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The solution was posted here by @fexner. It seems that the reverse_ip is not yet working for ROS2 drivers, which prompts the UR to use the directly recognized port of the host machine, which in my case is the docker port. However, the host machine port (not the docker) port is needed for the UR to work.
Thus, replacing the Universal_Robots_ROS2_Driver/ur_robot_driver/resources/ros_control.urscript, from {{SERVER_IP_REPLACE}} to my host IP, fixed the problem.
| | 2 | No.2 Revision |
The solution was posted here by @fexner. It seems that the reverse_ip is not yet working for ROS2 drivers, which prompts the UR to use the directly recognized port of the host machine, which in my case is the docker port. However, the host machine port (not the docker) port is needed for the UR to work.
Thus, replacing the Universal_Robots_ROS2_Driver/ur_robot_driver/resources/ros_control.urscript, from {{SERVER_IP_REPLACE}} to my host IP, fixed the problem.
PS: Remember to run it in this order: 1. Launch the ur_control launch file 2. Start the program in the real UR 3. Launch the ur_moveit launch file
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