Unable to connect to the robot

Question

Unable to connect to the robot

Closed this issue 7 years ago · 18 comments

I am unable to get the abb_driver to communicate with the robot. I run roslaunch abb_irb1600_support robot_interface_download_irb1600.launch robot_ip:=<ip_address> but I get the following errors -

[ERROR] [1516661727.384124332]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1516661727.384219436]: Failed to receive message length
[ERROR] [1516661727.384249799]: Failed to receive incoming message

At the same time the flex pendant shows me these messages -

ROS_StateServer->StateServer: Waiting for connection.
ROS_MotionServer->MotionServer: Waiting for connection.

I'm able to ping the robot, so I know it's on the network. I tried nc <ip_address> 11002\11000, but doesn't output anything to the terminal.

I tried doing some debugging, and the motion_download_interface executes fine without any errors. The robot_state node, however initializes all the parameters and gets stuck at https://github.com/ros-industrial/abb/blob/kinetic-devel/abb_driver/src/abb_robot_state_node.cpp#L75.

I'm kind of lost and don't know how to proceed, does someone have any pointers?

Answer 1 · 2018-01-23T20:23:25.000Z

@srsidd wrote:

I run roslaunch abb_irb1600_support robot_interface_download_irb1600.launch robot_ip:=<ip_address> [..]

I don't believe we have a robot_interface_download_irb1600.launch in abb_irb1600_support. Is that a file you created yourself?

I tried nc <ip_address> 11002\11000, but doesn't output anything to the terminal.

that would seem to indicate that something is blocking you from connecting to the robot. That same something is probably why the nodes can't connect. nc <ip_address> 11002 should start printing to the console as soon as you connect.

Is this a real robot, or a RobotStudio session? If the latter: have you checked the Windows firewall settings?

Answer 2 · 2018-01-23T20:24:53.000Z

Also: please always tell us how you installed the packages, what version of ROS you're using, how you installed that, etc.

Without such information we can't be of much help.

Answer 3 · 2018-01-23T21:17:30.000Z

We are using robot_interface_download_irb1600x145.launch from the private repository abb_experimental in the ros-industrial-consortium which is probably why that launch file is not visible here.

The system is Ubuntu 16.04, with ros-kinetic installed using the binary. The abb_experimental was cloned from source.

This is the real robot, not robot studio.

Answer 4 · 2018-01-24T08:15:17.000Z

We are using robot_interface_download_irb1600x145.launch from the private repository abb_experimental in the ros-industrial-consortium which is probably why that launch file is not visible here.

ok. May I suggest:

use only the EGM driver packages from the ros-industrial-consortium/abb_experimental repository, nothing else
when using abb_driver, use only packages from ros-industrial/abb and ros-industrial/abb_experimental

I know this is less than ideal right now, but mixing this is going to confuse people (me and you).

At this point the biggest clue we have is that nc also can't seem to connect.

Can you check with Wireshark whether it can actually connect, but just doesn't get any data, or doesn't actually connect?

Also: make sure there are no wireless segments between you and the robot controller, anywhere.

Answer 5 · 2018-01-24T08:17:13.000Z

@gavanderhoorn wrote:

1 . use only the EGM driver packages from the ros-industrial-consortium/abb_experimental repository, nothing else

This is the same advice I gave you in https://github.com/ros-industrial-consortium/abb_experimental/issues/11.

Answer 6 · 2018-01-30T22:03:42.000Z

Took your advice, and tried the package from the publicly available driver. Ran into the same problem. We realized that we were not able to resolve the ip address from the rapid side. Specifically, GetSysInfo(\LanIp) here returned empty. We were able to connect the robot by hard coding the ip address in it's place.
Not sure what the real problem is.

Answer 7 · 2018-01-31T08:27:17.000Z

Took your advice, and tried the package from the publicly available driver. Ran into the same problem.

a bit captain hindsight, but this was something to be expected.

We realized that we were not able to resolve the ip address from the rapid side. Specifically, GetSysInfo(\LanIp) here returned empty. We were able to connect the robot by hard coding the ip address in it's place. Not sure what the real problem is.

That is strange, and would be something to look into.

Does this happen with any RAPID program (ie: with just a GetSysInfo(\LanIp) piped to a popup or print statement fi)?

Answer 8 · 2018-02-14T14:02:25.000Z

@srsidd: did you figure out what was going on with GetSysInfo(\LanIp)?

Answer 9 · 2018-02-15T18:18:30.000Z

Sorry for the late reply, I tried your suggestion - the GetSysInfo(\LanIp) returned WanIp and not the LanIp. But according to the manual it is supposed to return the WanIp.
We were able to connect to the robot when we hard coded the LanIp which makes sense... Not sure what the solution is though.

Answer 10 · 2018-02-15T19:28:49.000Z

Which network connection are you using? The service port, or the regular one?

Answer 11 · 2018-02-15T20:08:47.000Z

We're using the regular one - the X5. LAN3.

Answer 12 · 2018-02-15T20:14:24.000Z

According to this page ("The relation between physical Ethernet ports and system parameters"), X3 is the connection that the flexpendant should be connected to, part of the private network. Shouldn't X6 be used for regular connections? IRC5 product manual shows the same thing (section 2.5.5).

Further down on that page it would seem that the WAN is part of the public network. It would then make sense for "GetSysInfo(\LanIp) [to] return[ed the] WanIp".

Answer 13 · 2018-02-15T21:46:52.000Z

Ah, good catch. I don't remember why we had it set up that way. Changing that to X6 which is the WAN network should work. Thanks! Closing this issue.

Answer 14 · 2018-02-16T08:00:24.000Z

It shouldn't, but I'd be interested to know whether #142 is also influenced by this.

Answer 15 · 2019-02-20T16:17:33.000Z

I am having this same problem. but I am working with RobotStudio. help please.

Answer 16 · 2019-02-20T16:22:29.000Z

@nali12 wrote:

I am having this same problem. but I am working with RobotStudio.

Without further information it's hard to know whether you are experiencing the same problem (and given the context of the OP I'm not entirely sure you are).

Please post a new issue about your problem and include more information: OS, ROS (version, how installed), which driver component you are using, how you installed all of that (on the ROS side, on the robot side), how you setup your (virtual controller), etc, etc.

Answer 17 · 2019-02-20T19:56:30.000Z

So, I am unable to make the abb_driverto communicate with my robot in RobotStudio. I am running the following command: roslaunch abb_irb120_support robot_interface_download_irb120_3_58.launch robot_ip:=<ip_address> , but the only error I get are the following:

[ERROR] [1550679332.164635951]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1550679332.164717488]: Failed to receive message length
[ERROR] [1550679332.164736088]: Failed to receive incoming

and the VC just keep showing the same message

ROS_StateServer->StateServer: Waiting for connection.
ROS_MotionServer->MotionServer: Waiting for connection.

I am using robot_interface_download_irb120_3_58.launch from the repository abb_experimental (http://wiki.ros.org/abb_experimental). My system is Ubuntu 16.04, with ROS kinetic. In order to control the robot in RobotStudio I installed the ABB ROS server following all the tutorials (http://wiki.ros.org/abb/Tutorials).

Answer 18 · 2019-02-20T20:12:14.000Z

Please post a new issue, not a new comment ..