fmauch
commented
1 year ago This usually appears if (as mentioned in the output) when the robot is either not connected or not booted.
You can check using nmap -p29999-30004 192.168.10.10 whether the ports are actually open. For me with a non-connected robot that gives:
$ nmap -p29999-30004 192.168.56.101
Starting Nmap 7.80 ( https://nmap.org ) at 2023-08-02 17:12 CEST
Note: Host seems down. If it is really up, but blocking our ping probes, try -Pn
Nmap done: 1 IP address (0 hosts up) scanned in 3.06 secondsWith a connected, but not yet fully booted robot:
$ nmap -p29999-30004 192.168.56.101
Starting Nmap 7.80 ( https://nmap.org ) at 2023-08-02 17:12 CEST
Nmap scan report for 192.168.56.101
Host is up (0.00010s latency).
PORT STATE SERVICE
29999/tcp closed bingbang
30000/tcp closed ndmps
30001/tcp closed pago-services1
30002/tcp closed pago-services2
30003/tcp closed amicon-fpsu-ra
30004/tcp closed amicon-fpsu-sAnd finally with a booted robot that I can start the driver with:
nmap -p29999-30004 192.168.56.101
Starting Nmap 7.80 ( https://nmap.org ) at 2023-08-02 17:13 CEST
Nmap scan report for 192.168.56.101
Host is up (0.00011s latency).
PORT STATE SERVICE
29999/tcp open bingbang
30000/tcp closed ndmps
30001/tcp open pago-services1
30002/tcp open pago-services2
30003/tcp open amicon-fpsu-ra
30004/tcp open amicon-fpsu-sIf you don't see the open state for the relevant ports, please check your network setup. Of they show up as open and you still can't start the driver, please report back, then we need to do some further debugging.
Summary
We are using your ROS driver with an UR3E. ROS noetic is installed on a NVIDIA Jetson Xavier with Ubuntu 20.04 The UR3E is connected to the Xavier via Ethernet. The driver launch file is configured with headless_mode: True so we don't use URCaps Software. With this settings we did a lot of testing and all worked w/o problems, then at a certain point the driver began to give the following error and then exit.
[ERROR] [1686134091.854418752]: Connection setup failed for 192.168.10.10:29999 [ INFO] [1686134091.892440224]: waitForService: Service [/ur_hardware_interface/dashboard/play] is now available. [ INFO] [1686134091.919218464]: Initializing urdriver [ERROR] [1686134094.926490304]: Connection setup failed for 192.168.10.10:30002 [ERROR] [1686134097.998459904]: Connection setup failed for 192.168.10.10:30004
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Issue details
Here I post the complete log from the console after launching diver