Connection to host is refused

[barisDam]

I have been trying to use foxy to connect my ur3e. I followed the instructions on read.me exactly and several times. (except adding gitclone part where I also added -b foxy). When I launch on fake hardware I can see the model on rviz and even send the .py code to move it on rviz. My problem starts when I try to use real hardware. When I launch ur_bringup the model on rviz shows up folded on itself as white parts and terminal gives multiple Invalid frame ID error. The same outcome also happens when I just unplug the ethernet cable from my computer, so it suggests that my connection to the robot is not properly established. However when I ping the robot IP I get returns as regular. I also checked the pc IP and host IP settings several times. and followed the URCap installation steps. I am quite inexperienced on the subject so any kind of help is much appreciated. Thanks in advance

[fmauch]

When the robot model doesn't show up correctly, this usually means, that the connection to the robot could not be established or the robot is not correctly started. Please start the driver using launch_rviz:=false to suppress errors from RViz and post the complete output.

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur3e robot_ip:=<yyy.yyy.yyy.yyy> launch_rviz:=false

[barisDam]

Thank you for your answer here is the complete output for the command line you have given.

[INFO] [launch]: All log files can be found below /home/baris/.ros/log/2022-06-30-10-29-17-793904-baris-GF65-Thin-9SD-50844 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [dashboard_client-2]: process started with pid [50850] [INFO] [controller_stopper_node-3]: process started with pid [50852] [INFO] [ros2_control_node-1]: process started with pid [50848] [INFO] [robot_state_publisher-4]: process started with pid [50854] [INFO] [spawner.py-5]: process started with pid [50856] [INFO] [spawner.py-6]: process started with pid [50858] [INFO] [spawner.py-7]: process started with pid [50860] [INFO] [spawner.py-8]: process started with pid [50862] [INFO] [spawner.py-9]: process started with pid [50864] [ros2_control_node-1] [INFO] [1656574158.166380284] [URPositionHardwareInterface]: Starting ...please wait... [ros2_control_node-1] [INFO] [1656574158.166448197] [URPositionHardwareInterface]: Initializing driver... [ros2_control_node-1] [WARN] [1656574158.166973978] [UR_Client_Library]: No realtime capabilities found. Consider using a realtime system for better performance [dashboard_client-2] [INFO] [1656574158.165781400] [UR_Client_Library]: Connected: Universal Robots Dashboard Server [dashboard_client-2] [controller_stopper_node-3] [INFO] [1656574158.171516880] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller [robot_state_publisher-4] Parsing robot urdf xml string. [robot_state_publisher-4] Link base had 0 children [robot_state_publisher-4] Link base_link_inertia had 1 children [robot_state_publisher-4] Link shoulder_link had 1 children [robot_state_publisher-4] Link upper_arm_link had 1 children [robot_state_publisher-4] Link forearm_link had 1 children [robot_state_publisher-4] Link wrist_1_link had 1 children [robot_state_publisher-4] Link wrist_2_link had 1 children [robot_state_publisher-4] Link wrist_3_link had 1 children [robot_state_publisher-4] Link flange had 1 children [robot_state_publisher-4] Link tool0 had 0 children [robot_state_publisher-4] [INFO] [1656574158.175847044] [robot_state_publisher]: got segment base [robot_state_publisher-4] [INFO] [1656574158.176006526] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1656574158.176025004] [robot_state_publisher]: got segment base_link_inertia [robot_state_publisher-4] [INFO] [1656574158.176032697] [robot_state_publisher]: got segment flange [robot_state_publisher-4] [INFO] [1656574158.176038470] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-4] [INFO] [1656574158.176044048] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-4] [INFO] [1656574158.176049665] [robot_state_publisher]: got segment tool0 [robot_state_publisher-4] [INFO] [1656574158.176057248] [robot_state_publisher]: got segment upper_arm_link [robot_state_publisher-4] [INFO] [1656574158.176067011] [robot_state_publisher]: got segment wrist_1_link [robot_state_publisher-4] [INFO] [1656574158.176073231] [robot_state_publisher]: got segment wrist_2_link [robot_state_publisher-4] [INFO] [1656574158.176078819] [robot_state_publisher]: got segment wrist_3_link [spawner.py-5] [INFO] [1656574158.361892775] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1656574158.364327319] [spawner_io_and_status_controller]: Waiting for /controller_manager services [spawner.py-9] [INFO] [1656574158.367966714] [spawner_joint_trajectory_controller]: Waiting for /controller_manager services [spawner.py-7] [INFO] [1656574158.375257582] [spawner_speed_scaling_state_broadcaster]: Waiting for /controller_manager services [spawner.py-8] [INFO] [1656574158.377170704] [spawner_force_torque_sensor_broadcaster]: Waiting for /controller_manager services [ros2_control_node-1] [INFO] [1656574158.726928915] [UR_Client_Library]: Negotiated RTDE protocol version to 2. [ros2_control_node-1] [INFO] [1656574158.727572940] [UR_Client_Library]: Setting up RTDE communication with frequency 500.000000 [ros2_control_node-1] [FATAL] [1656574164.738318586] [URPositionHardwareInterface]: Variable 'speed_slider_mask' is currently controlled by another RTDE client. The input recipe can't be used as configured [controller_stopper_node-3] [INFO] [1656574164.744411262] [Controller stopper]: Service available [controller_stopper_node-3] [INFO] [1656574164.744450288] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers [controller_stopper_node-3] [INFO] [1656574164.744475415] [Controller stopper]: Service available [ros2_control_node-1] [INFO] [1656574164.746318866] [controller_manager]: update rate is 600 Hz [ERROR] [ros2_control_node-1]: process has died [pid 50848, exit code -11, cmd '/home/baris/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_f8ws86wi --params-file /home/baris/install/ur_bringup/share/ur_bringup/config/ur_controllers.yaml'].

The connection is probably the issue like you said since I get the same exact output if I do not plug the ethernet cable to my pc and run the bringup code. Like I said I can ping the robot and and don't know how to further test out whether I estabilished a connection or not.

[barisDam]

Solved the problem thanks for your attention. My problem was caused by Fieldbus EtherNet/IP being enabled. I do not know what that option is really used for but I guess it causes the connection issues.

[barisDam]

Solved the problem thanks for your attention. My problem was caused by Fieldbus EtherNet/IP being enabled. I do not know what that option is really used for but I guess it causes the connection issues.