Cannot pull calibration information from UR30 as no connection is established

[sachinkundu]

I have Ubuntu 24.04.1 LTS running on a laptop(not a VM). ROS_DISTRO = jazzy

PolyScope version = 5.17.3

I installed jazzy version of driver using sudo apt-get install ros-${ROS_DISTRO}-ur

I have connected an ethernet cable from the laptop to the control box.

I go to Hambunger > Settings > System > Network and after putting the Admin password set the network method to Static Address as

IP address: 192.168.1.102
Subnet mask: 255.255.255.0
Default gateway: 192.168.1.1
Preferred DNS server: 192.168.1.1
Alternative DNS server: 0.0.0.0

I then set wired connection on the laptop side to

Address: 192.168.1.101
Netmask: 255.255.255.0
Gateway: 192.168.1.1

When I verify with ping 192.168.1.102it WORKS!

Even though on the Network page on the teach pendant is says Not connected to network

I ignored this error and proceeded with the installation by installing externalcontrol urcap as described in Installing a URCap on a e-Series robot

The Robot program has a single statement with ExternalControl and pointing to Host IP: 192.168.1.101 which is the laptop ip.

Next I run
$ ros2 launch ur_calibration calibration_correction.launch.py \ robot_ip:=192.168.1.102 target_filename:="${HOME}/my_robot_calibration.yaml"

but it fails to connect and the console stream says

sachin@sachin-xpose-ubuntu:~$ ros2 launch ur_calibration calibration_correction.launch.py robot_ip:=192.168.1.102 target_filename:="${HOME}/my_robot_calibration.yaml"
[INFO] [launch]: All log files can be found below /home/sachin/.ros/log/2024-11-12-09-43-57-005948-sachin-xpose-ubuntu-8680
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [calibration_correction-1]: process started with pid [8683]
[calibration_correction-1] [WARN] [1731397437.070674671] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[calibration_correction-1] [ERROR] [1731397574.143768702] [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

The robot is surely booted. On the laptop side I have disabled the firewall with sudo ufw disable

What steps do I need to do differently? I have not started the driver on the laptop side neither have I started the program from teach pendant.

I continued onward ignoring pulling the calibration file from robot with the next step ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101

But that fails with

...
[spawner-8] [FATAL] [1731400921.785851173] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-9] [FATAL] [1731400921.820059055] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
...
....
[dashboard_client-2] [ERROR] [1731401190.911485103] [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

Seems like a networking issue or are the steps to be done in another order?

[KoushikKaranGeethaNagaraj]

Hello @sachinkundu

I am currently facing the same problem. Were you able to figure out the root cause?

[sachinkundu]

No, gave up. It was a loaner robot so have not tried it since.

[urfeex]

Sorry, I missed that discussion earlier. @KoushikKaranGeethaNagaraj could you please open a new issue describing your setup, especially:

• how is the PC physically connected to the robot?
• What operating system are you running?
• etc...

Our issue template should ask the relevant questions.