ROS irb2400 No Connection to Controller

asked 2015-12-16 11:07:19 -0600

Markus Malmros gravatar image

updated 2015-12-16 13:47:08 -0600

gvdhoorn gravatar image

Hi,

I’m having some issues establishing a connection to an ABB irb2400 robot with ROS-industrial. All rapid files are installed and run on the IRC5 controller according to these tutorials: abb/Tutorials/InstallServer and abb/Tutorials/RunServer.

I can ping the ip-adress of the robot successfully and I can run the needed tasks on the controller from the flex-pendant. According to this tutorial: Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot the following command should launch the required connections. 

roslaunch abb_irb2400_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.66.167

This launches Rwiz containing the simulated robot and I hoped it would connect to the real robot but nothing happens and the tasks on the controller still state: Waiting for connection. There are no error messages for a while but after a couple of minutes this message appears in the terminal: 

[ERROR] [1450276166.709455488]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)

I have been looking on the network with wireshark and no communication attempts are made from the computer. Maybe the launch file is not the right one to run for establishing a connection to the robot?

Does anyone have an idea of why this is not working?

Regards, Markus Malmros

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Comments

Can you check and see whether roslaunch abb_irb2400_support robot_state_visualize_irb2400.launch robot_ip:=192.168.66.167 does work? If it doesn't see if nc 192.168.66.167 11002 starts dumping data to the console. If that doesn't work, there is something wrong with your network and / or ctrlr.

gvdhoorn gravatar image gvdhoorn  ( 2015-12-16 14:08:07 -0600 )edit

have you tried using robotstudio in a windows computer? on the other hand, are you running the modules on manual or automatic mode? I work with an ABB irb140, and, I recommend you to run it on automatic mode (don't forget "PP to main", and, Run the program, sometimes one forgets this step).

Fredylucas gravatar image Fredylucas  ( 2015-12-16 23:11:22 -0600 )edit

Thanks for your comments. roslaunch abb_irb2400_support robot_state_visualize_irb2400.launch robot_ip:=192.168.66.167 did not work and neither did nc 192.168.66.167 11002. We ran a wireshark and came to the conclusion that there probably is a firewall somewhere in the network.

Markus Malmros gravatar image Markus Malmros  ( 2015-12-18 09:09:24 -0600 )edit

Yes, that might be the case. ICMP is often allowed to pass, but other ports are not. You'd get this kind of behaviour then.

gvdhoorn gravatar image gvdhoorn  ( 2015-12-18 09:28:33 -0600 )edit
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