# ROS2 humble and docker not working **URL:** \ **Category:** ROS\ **Created:** [September 22, 2022, 6:55am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982 "2022-09-22T06:55:49Z")\ **Posts on this page:** 10\ **Page:** 1
**Author:** ![cosmin](https://avatars.discourse-cdn.com/v4/letter/c/54ee81/32.png) [@cosmin](https://forum.universal-robots.com/u/cosmin)\ **Post date:** [September 22, 2022, 6:55am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/1 "2022-09-22T06:55:49Z")
Hello, I cannot get to work ROS2 Humble with URSim docker container, all running on Ubuntu 22. I installed the ROS2 driver as described in the github and created a docker image by pulling the universalrobots/ursim\_e-series and build it with: ```auto FROM universalrobots/ursim_cb3 # Install the URCap COPY externalcontrol-1.0.5.urcap /urcaps/externalcontrol-1.0.5.jar ``` The container has IP: 172.17.0.2 and host 172.17.0.1. Both are running in an Ubuntu VM in Windows 11. Launching a test with: ```auto ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=172.17.0.2:50002 launch_rviz:=true ``` The rviz interface looks good but i’m getting in the console (after initialization phase): [ur\_ros2\_control\_node-1] [INFO] [1663829527.935316745] [io\_and\_status\_controller]: Waiting for system interface to initialize… Running the program with URCaps the program stops with connection reset or “An error occurred in the running program, line 2” ![ros error](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/2/2d3d9e714d9f4e3d4ec6e623021d339d2017c033.jpeg) What can be the issue? Thank you, Cosmin ---
**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\ **Post date:** [September 22, 2022, 7:22am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/2 "2022-09-22T07:22:53Z")
What is inside the “Advanced view (script)” part? Oh, and: You should only provide the IP address to the `robot_ip` parameter, no port. ---
**Author:** ![cosmin](https://avatars.discourse-cdn.com/v4/letter/c/54ee81/32.png) [@cosmin](https://forum.universal-robots.com/u/cosmin)\ **Post date:** [September 22, 2022, 7:49am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/3 "2022-09-22T07:49:12Z")
I tried both, with or without port specified. without port I’m getting the same error, as not connected but on console i getting a lot of errors regarding transforms and on rviz the robot remains Panda not UR ---
**Author:** ![cosmin](https://avatars.discourse-cdn.com/v4/letter/c/54ee81/32.png) [@cosmin](https://forum.universal-robots.com/u/cosmin)\ **Post date:** [September 22, 2022, 8:03am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/4 "2022-09-22T08:03:56Z")
Advanced view script: ![Screenshot 2022-09-22 110247](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/2/2691f04390cc0956c8948b714419c04d871742c6.jpeg) ---
**Author:** ![cosmin](https://avatars.discourse-cdn.com/v4/letter/c/54ee81/32.png) [@cosmin](https://forum.universal-robots.com/u/cosmin)\ **Post date:** [September 22, 2022, 8:07am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/5 "2022-09-22T08:07:15Z")
Also in the settings i have: ![Screenshot2 error](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/2/28f2484216f361e6ef0c87f394dec053b73c7292.jpeg) It looks as URCap is inactive, even if it shows in the programming tab and i can used it. Is this an issue or just info? ---
**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\ **Post date:** [September 22, 2022, 11:25am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/6 "2022-09-22T11:25:49Z")
Let’s maybe make it to the top, since there are a lot of things currently confusing me. Panda? cb3 but e-series GUI? urcap installed twice? To start URSim and the driver, please see the [documentation](http://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator) In a nutshell: `ros2 run ur_robot_driver start_ursim.sh -m ur5` and `ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=192.168.56.101 launch_rviz:=true` This should get you an rviz window with a ur5 robot. To control the robot, setuo your robot as described [here](http://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/install_urcap_cb3.html) skipping the urcap installation as it is already installed. As remote IP address use `192.168.56.101` as this is what the startup script configures. Leave the port at 5002. Now, you should be able to press play on your teach pendant and everything should work. If anything of this fails, if if you get any error output on any shell, please post that complete output. ---
**Author:** ![cosmin](https://avatars.discourse-cdn.com/v4/letter/c/54ee81/32.png) [@cosmin](https://forum.universal-robots.com/u/cosmin)\ **Post date:** [September 22, 2022, 2:30pm UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/7 "2022-09-22T14:30:33Z")
Thanks for support! I’m not working with physical robot, i’m trying to make it work with robot running in docker. I’ve started the docker container with provided script and I’m not seeing any urcap tab to be able to make the simple program and get it running. On ROS side i have: ur\_ros2\_control\_node-1] Error: Pipeline producer overflowed! [ur\_ros2\_control\_node-1] at line 412 in ./include/ur\_client\_library/comm/pipeline.h ---
**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\ **Post date:** [September 22, 2022, 3:02pm UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/8 "2022-09-22T15:02:53Z")
Please provide the **full** commands and output as otherwise it is really hard to debug what is going wrong. ---
**Author:** ![cosmin](https://avatars.discourse-cdn.com/v4/letter/c/54ee81/32.png) [@cosmin](https://forum.universal-robots.com/u/cosmin)\ **Post date:** [September 23, 2022, 8:33am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/9 "2022-09-23T08:33:24Z")
Clearly their is something that I’m not doing right. First I’ve downloaded the urcap and programs. Second I’m starting the Docker image with: sudo docker run --rm -it -v “${URCAP\_STORAGE}”:/urcaps -v “${PROGRAM\_STORAGE}”:/ursim/programs -p 5900:5900 -e ROBOT\_MODEL=“ur5” universalrobots/ursim\_e-series Output: Universal Robots simulator for e-Series:5.12.4 IP address of the simulator ``` 172.17.0.2 ``` Access the robots user interface through this URL: ``` http://172.17.0.2:6080/vnc.html?host=172.17.0.2&port=6080 ``` Access the robots user interface with a VNC application on this address: ``` 172.17.0.2:5900 ``` You can find documentation on how to use this container on dockerhub: ``` https://hub.docker.com/r/universalrobots/ursim_e-series ``` Connecting with VNC to docker I’m not seeing the URCap tab to be able to make the simple program. ![Screenshot 2022-09-23 113207](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/4/438380d931fcabbb572def9b9738ac1d538383b6.jpeg) Is this ok? PS I’m not starting with provided start\_ursim.sh (even if is almost the same command) since I do not create a ursim\_net ---
**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\ **Post date:** [September 23, 2022, 8:53am UTC](https://forum.universal-robots.com/t/ros2-humble-and-docker-not-working/23982/10 "2022-09-23T08:53:50Z")
I am well aware, that the steps you took are very similar to what the `start_ursim.sh` does, but please stick to a known path until we found out what is actually going wrong. Since you also seem to have problems with the `start_ursim.sh` script, there seems to be an uncaught glitch in the setup somewhere. The less we deviate from known paths, the easier to find that.