rosmaster.threadpool ERROR

edit

 [rosmaster.threadpool][ERROR] 2021-07-30 13:20:23,900: Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1109, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1450, in __request
    response = self.__transport.request(
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1153, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1165, in single_request
    http_conn = self.send_request(host, handler, request_body, verbose)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1278, in send_request
    self.send_content(connection, request_body)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1308, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python3.8/http/client.py", line 1247, in endheaders
    self._send_output(message_body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.8/http/client.py", line 1007, in _send_output
    self.send(msg)
  File "/usr/lib/python3.8/http/client.py", line 947, in send
    self.connect()
  File "/usr/lib/python3.8/http/client.py", line 918, in connect
    self.sock = self._create_connection(
  File "/usr/lib/python3.8/socket.py", line 808, in create_connection
    raise err
  File "/usr/lib/python3.8/socket.py", line 796, in create_connection
    sock.connect(sa)
ConnectionRefusedError: [Errno 111] Connection refused

roslaunch elisa3_node_cpp elisa3_single.launch elisa3_address:='3223'

<launch>

<arg name="elisa3_address" default="3512"/>
<arg name="elisa3_name" default="elisa3_robot_0"/>
<arg name="is_single_robot" default="1" />
<arg name="xpos" default="0.0"/>
<arg name="ypos" default="0.0"/>
<arg name="theta" default="0.0"/>
    <!-- ************************* -->
    <!-- Sensor enabling/disabling -->
    <!-- ************************* -->
<arg name="acc_en" default="true"/>
<arg name="prox_en" default="true"/>
<arg name="mot_pos_en" default="true"/>
<arg name="floor_en" default="true"/>

    <!-- *************************** -->
    <!-- Pass the params to the node -->
    <!-- *************************** -->
<node pkg="elisa3_node_cpp" type="elisa3_node_cpp" name="$(arg elisa3_name)" output="screen">
    <param name="elisa3_address" value="$(arg elisa3_address)"/>
    <param name="elisa3_name" value="$(arg elisa3_name)"/>
    <param name="xpos" value="$(arg xpos)"/>
            <param name="ypos" value="$(arg ypos)"/>
            <param name="theta" value="$(arg theta)"/> 
    <param name="accelerometer" value="$(arg acc_en)"/>
    <param name="proximity" value="$(arg prox_en)"/>
    <param name="motor_position" value="$(arg mot_pos_en)"/>
    <param name="floor" value="$(arg floor_en)"/>
</node>

<param name="robot_description" textfile="$(find elisa3_node_cpp)/urdf/elisa3_urdf.xml"/>
<node name="elisa3_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
    <param name="tf_prefix" value="$(arg elisa3_name)" />
</node>

<node if="$(arg is_single_robot)" pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find elisa3_node_cpp)/config/elisa3_single_rviz.rviz"/>

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" >
    <param name="base_frame" value="$(arg elisa3_name)/base_link"/>

    <param name="map_update_interval" value="1.0"/>

    <param name="linearUpdate" value="0.01"/> <!-- 1 cm -->
    <param name ...