Can't control Ur3 out of rviz

edit

Hello, I'm using ROS melodic on Ubuntu 18.04 with Kernel 5.3.0.59-generic a UR3 Robot

I followed the tutorial for initalizing (https://github.com/UniversalRobots/Un...). I have changed the Ethernet/IP configurations (see https://answers.ros.org/question/3552...) and installed everything new from scretch.

Now I have a bunch of WARN and ERRORS and after two weeks of searching and trying to fix them, I'm not quite sure which I can ignore and which are essential:

First I'm starting with calibrating the robot with the command:

roslaunch ur_calibration calibration_correction.launch \
 robot_ip:=131.246.27.113 target_filename:="${HOME}/my_robot_calibration.yaml"

After that, I'm copying the "my_robot_calibration.yaml" document into the catkin_ws/.../ur_calibration folder (for some reason it seems not to work, if it's not in the folder) Until this point everything is fine, despite the fact that I have no realtime capabilities (but I think that's not necessary right now)

Then the Readme says:

Once the robot driver is started, load the previously generated program on the robot panel that will start the External Control program node and execute it. From that moment on the robot is fully functional. You can make use of the Pause function or even Stop (black_medium_small_square) the program. Simply press the Play button (arrow_forward) again and the ROS driver will reconnect.

And here I'm not sure how to go on: I tried to load the program "external control.urp" nevertheless URCaps is shown with a white tick on green circle on the Setup Robot (do I have to load the program in "external control.urp in this case??)

Now I'm going on with starting Moveit! with:

roslaunch ur_bringup ur3_bringup.launch robot_ip:=131.246.27.113 [reverse_port:=50002]

This gives me the warnings:

[ WARN] [1593524747.723717318]: Shutdown request received.
[ WARN] [1593524747.724436434]: Reason given for shutdown: 
[new node registered with same name]
[robot_state_publisher-1] process has finished cleanly
log file: /home/robo/.ros/log/ec361ff0-bad5-11ea-adeb-4c5262ae3479/robot_state_publisher-1*.log
Setting prefix to 
[WARN] [1593524748.260614]: No calibration offset for joint "shoulder_pan_joint"
[WARN] [1593524748.262700]: No calibration offset for joint "shoulder_lift_joint"
[WARN] [1593524748.264639]: No calibration offset for joint "elbow_joint"
[WARN] [1593524748.266711]: No calibration offset for joint "wrist_1_joint"
[WARN] [1593524748.268675]: No calibration offset for joint "wrist_2_joint"
[WARN] [1593524748.270664]: No calibration offset for joint "wrist_3_joint"
[INFO] [1593524748.272616]: No calibration offsets loaded from urdf
[INFO] [1593524748.275704]: Max velocity accepted by ur_driver: 10.0 [rad/s]
[INFO] [1593524748.280168]: Bounds for Payload: [0.0, 3.0]
Traceback (most recent call last):
  File "/home/robo/catkin_ws/src/fmauch_universal_robot/ur_driver/src/ur_driver/driver.py", line 1018, in <module>
    if __name__ == '__main__': main()
  File "/home/robo/catkin_ws/src/fmauch_universal_robot/ur_driver/src/ur_driver/driver.py", line 939, in main
    server = TCPServer(("", reverse_port), CommanderTCPHandler)
  File "/usr/lib/python2.7/SocketServer.py", line 420, in __init__
    self.server_bind()
  File "/usr/lib/python2.7/SocketServer.py", line 434, in server_bind
    self.socket.bind(self.server_address)
  File "/usr/lib/python2.7/socket.py", line ...