Unity-Technologies/Unity-Robotics-Hub

TCP connection failed in Unity in Pick and Place Tutorial—part 2 (using docker)

owlmoo opened this issue · 3 comments

owlmoo commented

Describe the bug
I follow the instruction to set up the docker and unity. However, when I hit play, I cannot build the connection.
In unity, it reports "Connection to 127.0.0.1:10000 failed" and "The remote host forcibly closed an existing connection".

trouble

“远程主机强迫关闭了一个现有的连接” means "The remote host forcibly closed an existing connection".

To Reproduce
In the ros side, I just source the setup.bash and run the part2.launch(roslaunch niryo_moveit part_2.launch).
In the unity side, I just follow the instuction and hit play.
rossettings
unitysettings

Console logs / stack traces

Connection to 127.0.0.1:10000 failed - System.IO.IOException: Unable to write data to the transport connection: 远程主机强迫关闭了一个现有的连接。 UnityEngine.Debug:Log (object) Unity.Robotics.ROSTCPConnector.ROSConnection/<ConnectionThread>d__115:MoveNext () (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@c27f00c6cf/Runtime/TcpConnector/ROSConnection.cs:854) System.Threading._ThreadPoolWaitCallback:PerformWaitCallback ()

Environment (please complete the following information, where applicable):

  • Unity Version: Unity 2020.3.35f1
  • Unity machine OS + version: Windows 10
  • ROS machine OS + version: Ubuntu 18.04, ROS Melodic
  • ROS–Unity communication: Docker
  • Branch or version: v0.7.0
owlmoo commented

I transformed the ros part to another machine(ubuntu 20.04) and everything worked fine, but I still want to run on docker..

sergiosolorzano commented

Hi @owlmoo I could run ubuntu connection on v.18.04 but when I upgraded to 20.04 it fails.
(note - I upgraded to 20.04 after seeing you post because in my case Unity doesn't connect)

In the tutorial I enter command:
roslaunch niryo_moveit part_2.launch
I get:
server_endpoint-2] restarting process
process[server_endpoint-2]: started with pid [27240]
/usr/bin/env: ‘python’: No such file or directory
[server_endpoint-2] process has died [pid 27240, exit code 127, cmd /home/sergio/IoT/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/ros_tcp_endpoint/src/ros_tcp_endpoint/default_server_endpoint.py --wait __name:=server_endpoint __log:=/home/sergio/.ros/log/9fa2e58c-7e33-11ed-831c-cd67f84396f1/server_endpoint-2.log].
log file: /home/sergio/.ros/log/9fa2e58c-7e33-11ed-831c-cd67f84396f1/server_endpoint-2*.log

Did you have a problem in 20.04 when using python3? I read Ubuntu 20.04 uses python3 and I'm wondering if the ros packages prepared by unity are for python2 and would only run on Ubuntu 18.04.

owlmoo commented

@sergiosolorzano Hi, I have this problem too, ros noetic support python3, and I just re-link the python interpreter using :
sudo ln -s /usr/bin/python3 /usr/bin/python

  • 👍1