externalcontrol URCap from ur_robot_driver cannot establish connection with host pc
I am trying to run the externalcontrol node on the UR5 robot, but I get the following message:
"The connection to the remote PC could not be established"
Things to note:
- I calibrated my robot before starting ur_robot_driver on my PC
- After starting ur_robot_driver (and MoveIt) I see the correct state of the physical robot in Rviz
- I doublechecked the IP-address of my ROS PC in externalcontrol under the installation tab on the tablet
Robot specifications:
- UR5
- CB3.0 controller
- PolyScope 3.9.1
- External Control URcap version 1.0.1
ROS PC specifications:
- Ubuntu 16.04 Xenial
- ROS Kinetic
- ur_robot_driver version 0.0.3
What did I wrong? The ROS driver is running on the pc and the host IP address is correct.
EDIT:
ip_addr_show
outputs this:
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
inet 127.0.0.1/8 scope host lo
valid_lft forever preferred_lft forever
inet6 ::1/128 scope host
valid_lft forever preferred_lft forever
2: wlp3s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000
link/ether 60:f6:77:99:da:e5 brd ff:ff:ff:ff:ff:ff
inet 192.168.69.4/19 brd 192.168.95.255 scope global dynamic wlp3s0
valid_lft 10244sec preferred_lft 10244sec
inet6 fe80::ba57:b562:9c11:3b9b/64 scope link
valid_lft forever preferred_lft forever
3: enx3c18a078b201: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UP group default qlen 1000
link/ether 3c:18:a0:78:b2:01 brd ff:ff:ff:ff:ff:ff
inet 192.168.1.100/24 brd 192.168.1.255 scope global dynamic enx3c18a078b201
valid_lft 86378sec preferred_lft 86378sec
inet6 fe80::13f6:65f:11df:fc3e/64 scope link
valid_lft forever preferred_lft forever
Could you tell us whether you have a firewall enabled? And whether you are running Ubuntu natively, or in a VM?
probably, but please show us the IPs and network settings of the hosts involved.
The firewall is disabled. I am running Ubuntu natively on the PC (dualboot with windows).
please note that for multi-homed hosts this may not return the correct IP.
Could you show the output of
ip addr show
?And UniversalRobots/Universal_Robots_ROS_Driver#74 is a recent thread with a similar issue. See some of the later comments with steps to diagnose connection issues.
Given this:
192.168.69.4/19
I'm curious how you can access192.168.1.200
. Is there a (NAT) router between you and the robot? Can you show the output of:tracepath 192.168.1.200
?There is a router between the ROS PC and the robot.
tracepath 192.168.1.200
outputs this: