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"Connection Refused" after normal setup, when pressing "play" on a UR5 teach pendant #31
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Can you please confirm that you started the driver (e.g.
should appear in your driver console. |
I think the main problem is shown in this line:
I am not quite sure what can cause this. Are you sure that there is no other program trying to interact with the robot through RTDE? @fmauch do you know what else could cause this type of error? |
This is the first time I read about RTDE, i did not activly implement it. The PC is set up freshly, but the robot has been used a lot before. Is there a way to do a factory reset on the robot? |
Can you check under installation->Fieldbus if you have any field bus enabled? These claim all RTDE variables. If this is not the case, you have to check other installed URCaps to see if they could cause this. |
@padit1337 Please verify that neither EtherNet/IP nor PROFINET are enabled. From the photos you posted it seams that EtherNet/IP is enabled. See UniversalRobots/Universal_Robots_ROS_Driver#204 for details. If the error still persists, please check whether there are any other URCaps installed in the setup: |
Aaaaalter Schwede! Thank you so much, now that I think about it, it is so obvious. I was certain that I need this to talk with the robot via the normal ethernet cable that I use to connect it to the PC, so I always left it on... |
if there are more than one URCaps, whether it creates an issue in the external control of UR5e robot? |
I have a Local Network of just one Ubuntu 22 Computer and UR5 CB3 robot with a direct LAN connection. Nothing else is in this network and Ubuntu 22 is updated, and the Firmware of the UR5 is at 3.15.8, the most recent version. I followed this tutorial to set up the driver and this tutorial to set up the robot.
Everything until step 3 of the tutorial works just fine (obviously I adapted the command in step 3 to my UR5 and the robot IP), but in step 4 I am asked to press the play button after loading the program on the teach pendant. I can press the play button, but directly get the error message "Connections refused" by the program.
The command
ping 192.168.1.102
generates a normal ping output, so the physical connection seems ok. (The IP of the robot is 192.168.1.102 and the IP of Ubuntu is 192.168.1.101) Furthermore, during the robot setup, I am able to generate a proper .ymal calibration file with this command:$ ros2 launch ur_calibration calibration_correction.launch.py robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml
, so there MUST exist a way to communicate with the robot.And now it gets even weirder. When I use netcat
nc -lvnp 50002
to listen to the relevant port, while repeating step 3 and 4 of the tutorial, the program does NOT crash, but displays a "starting program... please wait..." screen,but nothing happens. I can not use the teach pendant any more (it recognises my touch by displaying the small cursor, but there is no button to abort the process). But as soon as I stop the netcat command, the program crashes and displays the following error: "Compile error: name 'null' is not defined." "Error Position Line 2"I am completely clueless what to do, but I need the robot for my master thesis, so I am a bit desperate. Is there anything I can do?
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