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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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Configurable reverse IP address #299

Closed gonzalocasas closed 5 years ago

gonzalocasas commented 5 years ago

When running the driver node in a network segment that is NAT bridged to the robot's one, the driver sends the local IP to the UR side to initialize the reverse connection on the reverse IP port, but the IP address that it sends is not reachable from the UR's side of the network.

The issue is basically the same as #111 but there was no proper solution applied there. It was closed because the source code was modified locally to point to the reverse IP, but that's not a sustainable solution. Also, the hint regarding using host network mode of Docker is limited to Linux systems, which is not our case.

So I would like to send a pull request to add an argument to the driver that allows manually configuring the IP. The argument is optional, and not setting it would lead to the current behavior, hence totally backwards compatible.

Does it sound like something that matches the project and that would be eventually merged? Or is there any fundamental complaint to the approach?

gavanderhoorn commented 5 years ago

Yes, if you provide a reasonable PR we can certainly merge it.

Using ur_modern_driver through a NAT device is not something I would specifically recommend though, but that is a different matter.

miguelprada commented 5 years ago

Resolved in #301.