Connecting to UR3 with WSL causes compile error: "null" not defined #689
Comments
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Can you please verify that this is your current setup?
I am not quite sure what could be missing in this case, i'll try to test it out. Im am not really sure how a |
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Hi Robert,
Yes this is my current setup
…________________________________
From: RobertWilbrandt ***@***.***>
Sent: Tuesday, March 19, 2024 9:08:30 AM
To: UniversalRobots/Universal_Robots_ROS_Driver ***@***.***>
Cc: Nathan Petrou ***@***.***>; Manual ***@***.***>
Subject: Re: [UniversalRobots/Universal_Robots_ROS_Driver] Connecting to UR3 with WSL causes compile error: "null" not defined (Issue #689)
Can you please verify that this is your current setup?
* Robot ip: 192.168.1.101
* Windows static ip: 192.168.1.102
* Firewall disabled
* Port forwarding done for ports 50001, 50002, 50001 with netsh interface portproxy add v4tov4 listenport=50002 connectport=<port> connectaddress=<wsl ip>
* External control ip set to 192.168.1.102
* Driver started using roslaunch ur_robot_driver ur3_bringup.launch robot_ip:=192.168.1.101 reverse_ip:=192.168.1.102
I am not quite sure what could be missing in this case, i'll try to test it out. Im am not really sure how a null appears in the program. Using headless mode should not really change anything, as it only loads the external control script automatically. Connection problems from within the script should be unaffected by this.
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One thing, I'm not sure of it helps but I have an ethernet connection straight from the robot directly to my laptop through a USB ethernet adapter, no router.
I have setup the ip so that it is static to this address tho and can ping the robot still
…________________________________
From: RobertWilbrandt ***@***.***>
Sent: Tuesday, March 19, 2024 9:08:30 AM
To: UniversalRobots/Universal_Robots_ROS_Driver ***@***.***>
Cc: Nathan Petrou ***@***.***>; Manual ***@***.***>
Subject: Re: [UniversalRobots/Universal_Robots_ROS_Driver] Connecting to UR3 with WSL causes compile error: "null" not defined (Issue #689)
Can you please verify that this is your current setup?
* Robot ip: 192.168.1.101
* Windows static ip: 192.168.1.102
* Firewall disabled
* Port forwarding done for ports 50001, 50002, 50001 with netsh interface portproxy add v4tov4 listenport=50002 connectport=<port> connectaddress=<wsl ip>
* External control ip set to 192.168.1.102
* Driver started using roslaunch ur_robot_driver ur3_bringup.launch robot_ip:=192.168.1.101 reverse_ip:=192.168.1.102
I am not quite sure what could be missing in this case, i'll try to test it out. Im am not really sure how a null appears in the program. Using headless mode should not really change anything, as it only loads the external control script automatically. Connection problems from within the script should be unaffected by this.
—
Reply to this email directly, view it on GitHub<#689 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AYWGA2IVQARFY6YFPWEGM6TYY76A5AVCNFSM6AAAAABE33WVYSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDAMBWGQYTQNRWGI>.
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To me this looks like there is some problem transmitting the urscript from I am a little bit confused about the port assignment here - in the non-headless mode, i would expect traffic to go through port |
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Hi thanks, also just to clarify when you say to disable the firewall you are referring to windows firewall correct? WSL also seems to have a firewall however incoming traffic on that is set to allow. |
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I tested passing through ports 30001,2,4 with no luck. |
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@NathzxcCode sad to hear that it does not work out for you. Suggestion to verify connections:
Hope this will help you forward |
fmauch
added
requires testing
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Hello, Has there been any update on this issue? I am running into the same issue using a CB3 UR10. After following the debugging steps in #486 I have ended up here with the same issue as NathzxcCode I can ping the robot on 192.168.1.102 and its pose updates live in RVIZ out put from |
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I ended up dualbooting my system with Linux because I was against a tight deadline. I didn't end up trying the latest suggestions |
@troyCor okay it seems that you have the right ports open and can connect to the robot. Please share when you find the solution |
@NathzxcCode happy you got forward and a dual boot was an option for you. This is also the solution the in regards real time performance as well. |
Affected ROS Driver version(s)
latest from github
Used ROS distribution.
Noetic
Which combination of platform is the ROS driver running on.
Windows using WSL2
How is the UR ROS Driver installed.
Build both the ROS driver and UR Client Library from source
Which robot platform is the driver connected to.
UR CB3 robot
Robot SW / URSim version(s)
3.15
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
i am trying to control the UR3 robot using WSL however i keep getting issues when running the external control program getting connection to remote PC at 192.168.1.102:50002 could not be established. Reason connection timed out. i followed the solution #486 adding portforwarding and turning the firewall off. however i get a new issue Compile error name "null" is not defined. this error seems to appear when i add my windows IP as the reverse_ip:=192.168.1.102 when loading the driver.
Issue details
i have done portforwarding:
netsh interface portproxy add v4tov4 listenport=50002 connectport=50002 connectaddress=172.17.96.1
netsh interface portproxy add v4tov4 listenport=50001 connectport=50001 connectaddress=172.17.96.1
netsh interface portproxy add v4tov4 listenport=50003 connectport=50003 connectaddress=172.17.96.1
set my external control ip and port to 192.168.1.102 50002
i run the driver: roslaunch ur_robot_driver ur3_bringup.launch robot_ip:=192.168.1.101 reverse_ip:=192.168.1.102
i can see the robot in rvis and track how it moves. however when i try to run the extrenal control program (external control urcap in the program tree) i get the error mentioned.
when i dont pass the reverse_ip argument into the driver i get the error connection to the remote pc at ip:port could not be established. reason: connection timed out.
what do i need to do in order to control my robot through WSL?
could headless mode work better if i keep getting errors with the external control URCap?
Relevant log output
No response
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