fmauch
commented
1 year ago While I don't have any experience at all using WSL2, the setup you described seems to in line with the linked comment from the ROS1 driver.
However, in your output I am missing Robot connected to reverse interface. Ready to receive control commands. After the program has been sent to the robot and it gets executed, it should connect to the driver's reverse interface. At this place the driver should print the above output. If this is not happening, there probably is an issue with your robot reaching the WSL2 port 50001. If it is not able to connect at all, you should see an error popup on the TP:
If you don't get this, the robot probably is able to make a connection to Windows' port 50001, but this being bound to something else. But then I also expect the robot program to fail (probably with a timeout log and the program stopping / repeating, when configured to loop).
Adrian2702
AGuthmann
pkoprov
RobertWilbrandt
Hi community,
I am trying to control a UR10 robot (CB3 series; URSoftware 3.12.0.90886) from my Windows 10 PC running WSL2. WSL2 is running Ubuntu 22.04 with ROS2 Humble. I have installed the _Universal_Robots_ROS2Driver (Branch: Humble) and now I want to control the real robot.
My configuration
When I run
ipconfigin the Windows command line, I get the following network settings:IP address of the Windows PC: 192.168.0.211 (Subnet: 255.255.255.0) IP address of the UR10 robot: 192.168.0.210 (Subnet: 255.255.255.0) IP address of the vEthernet adapter (WSL): 172.22.144.1 (Subnet: 255.255.240.0)
When I call
ifconfigorhostname -Iin the WSL2 prompt, I get the WSL2_IP address: 172.22.148.69The robot is directly connected to my Windows PC via an Ethernet cable.
As MiroslavKohut mentioned in https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/486#issuecomment-1096776059, i setup port forwarding in an elevated powershell:
I configured the
reverse_ipof theur_robot_driverto my Windows-IP address (192.168.0.211). I have configured the inbound and outbound rules for ports 50001 to 50004 in the Windows Firewall rules. Additionally, I addedC:\Windows\System32\bash.exeandC:\Windows\System32\wsl.exeto the firewall whitelist as described in https://stackoverflow.com/questions/63784906/firewall-blocking-wsl-2.I checked the status of the UFW firewall in WSL2 with
sudo ufw statusand I get the answer:Status: inactive.From the Windows PC, I can ping any IP address (WSL2_IP address and robot IP). When I access the robot controller with
ssh, I can ping 192.168.0.211 (Win PC). Ping to WSL2 vEthernet adapter (172.22.144.1) or WSL2_IP (172.22.148.69) is not possible. But this should be normal, because they are different networks.I have disabled PROFINET as well as EtherNet/IP on our robot controller. Also, there is no other URCap installed on the robot (except the externalcontrol-1.0.5.urcap).
I start the robot driver with the following command:
ros2 launch ur_robot_driver ur_control.launch.py use_fake_hardware:=false initial_joint_controller:=joint_trajectory_controller(Attention! The robot_ip=192.168.0.210 is stored in the script and therefore not visible in the launch command.)
Rviz starts and everything looks pretty good. The robot is displayed in Rviz as the real robot is currently. Then I start the URCap on the UR robot controller and it runs normally. Now I get the INFO in the terminal:
Issue
I have checked if the joint_trajectory_controller is active. It is. Then I called the joint trajectory controller plugin available in rqt to control the UR robot with the joint_trajectory_controller. When I press the power button in rqt and then move the sliders of each joint, the real robot does not move as expected. The same happens with the scaled_joint_trajectory_controller.
I tried the whole thing under ROS Noetic on a Linux PC, there it worked.
So my question now is if it is possible to control a real robot via WSL2? Could it be that WSL2 blocks outgoing signals via port 50002? Did I miss something in the configuration?
I would be very grateful for any tips. Thank you in advance.