Connecting to Universal Robot
I try to connect to my UR3e via ROS 2. For this i installed ROS 2 Foxy. To connect to my UR, I installed the Universal Robot package
Now i have some issues, when i finally want to connect to the Robot. I installed the "externalcontrol-1.0.5.urcap" file on the teach pendant. The Pendant is running with the polyscope version 5.12.4. When i start
ros2 launch ur_bringup ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.1.102 use_fake_hardware:=true launch_rviz:=true
i get following error:
[ERROR] [1664263597.180336063] [UR_Client_Library]: Failed to connect to robot on IP 192.168.1.102. Please check that the robot is booted and reachable on 192.168.1.102. Retrying in 10 seconds
Afterwards I start the URCap file on the Panel. There i get the following error
The connection to the remote PC at 192.168.1.110:50002 could not be established. Reason: connection time out
or
The connection to the remote PC at 192.168.1.110:50002 could not be established. Reason: No route to host (Host unreachable)
or
The connection to the remote PC at 192.168.1.110:50002 could not be established. Reason: Connection refused (Connection refused)
My ROS2 is running in VMware on Ubuntu 20.04. In my VM, I set up a additional network adapter. The already existing one is set to NAT. The new one is set to network bridge, where i chose the Realtek PCIe Gbe Family Controller
which should be my Ethernet socket, where my LAN cable from the UR is connected to. The second Adapter has a static IP address: 192.168.1.110.
Pinging the UR from the virtual machine is possible:
64 bytes from 192.168.1.102: icmp_seq=1 ttl=128 time=1.56 ms
A Ping is possible if both network adapters are activated or just any of them.
Does any of you have a idea where the problem is and how to solve this?.