# Docker image universalrobots/ursim\_cb3 controller connection issue

**URL:** <https://forum.universal-robots.com/t/docker-image-universalrobots-ursim-cb3-controller-connection-issue/22985>\
**Category:** Technical Questions\
**Created:** [July 29, 2022, 11:29am UTC](https://forum.universal-robots.com/t/docker-image-universalrobots-ursim-cb3-controller-connection-issue/22985 "2022-07-29T11:29:02Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![he1](https://avatars.discourse-cdn.com/v4/letter/h/3bc359/32.png) [@he1](https://forum.universal-robots.com/u/he1)\
**Post date:** [July 29, 2022, 11:29am UTC](https://forum.universal-robots.com/t/docker-image-universalrobots-ursim-cb3-controller-connection-issue/22985/1 "2022-07-29T11:29:02Z")

</div>

Hi,

I’m trying to run the ursim\_cb3 docker image on my windows 11 laptop with docker desktop but I’m unable to get it working.

When I start the container with the following parameters the java application fails to get a connection to the controller.

```auto
docker run --rm -p 5900:5900 -p 6080:6080 --name ursim_cb3 universalrobots/ursim_cb3

```

In Initialization screen it first says disconnected from controller. I can press restart. Afterwards it just shows “NO CONTROLLER” and the button changes to “Start”.

I was able to run the script below to get the simulator running showing “Normal” state, but I was not able to move the robot. Seems in the urcontrol log that there is some problem with a TCP connection.

```auto
docker exec -it ursim_cb3 bash -c 'cd /ursim/ && ./stopurcontrol.sh && ./starturcontrol.sh'

```

Found the image here:  
[https://hub.docker.com/r/universalrobots/ursim\_cb3](https://hub.docker.com/r/universalrobots/ursim_cb3)

The e-series version seems to work fine.

---

<div class="post-metadata">

**Author:** ![he1](https://avatars.discourse-cdn.com/v4/letter/h/3bc359/32.png) [@he1](https://forum.universal-robots.com/u/he1)\
**Post date:** [March 28, 2023, 10:39am UTC](https://forum.universal-robots.com/t/docker-image-universalrobots-ursim-cb3-controller-connection-issue/22985/2 "2023-03-28T10:39:46Z")

</div>

For information I tested it from my ubuntu machine and experienced no issues.

---

<div class="post-metadata">

**Author:** ![smarmstr](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/smarmstr/32/4896_2.png) [@smarmstr](https://forum.universal-robots.com/u/smarmstr)\
**Post date:** [March 28, 2023, 5:09pm UTC](https://forum.universal-robots.com/t/docker-image-universalrobots-ursim-cb3-controller-connection-issue/22985/3 "2023-03-28T17:09:37Z")

</div>

I’ve encounter the no controller issue before using the e-series simulators on Windows11.

I resolved the issue by updating Docker Desktop; it was behind a patch number causing the issue.

---

<div class="post-metadata">

**Author:** ![he1](https://avatars.discourse-cdn.com/v4/letter/h/3bc359/32.png) [@he1](https://forum.universal-robots.com/u/he1)\
**Post date:** [March 31, 2023, 8:02am UTC](https://forum.universal-robots.com/t/docker-image-universalrobots-ursim-cb3-controller-connection-issue/22985/4 "2023-03-31T08:02:20Z")

</div>

Thanks for chiming in. Actually I just got the no controller issue myself of e-series on Windows 11.

Manually trying to start URControl gives the following issue:

```sh
root@d37c7618e14a:~# HOME=/ursim/ $HOME/URControl -r 
URControl 41.6.4 [] G5 (13-10-2022, 09:22:44)
2023-03-31_10:06:08:03681 00:00:00:000 INFO - parseOpts(): The following ports will be used: Primary - 30001, Secondary - 30002, Interpreter - 30020, Matlab - 30003, RTDE - 30004, Primary_read_only - 30011, Secondary_read_only - 30012, Matlab_read_only - 30013.
2023-03-31_10:06:08:03691 00:00:00:000 INFO - Loading calibration from '/ursim//.urcontrol/calibration.conf'
2023-03-31_10:06:08:03694 00:00:00:000 WARNING - loadCalibration: Error: Cannot open configuration file '/ursim//.urcontrol/calibration.conf'. The file is corrupt or missing.
2023-03-31_10:06:08:03696 00:00:00:000 INFO - ConfigurationManager::loadConfiguration: Loading urcontrol.conf from: /ursim//.urcontrol/urcontrol.conf.

2023-03-31_10:06:08:03697 00:00:00:000 WARNING - readLastSeenJointPositions: Error: Cannot open configuration file '/ursim//.urcontrol/.last_seen_joint_positions.conf'. The file is corrupt or missing..

2023-03-31_10:06:08:03700 00:00:00:000 WARNING - PThread::_start: SCHED_FIFO - Failed to set scheduling parameters for PThreadPool
Exception was caught in creating ModbusServer: ServerSocket: Socket::create() failed.
You need root privileges to open a Modbus server at port 502
Perhaps use: "sudo setcap cap_net_bind_service+ep ./URControl"
2023-03-31_10:06:08:09366 00:00:00:000 INFO - Safety Version 5:6
2023-03-31_10:06:08:09369 00:00:00:002 INFO - Safety Version 5:6
2023-03-31_10:06:08:09370 00:00:00:004 ERROR - Socket::create: socket() failed. Error_code = 38, Error_message = Function not implemented
2023-03-31_10:06:08:09370 00:00:00:004 ERROR - TCPServer::init: TCP Connection failed. Exception caught: ServerSocket: Socket::create() failed..
2023-03-31_10:06:08:09371 00:00:00:004 ERROR - TCPServer::init: Check if another instance of URControl is running. The process will be terminated.
2023-03-31_10:06:08:09371 00:00:00:004 ERROR - Socket::create: socket() failed. Error_code = 38, Error_message = Function not implemented
2023-03-31_10:06:08:09371 00:00:00:004 INFO - RTM: Target RobotMode changed from ROBOT_MODE_DISCONNECTED to ROBOT_MODE_POWER_OFF
2023-03-31_10:06:08:09372 00:00:00:004 INFO - New safety mode: SAFETY_MODE_NORMAL
2023-03-31_10:06:08:09372 00:00:00:004 INFO - Runtime state change: from PROGRAM_STATE_STOPPING to PROGRAM_STATE_STOPPED
2023-03-31_10:06:08:10185 00:00:00:006 WARNING - Failed to write joint angles: [0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000]
URControl::shutdown

```

---

<div class="post-metadata">

**Author:** ![smarmstr](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/smarmstr/32/4896_2.png) [@smarmstr](https://forum.universal-robots.com/u/smarmstr)\
**Post date:** [March 31, 2023, 5:21pm UTC](https://forum.universal-robots.com/t/docker-image-universalrobots-ursim-cb3-controller-connection-issue/22985/5 "2023-03-31T17:21:54Z")

</div>

> [@he1](#):
>
> `2023-03-31_10:06:08:03694 00:00:00:000 WARNING - loadCalibration: Error: Cannot open configuration file '/ursim//.urcontrol/calibration.conf'. The file is corrupt or missing.`

Afraid I can’t be too much help here. I also observe the no controller issue when starting the cb3 container. I also observe a similar output when launching URControl.

```auto
docker run --rm -it -e ROBOT_MODEL=UR10 -p 5900:5900 -p 6080:6080 universalrobots/ursim_cb3

```

URControl launch output

```auto
root@5204f24bbedb:~# ./URControl
WARNING: Allocation of pages to be locked failed.
URControl 32.6.3 [] G3 (14-06-2022, 08:49:38)
2023-03-31_21:06:10:54287 00:00:00:000 INFO - parseOpts(): The following ports will be used: Primary - 30001, Secondary - 30002, Matlab - 30003, RTDE - 30004, Primary_read_only - 30011, Secondary_read_only - 30012, Matlab_read_only - 30013.
2023-03-31_21:06:10:54308 00:00:00:000 INFO - Locking memory pages
2023-03-31_21:06:10:54308 00:00:00:000 WARNING - loadCalibration: Error: Cannot open configuration file '/ursim/.urcontrol/calibration.conf'. The file is corrupt or missing.
2023-03-31_21:06:10:54309 00:00:00:000 INFO - ConfigurationManager::loadConfiguration: Loading urcontrol.conf from: /ursim/.urcontrol/urcontrol.conf.

2023-03-31_21:06:10:54309 00:00:00:000 WARNING - readLastSeenJointPositions: Error: Cannot open configuration file '/ursim/.urcontrol/.last_seen_joint_positions.conf'. The file is corrupt or missing..

2023-03-31_21:06:10:58401 00:00:00:000 WARNING - PThread::_start: SCHED_FIFO - Failed to set scheduling parameters for PThreadPool
Exception was caught in creating ModbusServer: ServerSocket: Socket::bind() failed.
You need root privileges to open a Modbus server at port 502
Perhaps use: "sudo setcap cap_net_bind_service+ep ./URControl"
2023-03-31_21:06:11:01690 00:00:00:000 ERROR - Socket::bind failed. Error_code = 98, Error_message = Address already in use
2023-03-31_21:06:11:01699 00:00:00:000 ERROR - TCPServer::init: TCP Connection failed. Exception caught: ServerSocket: Socket::bind() failed..
2023-03-31_21:06:11:01701 00:00:00:000 ERROR - TCPServer::init: Check if another instance of URControl is running. The process will be terminated.
2023-03-31_21:06:11:01701 00:00:00:000 ERROR - Socket::bind failed. Error_code = 98, Error_message = Address already in use
2023-03-31_21:06:11:01701 00:00:00:000 WARNING - Cannot open /dev/urobot driver interface! FORCED simulation mode!
2023-03-31_21:06:11:01709 00:00:00:000 INFO - ================================================
2023-03-31_21:06:11:01713 00:00:00:000 INFO - Simulation mode!
2023-03-31_21:06:11:01714 00:00:00:000 INFO - ================================================
2023-03-31_21:06:11:01714 00:00:00:000 WARNING - Cannot open /dev/urobot driver interface! FORCED simulation mode!
2023-03-31_21:06:11:01714 00:00:00:000 INFO - ================================================
2023-03-31_21:06:11:01715 00:00:00:000 INFO - Simulation mode!
2023-03-31_21:06:11:01715 00:00:00:000 INFO - ================================================
2023-03-31_21:06:11:01715 00:00:00:000 INFO - Send user CRC: 2295235740
2023-03-31_21:06:11:01716 00:00:00:000 INFO - Send robot CRC: 3326437779
2023-03-31_21:06:11:02529 00:00:00:008 INFO - scb_mode: DISCONNECTED -> RUNNING
2023-03-31_21:06:11:02537 00:00:00:008 INFO - robot_mode: BOOTING -> POWER OFF
2023-03-31_21:06:11:02539 00:00:00:008 INFO - RTM: Target RobotMode changed from ROBOT_MODE_DISCONNECTED to ROBOT_MODE_RUNNING
2023-03-31_21:06:11:02540 00:00:00:008 INFO - New safety mode: SAFETY_MODE_NORMAL
2023-03-31_21:06:11:02540 00:00:00:008 INFO - Runtime state change: from PROGRAM_STATE_STOPPING to PROGRAM_STATE_STOPPED
2023-03-31_21:06:12:07209 00:00:01:008 INFO - EnergyEaterMonitor::zeroCalibration - Zerocalibration done, zero current was 0.000000, supply voltage was 0.000000
2023-03-31_21:06:12:08873 00:00:01:024 INFO - robot_mode: POWER OFF -> POWER ON
2023-03-31_21:06:12:09732 00:00:01:032 INFO - robot_mode: POWER ON -> IDLE
2023-03-31_21:06:13:15335 00:00:02:032 INFO - EnergyEaterMonitor::idleMonitoring - idle monitoring done, idle current was 0.000000
2023-03-31_21:06:13:16158 00:00:02:040 INFO - robot_mode: IDLE -> RUNNING

```

I don’t see file `calibration.conf` in the file system.

I attached the [log\_history.pdf](https://forum.universal-robots.com/uploads/short-url/xcGtQrL0V9uAy2k3nXiOu2TmUxD.pdf) (49.9 KB) and support file  
[ur\_20195399999\_2023-02-07\_03-18-31.zip](https://forum.universal-robots.com/uploads/short-url/sfBV5JBnH1C4Us4T1VXmkZt7JpY.zip) (2.5 MB) in case somebody else might have more insight.