFO] [1723194930.643538031] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1723194930.793498315] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] [INFO] [1723194930.864975148] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1723194930.865333119] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ur_ros2_control_node-1] [INFO] [1723194930.888300414] [controller_manager]: Configuring controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1723194930.902383772] [forward_position_controller]: configure successful
[spawner-7] [INFO] [1723194930.929721915] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller
[spawner-8] [INFO] [1723194930.944231379] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1723194930.951357887] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-8] [INFO] [1723194930.984159653] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1723194930.986966764] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-8] [INFO] [1723194931.202582812] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1723194931.243527952] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[INFO] [spawner-7]: process has finished cleanly [pid 29259]
[INFO] [spawner-9]: process has finished cleanly [pid 29263]
[ur_ros2_control_node-1] [INFO] [1723194931.282866936] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[spawner-8] [INFO] [1723194931.287859219] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1723194931.370578481] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1723194931.370650813] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[spawner-8] [INFO] [1723194931.391717548] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1723194931.396087058] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-8] [INFO] [1723194931.529736387] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1723194931.533707799] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[spawner-8] [INFO] [1723194931.561089011] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[INFO] [spawner-8]: process has finished cleanly [pid 29261]
[rviz2-6] [INFO] [1723194931.858316457] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1723194931.858975769] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-6] [INFO] [1723194932.129054424] [rviz2]: Stereo is NOT SUPPORTED

and the IP settings are as follows: 0

2

3

But when I run the external control program on the teach pendant side, the following appears: 66jpg

I tried to solve the issue by turning off the firewall, but it didn't work, and the connection timeout problem still occurs.

The 192.168.1.101 can be pinged successfully. And when I run the launch file, run the following command: 4

It seems that port 50002 is open, but I don't know why running URCap shows a connection timeout.

What could be causing this and how could I fix it? Any help would be highly appreciated. Thanks *

Relevant log output

No response

Accept Public visibility

fmauch commented 1 week ago

Thank you for the in-detail report. From what I can see, everything looks correct, so I don't have any direct advice, I'm afraid.

I tried to solve the issue by turning off the firewall, but it didn't work, and the connection timeout problem still occurs.

That's the only point where I can imagine things going wrong. On ubuntu there are multiple possibilities for having a firewall. Which ones did you check for?