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cambel / ur3

ROS-based UR3/UR3e controller with simulation in Gazebo. Adaptable to other UR robots
MIT License
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Connection refused with UR5e #29

Closed Yeesha-R closed 7 months ago

Yeesha-R commented 7 months ago

Summary

Connection to remote PC could not be established

I have been experiencing issues connecting to my UR5e lately (it started few days ago). I read all issues under "connection refused". I have also read issues about not using the correct IP address, in issues #244, #590, #510. However, none of the solutions worked for my problem. Here is my setup:

Version

ROS Driver version: Ubuntu 20.04, ROS noetic Affected Robot Software Version(s): e-Series Affected Robot Hardware Version(s): UR5e URCaps Software version(s): externalcontrol-1.0.5.urcap

Issue

When I run roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.2, I get the following output:

... logging to /home/ubuntu/.ros/log/c03e5a20-ec68-11ee-bf0d-3b86055ec174/roslaunch-yeesha-55242.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.1:43959/

### SUMMARY
PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 500
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_cartesian_traj_controller/type: pass_through_cont...
 * /forward_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_joint_traj_controller/type: pass_through_cont...
 * /hardware_control_loop/loop_hz: 500
 * /joint_based_cartesian_traj_controller/base: base
 * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /joint_based_cartesian_traj_controller/tip: tool0
 * /joint_based_cartesian_traj_controller/type: position_controll...
 * /joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 500
 * /joint_state_controller/type: joint_state_contr...
 * /pos_joint_traj_controller/action_monitor_rate: 20
 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/goal_time: 0.6
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /pos_joint_traj_controller/state_publish_rate: 500
 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /pos_joint_traj_controller/type: position_controll...
 * /pose_based_cartesian_traj_controller/base: base
 * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /pose_based_cartesian_traj_controller/tip: tool0_controller
 * /pose_based_cartesian_traj_controller/type: pose_controllers/...
 * /robot_description: <?xml version="1....
 * /robot_status_controller/handle_name: industrial_robot_...
 * /robot_status_controller/publish_rate: 10
 * /robot_status_controller/type: industrial_robot_...
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_pos_joint_traj_controller/state_publish_rate: 500
 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_pos_joint_traj_controller/type: position_controll...
 * /scaled_vel_joint_traj_controller/action_monitor_rate: 20
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_vel_joint_traj_controller/state_publish_rate: 500
 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_vel_joint_traj_controller/type: velocity_controll...
 * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
 * /speed_scaling_state_controller/publish_rate: 500
 * /speed_scaling_state_controller/type: scaled_controller...
 * /twist_controller/frame_id: tool0_controller
 * /twist_controller/joints: ['shoulder_pan_jo...
 * /twist_controller/publish_rate: 500
 * /twist_controller/type: ros_controllers_c...
 * /ur_hardware_interface/headless_mode: True
 * /ur_hardware_interface/input_recipe_file: /home/ubuntu/catk...
 * /ur_hardware_interface/joints: ['shoulder_pan_jo...
 * /ur_hardware_interface/kinematics/forearm/pitch: -0.00016429140255...
 * /ur_hardware_interface/kinematics/forearm/roll: 0.000803301646678084
 * /ur_hardware_interface/kinematics/forearm/x: -0.425571422853693
 * /ur_hardware_interface/kinematics/forearm/y: 0
 * /ur_hardware_interface/kinematics/forearm/yaw: 7.935875185502179...
 * /ur_hardware_interface/kinematics/forearm/z: 0
 * /ur_hardware_interface/kinematics/hash: calib_10628223071...
 * /ur_hardware_interface/kinematics/shoulder/pitch: 0
 * /ur_hardware_interface/kinematics/shoulder/roll: 0
 * /ur_hardware_interface/kinematics/shoulder/x: 0
 * /ur_hardware_interface/kinematics/shoulder/y: 0
 * /ur_hardware_interface/kinematics/shoulder/yaw: -2.11788194818401...
 * /ur_hardware_interface/kinematics/shoulder/z: 0.1628274777157086
 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0
 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.57086300824062
 * /ur_hardware_interface/kinematics/upper_arm/x: 0.000231293161590...
 * /ur_hardware_interface/kinematics/upper_arm/y: 0
 * /ur_hardware_interface/kinematics/upper_arm/yaw: 4.633351402548657...
 * /ur_hardware_interface/kinematics/upper_arm/z: 0
 * /ur_hardware_interface/kinematics/wrist_1/pitch: -0.00125106911865...
 * /ur_hardware_interface/kinematics/wrist_1/roll: 0.005474775199585643
 * /ur_hardware_interface/kinematics/wrist_1/x: -0.3928308915412547
 * /ur_hardware_interface/kinematics/wrist_1/y: -0.00072969374769...
 * /ur_hardware_interface/kinematics/wrist_1/yaw: -3.92776315490733...
 * /ur_hardware_interface/kinematics/wrist_1/z: 0.1332815377199781
 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0
 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.571012882644877
 * /ur_hardware_interface/kinematics/wrist_2/x: 7.419279981228044...
 * /ur_hardware_interface/kinematics/wrist_2/y: -0.0997277749748711
 * /ur_hardware_interface/kinematics/wrist_2/yaw: 5.789775618051524...
 * /ur_hardware_interface/kinematics/wrist_2/z: -2.15966334139632...
 * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.571115667279744
 * /ur_hardware_interface/kinematics/wrist_3/x: 4.181199117549361...
 * /ur_hardware_interface/kinematics/wrist_3/y: 0.09968130861042257
 * /ur_hardware_interface/kinematics/wrist_3/yaw: -3.14159262214027
 * /ur_hardware_interface/kinematics/wrist_3/z: 3.18322785039259e-05
 * /ur_hardware_interface/output_recipe_file: /home/ubuntu/catk...
 * /ur_hardware_interface/reverse_ip: 
 * /ur_hardware_interface/reverse_port: 50001
 * /ur_hardware_interface/robot_ip: 192.168.1.2
 * /ur_hardware_interface/script_command_port: 50004
 * /ur_hardware_interface/script_file: /opt/ros/noetic/s...
 * /ur_hardware_interface/script_sender_port: 50002
 * /ur_hardware_interface/servoj_gain: 2000
 * /ur_hardware_interface/servoj_lookahead_time: 0.03
 * /ur_hardware_interface/tf_prefix: 
 * /ur_hardware_interface/tool_baud_rate: 115200
 * /ur_hardware_interface/tool_parity: 0
 * /ur_hardware_interface/tool_rx_idle_chars: 1.5
 * /ur_hardware_interface/tool_stop_bits: 1
 * /ur_hardware_interface/tool_tx_idle_chars: 3.5
 * /ur_hardware_interface/tool_voltage: 24
 * /ur_hardware_interface/trajectory_port: 50003
 * /ur_hardware_interface/use_spline_interpolation: True
 * /ur_hardware_interface/use_tool_communication: True
 * /ur_tool_communication_bridge/device_name: /tmp/ttyUR
 * /ur_tool_communication_bridge/reverse_ip: 
 * /ur_tool_communication_bridge/reverse_port: 50001
 * /ur_tool_communication_bridge/robot_ip: 192.168.1.2
 * /ur_tool_communication_bridge/script_sender_port: 50002
 * /ur_tool_communication_bridge/tcp_port: 54321
 * /vel_joint_traj_controller/action_monitor_rate: 20
 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/goal_time: 0.6
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /vel_joint_traj_controller/state_publish_rate: 500
 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /vel_joint_traj_controller/type: velocity_controll...
 * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0

NODES
  /
    controller_stopper (ur_robot_driver/controller_stopper_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)
    ros_control_stopped_spawner (controller_manager/spawner)
    ur_hardware_interface (ur_robot_driver/ur_robot_driver_node)
    ur_tool_communication_bridge (ur_robot_driver/tool_communication)
  /ur_hardware_interface/
    ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master
process[master]: started with pid [55272]
ROS_MASTER_URI=http://192.168.1.1:11311

setting /run_id to c03e5a20-ec68-11ee-bf0d-3b86055ec174
process[rosout-1]: started with pid [55292]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [55299]
process[ur_hardware_interface-3]: started with pid [55300]
process[ur_tool_communication_bridge-4]: started with pid [55301]
[ INFO] [1711564515.785857859]: Main thread: SCHED_FIFO OK
[ INFO] [1711564515.787148447]: Main thread priority is 99
process[ros_control_controller_spawner-5]: started with pid [55312]
process[ros_control_stopped_spawner-6]: started with pid [55316]
process[controller_stopper-7]: started with pid [55317]
[ INFO] [1711564515.869539295]: Initializing dashboard client
[ INFO] [1711564515.880455072]: Connected: Universal Robots Dashboard Server

process[ur_hardware_interface/ur_robot_state_helper-8]: started with pid [55318]
[ INFO] [1711564515.950774745]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1711564515.954172397]: Initializing urdriver
[ INFO] [1711564515.955017913]: SCHED_FIFO OK, priority 99
[ INFO] [1711564515.957909686]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1711564516.198372886]: Negotiated RTDE protocol version to 2.
[ INFO] [1711564516.198663486]: Setting up RTDE communication with frequency 500.000000
[INFO] [1711564516.438916]: Remote device is available at '/tmp/ttyUR'
[INFO] [1711564516.440387]: Starting socat with following command:
socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.168.1.2:54321
[INFO] [1711564516.447070]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1711564516.557982]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1711564517.217981022]: Checking if calibration data matches connected robot.
[ INFO] [1711564518.295702941]: Calibration checked successfully.
[ INFO] [1711564518.303088229]: SCHED_FIFO OK, priority 99
[ INFO] [1711564518.303286213]: Loaded ur_robot_driver hardware_interface
[INFO] [1711564518.376328]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1711564518.378965]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1711564518.381546]: Loading controller: joint_based_cartesian_traj_controller
[ INFO] [1711564518.389413847]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1711564518.389460609]: Service available.
[ INFO] [1711564518.389510612]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1711564518.390285015]: Service available.
[INFO] [1711564518.405154]: Loading controller: forward_cartesian_traj_controller
[ INFO] [1711564518.429162744]: Robot mode is now RUNNING
[ INFO] [1711564518.433029174]: Robot's safety mode is now NORMAL
[INFO] [1711564518.437341]: Loading controller: pos_joint_traj_controller
[INFO] [1711564518.505220]: Loading controller: joint_group_vel_controller
[INFO] [1711564518.513043]: Controller Spawner: Loaded controllers: joint_based_cartesian_traj_controller, forward_cartesian_traj_controller, pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1711564518.566813]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1711564518.573472]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1711564518.577677]: Loading controller: pose_based_cartesian_traj_controller
[INFO] [1711564518.593187]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1711564518.643017]: Loading controller: joint_state_controller
[INFO] [1711564518.651296]: Loading controller: speed_scaling_state_controller
[INFO] [1711564518.665151]: Loading controller: force_torque_sensor_controller
[INFO] [1711564518.675187]: Controller Spawner: Loaded controllers: pose_based_cartesian_traj_controller, scaled_pos_joint_traj_controller, joint_state_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1711564518.684564]: Started controllers: pose_based_cartesian_traj_controller, scaled_pos_joint_traj_controller, joint_state_controller, speed_scaling_state_controller, force_torque_sensor_controller

At this stage, I start the external control on the teach pendant but got the error message "The connection to the remote PC at 192.168.1.1:50002 could not be established. Reason: Connection refused (Connection refused)" 20240327_153008

I was able to successfully ping the robot at 192.168.1.2 Screenshot from 2024-03-27 14-54-10

When I ran telnet 192.168.1.1 50002, I got 

Trying 192.168.1.1...
telnet: Unable to connect to remote host: Connection refused

When I ran nc 192.168.1.2, I got nc: missing port number

when I ran sudo ufw disable, I got Firewall stopped and disabled on system startup and when I ran ss -alpn | grep 5000 | column -t, I noticed that the 50002 port is not among the available ports

tcp  LISTEN  0  1  0.0.0.0:50001  0.0.0.0:*  users:(("ur_robot_driver",pid=56686,fd=11))
tcp  LISTEN  0  1  0.0.0.0:50003  0.0.0.0:*  users:(("ur_robot_driver",pid=56686,fd=19))
tcp  LISTEN  0  1  0.0.0.0:50004  0.0.0.0:*  users:(("ur_robot_driver",pid=56686,fd=22))

A screenshot is attached below Screenshot from 2024-03-27 15-24-35

I have been using this robot for over one year but this issue started recently. Kindly let me know if you need anymore information. Thank you.

cambel commented 7 months ago

Hi @Yeesha-R The issue is unrelated to this repository. I recommend you open one directly on the Universal_Robots_ROS_Driver repository. That being said, the problem seems to be the network configuration between the robot and the PC. So you may want to look into ways to open the required ports for the robot to properly communicate with the PC

Yeesha-R commented 7 months ago

Hi @cambel ,

Thank you for your response. It was a mistake and I tried to delete it but could not. Thanks for the suggestion, I fhave found a solution to the issue.

Whohahaha commented 7 months ago

Hi @cambel ,

Thank you for your response. It was a mistake and I tried to delete it but could not. Thanks for the suggestion, I fhave found a solution to the issue.

may your experiences and solution shared? I am facing the same problem as you!

Yeesha-R commented 7 months ago

@Whohahaha , please see issue https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/690 on the UR robot's github page

Whohahaha commented 7 months ago

thanks so much!