hello, i am trying at the moment to control two ur10e arms with ros2. i am using ubuntu22.04 and ros2 humble on a virtual machine.

in order to achieve the control i followed these two approches :

1st approach :

i run the ur_driver with the ip address of the first robot :

ros2 launch urrobotdriver urcontrol.launch.py urtype:=ur10e robotip:=192.168.102.210 launchrviz:=false initialjointcontroller:=jointtrajectorycontroller

then i run the program that has the eternal control on the robot side and i get this on the terminal :

[urros2controlnode-1] [INFO] [1669992433.027872458] [URClient_Library]: Robot requested program [urros2controlnode-1] [INFO] [1669992433.027943453] [URClient_Library]: Sent program to robot [urros2controlnode-1] [INFO] [1669992433.079561475] [URClient_Library]: Robot connected to reverse interface. Ready to receive control commands.

then on a second console i run the ur driver with the ip of the second robot :

ros2 launch urrobotdriver urcontrol.launch.py urtype:=ur10e robotip:=192.168.102.209 launchrviz:=false initialjointcontroller:=jointtrajectorycontroller

then i run the program that has the eternal control on the robot side and i get this on the terminal :

[urros2controlnode-1] terminate called after throwing an instance of 'std::systemerror' [urros2control_node-1] what(): Failed to bind socket for port 50002 to address. Reason: Address already in use: Address already in use

2nd approach

i basically follow the same steps except running the urdriver with the ip of the second robot in a different rosdomain

export ROSDOMAINID=2 and then i run the driver. however the same issue still persist.

my Question here is should i change the scriptsenderport on both the ur10e robot side and my machine side ? if so which ports i can use ? also why couldn't using the different ros domain fix the issue ?