Error when Connecting Doosan robot arm

asked 2023-01-20 04:05:01 -0500

Anirban
23 ●1 ●2 ●5

updated 2023-01-27 06:14:24 -0500

Hi,

I have a new Doosan A0509s arm. I am trying to run it using ROS.

The virtual mode works and launches properly when using the following -

roslaunch dsr_launcher dsr_moveit.launch model:=a0509

The problem arises when I am connecting the Real robot. I am running the following -

roslaunch dsr_control dsr_moveit.launch model:=a0509 host:=192.168.137.100 mode:=real

But, I am getting the following errors -

Connection refused [ERROR] [1674121841.041127378]: [dsr_control] Error initializing robot

[dsr01a0509-3] process has died [pid 40413, exit code 255, cmd /home/anirban/catkin_ws/devel/lib/dsr_control/dsr_control_node __name:=dsr01a0509 __log:=/home/anirban/.ros/log/bb3cbe20-97de-11ed-9a96-67be539470cf/dsr01a0509-3.log]. log file: /home/anirban/.ros/log/bb3cbe20-97de-11ed-9a96-67be539470cf/dsr01a0509-3*.log

I am able to ping to 192.168.127.100 when using the real robot, but ROS is unable to connect to it.

System details - Ubuntu 20.04 Ros Noetic

Can you please help me debug this issue? Thank you.

Update : What I tried till now -

1) Ping - Pinging the ip 192.168.137.100 works. But error still exists.

2) Tried running with admin privilages sudo i -

$sudo -i

then cd into catkin workspace, then source. Then run the roslaunch. Did not work.

3) Checked firewall using ufw.

$sudo ufw

status Shows inactive. My Laptop is connected directly to the Robot Controller via Ethernet cable.

Update : I am adding the images of the robot, system and errors.

Ros - --
Error -
Laptop connection -
Robot Teaching pendant -

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DId you added port number also of the robot or just the Ip address?

as you also need to pass port number as you can see in the file: https://github.com/doosan-robotics/doosan-robot/blob/noetic-devel/dsr_launcher/launch/dsr_moveit.launch

<arg name="port" default="12345"/>

Ranjit Kathiriya ( 2023-01-20 06:48:47 -0500 )edit

Hi Ranjit, Thanks for the response. I tried adding the port also. But used the default port.

roslaunch dsr_control dsr_moveit.launch model:=a0509 host:=192.168.127.100 mode:=real port:=12345

It still shows the error. (Obviously since the default is also 12345). Do you know how should I figure out what port to use? There is no port mentioned in the teaching pendant, and I donot see any port specifications in the manuals.

Anirban ( 2023-01-21 00:55:25 -0500 )edit

Have you checked your firewall in ubuntu? Is it not blocking your robot connection?

Ranjit Kathiriya ( 2023-01-24 10:25:21 -0500 )edit

You now will be able to put images can you be able to provide as much information about both the robot and laptop? so I could get some hints that might be wrong.

Ranjit Kathiriya ( 2023-01-24 10:27:02 -0500 )edit

Hi Ranjit, I checked the firewall in ubuntu. It shows inactive. I have added images of my system and the robot. I have also added the things that I tried till now. Error still persists.

Anirban ( 2023-01-27 04:06:17 -0500 )edit

Did you solve the issue?

Ranjit Kathiriya ( 2023-01-27 10:12:11 -0500 )edit

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answered 2023-01-27 05:57:17 -0500

Ranjit Kathiriya
1624 ●18 ●148 ●46

updated 2023-01-27 05:58:09 -0500

Hello @Anirban,

By looking at your issue, I can conclude that you have the same IP address in your ubuntu and Teaching pendant. Try to change the IP address to 192.168.137.101 or any other number (Not 100).

You cannot have the same ip address on a network. (An IP address conflict happens when two or more devices in a network have the same IP address. This results to one or both of the devices not being able to communicate with each other.)

Then try and check what errors are you getting.

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No unfortunately it did not work. Anyways, thanks a lot for the help!

Anirban ( 2023-01-30 04:18:24 -0500 )edit

But it did help..Yes I was setting it wrong it seems. I later changed the IP.

Anirban ( 2023-01-30 05:07:25 -0500 )edit

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answered 2023-01-30 04:17:43 -0500

Anirban
23 ●1 ●2 ●5

But I solved it finally :-). I cant believe the problem was this -> The robot controller was connected directly to my PC. This was the output of the nmap command. The port is closed for some reason. image description

Then checked all ports- image description

Clearly, No tcp port is open. So added a network switch in between.

Earlier, Robot Controller<----------------->PC

Now, Robot Controller<---------------network switch--------------->PC.

voila -

image description

The port 12345/tcp is now open and it works.

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I later changed the ip of the robot to 192.168.1.100 then to 192.168.1.2 (thats why the nmap is checked on these ip in above pics)

Anirban ( 2023-01-30 04:20:20 -0500 )edit

Tick as an answer, so it can help other users in the community.

Thanks

Ranjit Kathiriya ( 2023-01-30 06:27:51 -0500 )edit

This was the output of the nmap command. The port is closed for some reason.

This Ip address was referring to your PC so every time you tried to make a nmap 192.168.1.100 then it will refer to your local address which means your PC address. Your PC doesn't have port 12345 which was Opened. The open port was of your Robot.

Ranjit Kathiriya ( 2023-01-30 07:23:41 -0500 )edit

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Error when Connecting Doosan robot arm

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