Open danzimmerman opened 2 years ago
I tried this with Robostack ROS Noetic on Windows and the basic tutorial seems to work fine with URSim (though there seems to be a different issue with connection persistence there)
(Details of errors in the console below)
At the moment, I don't have ROS Noetic on Linux, so I can't try there.
It seems like the raw TCP and UDP have been removed from the ROS2 version of rosbridge_server:
This should not be a problem, since the node opens a TCP port on 9090.
I've tried running it with the ROS2 galactic and for me polyscope freezes when accessing the topic list, so this needs further investigation.
This should not be a problem, since the node opens a TCP port on 9090.
isn't that the websocket port rosbridge opens?
That's not a plain TCP port.
I've tried running it with the ROS2 galactic and for me polyscope freezes when accessing the topic list
Same for me. I haven't tried it on hardware yet, but in URSim Polyscope hangs indefinitely.
isn't that the websocket port rosbridge opens?
In Noetic, rosbridge_server
opens port 9090 for either the plain TCP server or the Websocket server.
If I launch the Noetic Rosbridge Websocket server (roslaunch rosbridge_server rosbridge_websocket.launch
), it times out with an informative error.
2022-06-13 11:53:54-0400 [-] dropping connection to peer tcp4:192.168.1.92:38013 with abort=True: WebSocket opening handshake timeout (peer did not finish the opening handshake in time)
I see, misconception on my side... Yes, that could definitively be the issue that we built this upon the plain TCP port rather than websocket communication.
Hi, just wondering if this should work with
rosbridge_server
in ROS2 (I'm running Galactic)Per the instructions, I need to launch
roslaunch rosbridge_server rosbridge_tcp.launch
, but there's no equivalent in Galactic, only a websocket server available,rosbridge_websocket_launch.xml
.It seems like the raw TCP and UDP have been removed from the ROS2 version of
rosbridge_server
:https://github.com/RobotWebTools/rosbridge_suite/issues/639 https://github.com/RobotWebTools/rosbridge_suite/pull/685
I installed the URCap in URSim and it hangs when I try to connect to a running Rosbridge Websocket server on Galactic, so I'm assuming this is what's going on, but wanted to verify.