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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111): MOTOMAN Driver #578

Closed MohamedOmar2014 closed 7 months ago

MohamedOmar2014 commented 7 months ago

Hello, I'm working on MA-1400 robot with DX-100 controller. I have installed the motoman packages on ubuntu 20.04 and ROS neotic. I have followed the instructions in https://wiki.ros.org/motoman_driver/Tutorials/Usage.

After starting the driver, I got he following error:

[ERROR] [1703353479.806916846]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1703353479.812421194]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ WARN] [1703353479.812605071]: Not connected, bytes not received
[ERROR] [1703353479.812731196]: Failed to receive message length
[ERROR] [1703353479.812871423]: Failed to receive incoming message
[ WARN] [1703353479.812991339]: Send failure, no callback support
[ERROR] [1703353479.820512152]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ WARN] [1703353479.821230674]: Unable to read velocity limits from 'robot_description' param.  Velocity validation disabled.
[ERROR] [1703353479.824602270]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[FATAL] [1703353479.826375655]: Failed to connect
[ERROR] [1703353479.835195004]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
process[joint_trajectory_action-4]: started with pid [71405]
[ERROR] [1703353480.085480484]: Timeout connecting to robot controller.  Send new motion command to retry.
[ WARN] [1703353480.862728526]: Trajectory state not received for 1.000000 seconds
[ERROR] [1703353484.813898216]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ WARN] [1703353484.814005807]: Not connected, bytes not received
[ERROR] [1703353484.814076188]: Failed to receive message length
[ERROR] [1703353484.814148783]: Failed to receive incoming message
[ WARN] [1703353484.814217250]: Send failure, no callback support
[ERROR] [1703353489.815142831]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)

How can I solve that issue?

Also, their is no support package for MA-1400 robot. I have the URDF of this robot, can I copy the support package of MA-2010 and modify it for my robot. will that work?

gavanderhoorn commented 7 months ago

The connection errors seem to suggest MotoROS is not running on the DX100 -- or you're not providing the correct IP address to motoman_driver.

Assuming you're using the correct IP address:

if the answer to any of these questions is no, then the errors you report are what we would expect to see.

Also, their is no support package for MA-1400 robot. I have the URDF of this robot, can I copy the support package of MA-2010 and modify it for my robot. will that work?

Probably, yes.

If you'd like to have us review your changes, I'd suggest forking this repository, adding your MA-1400 support package, committing it and then opening a pull request here.