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verified publisher icon UniversalRobots

Multiple robots ports

Open amadeuszsz opened this issue 4 years ago • 3 comments

Running two separate nodes with different robot_description & robot_controllers causes ports complications. Despite changing ports, the trajectory_port remains hardcoded, isn't configurable within hardware interface.

[ros2_control_node-1]   what():  Failed to bind socket for port 50003 to address. Reason: Address already in use: Address already in use
[ERROR] [ros2_control_node-1]: process has died

I didn't see any suitable param in a package for trajectory_port within config files. Seems to be a new feature in driver library. Is it possible to run provided stack with two arms?

amadeuszsz avatar Jun 25 '21 10:06 amadeuszsz

Will be addressed in port of https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/431

nbbrooks avatar Aug 12 '21 13:08 nbbrooks

Hi, is there any follow-up to adding trajectory port configuration for the ROS 2 driver? I am aware that there exists trajectory port configuration for ROS 1 but not for ROS 2. Thanks

BrandonMan123 avatar Jun 14 '22 14:06 BrandonMan123

Yes, this is related to #420

fmauch avatar Jun 27 '22 12:06 fmauch