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UniversalRobots / Universal_Robots_ROS_Driver

Universal Robots ROS driver supporting CB3 and e-Series
Apache License 2.0
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External control freezes on TP #360

Open Robert-Ven opened 3 years ago

Robert-Ven commented 3 years ago

Summary

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Introduction to the issue The issue occurs when attempting to connect the UR3 to the ROS pc using external control. After starting the node on the ROS pc, the external control is started, which freezes at the starting program phase.

The problem seems related to this and this, however, no firewall is enabled.

When attempting ss -atnp | grep 5000, the result is the following: LISTEN 0 1 *:50001 *:* users:(("ur_robot_driver",pid=15405,fd=17)) LISTEN 0 1 *:50002 *:* users:(("ur_robot_driver",pid=15405,fd=15)) ESTAB 0 0 192.168.10.6:50001 192.168.10.20:43172 users:(("ur_robot_driver",pid=15405,fd=19)) It seems that there is a connection.

The TP can be unfrozen by terminating the control on the ROS pc side, unplugging the ethernet cable does not unfreeze the system.

ROS pc ip = 192.168.10.6 UR ip = 192.168.10.20

fmauch commented 3 years ago

Possible duplicate of #351

Robert-Ven commented 3 years ago

To answer the questions you placed there:

Did you setup the URCap with the correct remote IP address as described here / Is 192.160.0.100 the IP address of your machine running the ROS driver?

Yes, I believe the code part shows an established connection, I also tried changing this, which resulted in the notification that the ros pc was not present

Did you start the ROS driver before starting the program on the TP?

Yes, this gave an error that the external ros pc was not present,after starting the ROS node the freezing happened.