fmauch
commented
3 years ago Mixing the ports around like you try doesn't seem to be a good idea. All the ports you tried are being used by other parts of the driver (at least the 5000x on the ROS machine).
The ur_client_library has an architecture overview of the ports being involved (The trajectory port on 50003 is missing there, see https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/82).
I would suggest not to change the ports as a start and find out why the default configuration doesn't work. For example reasons could be a firewall or other processes conflicting with the port definitions.
You can see the currently opened ports e.g. by using ss -alpn. An example output (filtered by port numbers 5000x) could be:
> $ ss -alpn | grep 5000
tcp LISTEN 0 1 0.0.0.0:50001 0.0.0.0:* users:(("ur_robot_driver",pid=78863,fd=18))
tcp LISTEN 0 1 0.0.0.0:50002 0.0.0.0:* users:(("ur_robot_driver",pid=78863,fd=14))
tcp LISTEN 0 1 0.0.0.0:50003 0.0.0.0:* users:(("ur_robot_driver",pid=78863,fd=21))Secondly, the full output of the driver could be helpful to assist you with finding the source of the connection problems.
Asad-Shahid
Summary
Hi, could someone explain how does the ports configuration work in the ur_robot_driver? I am having an issue with connecting the ur10e to the remote computer due to the ports. All the IP configurations are set properly.
Issue details
When I try to bring up the robot using:
$ roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=192.168.100.195
It fails almost all the time giving an error about the communication, like connection refused or could not be established. I looked at the similar issues in some threads but was not able to bring up the robot.
So I started changing the ports randomly e.g. changing 'script_sender_port' from default 50002 to 50003 or 50001 and it worked. External control started successfully. But then with the exact same configuration of the ports, I was not able to bring up the robot the second time. The strange thing is that sometimes it works with 30001 or 30002 but other times it doesn't work with the same ports but works with e.g. 50002. Similarly, I also changed the 'reverse_port' from 50001 to 50003 or 30001 etc and it was the similar effect.
I am really confused about whats going on. The only way I am able to bring up the robot now is by keeping the 'reverse_port' fixed to 50001 and continuously trying changing the 'script_sender_port' to numbers like 50002, 50003, 30001, 30002, 30003. If I have enough luck, one configuration would work.
Any suggestions, would be very much appreciated, Thanks