External Control Connection refused

Technical Questions
1

I am working on ROS2 Foxy, my network setup is UR3e (192.168.0.4) > router > PC (Ubuntu with IP 192.168.0.2 and another network for docker with IP 172.17.0.1) > ROS2 (through docker with IP 172.17.0.2)

  • I set up host IP on the robot 192.168.0.2, and robot’s IP 192.168.0.4

  • I installed the external control urcap

  • I tried with both enable/disable remote control, and with both local/remote control on teach pendant

  • Firewall is disabled (sudo ufw status: inactive)

  • I run

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.0.4 launch_rviz:=true reverse_ip:=192.168.0.2

  • ping 192.168.0.4 shows successful connection

  • Also when I connect to the robot through ssh, and I ping 192.168.0.2 shows successful connection.

  • I also tried with setting as host IP the docker’s IP: 172.17.0.2 and the robot’s IP: 172.17.0.3 but this doesnt even ping.

For all these, the error is the same: Connection refused.
Any idea what’s wrong?
Attached is my installation and program configuration.

Thank you for your time,

URconfig.zip (3.7 KB)

2

Hello,
Did you open the port for the robot? We had an issue of connecting with global IP, We had 2 routers in the system and it wasn’t possible to connect the robot. We opened gates with both of the routers and it works.

1 Like
3

I found the solution. I had to add

at the docker command. But thank you anyway

4

I cant see the solution that you found. Could you please show that again?

Thanks