RO2 connection to the control cabinet reports an error: [1.3004] Client T/P authentication failed.

[M78qin]

Hello, thank you for your attention to my issue.
Currently, I can successfully run the virtual controller in RViz. However, when I try to connect to the actual robot, I encounter the following error:[1.3004] Client T/P authentication failed.
I have also tried using ROS1, but I am facing the exact same problem. What could be the cause of this? Is it possible that my robot's system version is too old?(Device info: H2515; Controller version: GV02100300)

The following is the operation log of ros2:
zyq@DESKTOP-P27HTVO:~/ros2_ws$ ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=real host:=192.168.137.100 port:=12345 model:=h2515
[INFO] [launch]: All log files can be found below /home/zyq/.ros/log/2026-03-21-20-26-08-061311-DESKTOP-P27HTVO-2529
[INFO] [launch]: Default logging verbosity is set to INFO
[dsr_controller2] Loaded update_rate from YAML: 100

[Git Info] unknown | humble@c3c8c61 (root=/home/zyq/ros2_ws/src/doosan-robot2)

[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /home/zyq/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/dsr_update_rate.yaml
[INFO] [robot_state_publisher-1]: process started with pid [2536]
[INFO] [rviz2-2]: process started with pid [2538]
[INFO] [spawner-3]: process started with pid [2540]
[INFO] [spawner-4]: process started with pid [2542]
[INFO] [ros2_control_node-5]: process started with pid [2544]
[robot_state_publisher-1] [INFO] [1774095968.385979954] [dsr01.robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1774095968.386155228] [dsr01.robot_state_publisher]: got segment link_1
[robot_state_publisher-1] [INFO] [1774095968.386174925] [dsr01.robot_state_publisher]: got segment link_2
[robot_state_publisher-1] [INFO] [1774095968.386183224] [dsr01.robot_state_publisher]: got segment link_3
[robot_state_publisher-1] [INFO] [1774095968.386189523] [dsr01.robot_state_publisher]: got segment link_4
[robot_state_publisher-1] [INFO] [1774095968.386196122] [dsr01.robot_state_publisher]: got segment link_5
[robot_state_publisher-1] [INFO] [1774095968.386202521] [dsr01.robot_state_publisher]: got segment link_6
[robot_state_publisher-1] [INFO] [1774095968.386208720] [dsr01.robot_state_publisher]: got segment world
[ros2_control_node-5] [WARN] [1774095968.390275613] [dsr01.controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-5] [INFO] [1774095968.390612563] [resource_manager]: Loading hardware 'h2515'
[ros2_control_node-5] [INFO] [1774095968.400865133] [resource_manager]: Initialize hardware 'h2515'
[ros2_control_node-5] [INFO] [1774095968.401155689] [dsr_hw_interface2]: model : h2515
[ros2_control_node-5] [INFO] [1774095968.401166888] [dsr_hw_interface2]: mode : real
[ros2_control_node-5] [INFO] [1774095968.401170987] [dsr_hw_interface2]: update_rate : 100
[ros2_control_node-5] [INFO] [1774095968.401179086] [dsr_hw_interface2]: port : 12345
[ros2_control_node-5] [INFO] [1774095968.401182285] [dsr_hw_interface2]: rt_host : 192.168.137.50
[ros2_control_node-5] [INFO] [1774095968.401185285] [dsr_hw_interface2]: host : 192.168.137.100
[ros2_control_node-5] [INFO] [1774095968.401223479] [dsr_hw_interface2]: [on_init] Hardware name : h2515, type : system, class type : dsr_hardware2/DRHWInterface
[ros2_control_node-5] [INFO] [1774095968.401310366] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-5]
[ros2_control_node-5] [INFO] [1774095968.401314965] [dsr_hw_interface2]: INITAILIZE
[ros2_control_node-5] [INFO] [1774095968.401317765] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-5]
[ros2_control_node-5] [INFO] [1774095968.512835723] [dsr_hw_interface2]: Connecting failure.. retry...
[spawner-3] [INFO] [1774095968.942447212] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [INFO] [1774095968.945746519] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[ros2_control_node-5] [INFO] [1774095969.124668057] [dsr_hw_interface2]: Connecting failure.. retry...
[rviz2-2] [INFO] [1774095969.540951022] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1774095969.541084874] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-2] [INFO] [1774095969.574221957] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-5] [INFO] [1774095969.736407906] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095970.358490056] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095970.971847417] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095971.584425699] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095972.206559544] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095972.818303328] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095973.430994499] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095974.045559025] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095974.657264617] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095975.272186882] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095975.884772513] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095976.507687169] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095977.119909715] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095977.732265581] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095978.344262251] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095978.956456895] [dsr_hw_interface2]: Connecting failure.. retry...
[spawner-3] [WARN] [1774095978.961457932] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-3] [INFO] [1774095978.961774036] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1774095978.962515788] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1774095978.962897839] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[ros2_control_node-5] [INFO] [1774095979.568668246] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774095980.180950131] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [ERROR] [1774095980.681385664] [dsr_hw_interface2]: DSRInterface::init() DRCF connecting ERROR!!!
[ros2_control_node-5] [INFO] [1774095980.681554185] [resource_manager]: Failed to initialize hardware 'h2515'
[ros2_control_node-5] [WARN] [1774095980.681562400] [resource_manager]: System hardware component 'h2515' from plugin 'dsr_hardware2/DRHWInterface' failed to initialize.
[ros2_control_node-5] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-5] what(): Wrong state or command interface configuration.
[ros2_control_node-5] missing state interfaces:
[ros2_control_node-5] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-5] missing command interfaces:
[ros2_control_node-5] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-5] Stack trace (most recent call last):
[ros2_control_node-5] #15 Object "", at 0xffffffffffffffff, in
[ros2_control_node-5] #14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5873b3a80ec4, in
[ros2_control_node-5] #13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x767444029e3f, in __libc_start_main
[ros2_control_node-5] #12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x767444029d8f, in
[ros2_control_node-5] #11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5873b3a8036f, in
[ros2_control_node-5] #10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76744495581a, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-5] #9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7674449507af, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-5] #8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x767444314334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-5] #7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7674442f0723, in
[ros2_control_node-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7674444ae4d7, in __cxa_throw
[ros2_control_node-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7674444ae276, in std::terminate()
[ros2_control_node-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7674444ae20b, in
[ros2_control_node-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7674444a2b9d, in
[ros2_control_node-5] #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7674440287f2, in abort
[ros2_control_node-5] #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x767444042475, in raise
[ros2_control_node-5] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7674440969fc, in pthread_kill
[ros2_control_node-5] Aborted (Signal sent by tkill() 2544 1000)
[ERROR] [ros2_control_node-5]: process has died [pid 2544, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/dsr01 --params-file /tmp/launch_params_veyreczl --params-file /home/zyq/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/dsr_controller2.yaml'].
[spawner-3] [WARN] [1774095988.978073018] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-3] [INFO] [1774095988.978517871] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1774095988.978935975] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1774095988.979358072] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1774095998.992771274] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-3] [INFO] [1774095998.993160085] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1774095998.993992221] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1774095998.994592992] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1774096009.008948970] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-3] [INFO] [1774096009.009549416] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1774096009.009692403] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1774096009.010018674] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[INFO] [rviz2-2]: process has finished cleanly [pid 2538]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1774096017.158923487] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 2536]
[INFO] [spawner-3]: process has finished cleanly [pid 2540]
[INFO] [spawner-4]: process has finished cleanly [pid 2542]

[yuri-rocha-dr]

Hello, @M78qin.

For stability reasons, we recommend updating to the latest firmware (2.12.4).

But before that, please check if you used the correct flag when building the ROS package. As you are using DRCF v2, you should use the following build command:

$ colcon build --cmake-args -DDRCF_VER=2

Can you confirm that you used the cmake argument above? If not, please clean both the install and build folders, and rebuild the workspace with the correct argument, then check if it solves your issue.

Thank you.

[M78qin]

@dr-yurirocha15 Thank you for your suggestions. I have re-executed the process following your advice, but the teach pendant still displays the error: [1.3004] Client T/P authentication failed.
This might be a versioning issue with the integration package or a configuration error within the teach pendant settings themselves. Could you provide more insight into specific T/P settings required for a successful connection?
Thank you : )
zyq@DESKTOP-P27HTVO:$ cd /ros2_ws
zyq@DESKTOP-P27HTVO:/ros2_ws$ rm -rf build/ install/ log/
zyq@DESKTOP-P27HTVO:/ros2_ws$ colcon build --cmake-args -DDRCF_VER=2
....
Summary: 23 packages finished [5.47s]
1 package had stderr output: ros_tcp_endpoint
zyq@DESKTOP-P27HTVO:/ros2_ws$ source install/setup.bash
zyq@DESKTOP-P27HTVO:/ros2_ws$ ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=real host:=192.168.137.100 port:=12345 model:=h2515

zyq@DESKTOP-P27HTVO:/ros2_ws$ ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=real host:=192.168.137.100 port:=12345 model:=h2515
[INFO] [launch]: All log files can be found below /home/zyq/.ros/log/2026-03-23-15-11-22-861163-DESKTOP-P27HTVO-13178
[INFO] [launch]: Default logging verbosity is set to INFO
[dsr_controller2] Loaded update_rate from YAML: 100
[Git Info] unknown | humble@c3c8c61 (root=/home/zyq/ros2_ws/src/doosan-robot2)
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /home/zyq/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/dsr_update_rate.yaml
[INFO] [robot_state_publisher-1]: process started with pid [13185]
[INFO] [rviz2-2]: process started with pid [13187]
[INFO] [spawner-3]: process started with pid [13189]
[INFO] [spawner-4]: process started with pid [13191]
[INFO] [ros2_control_node-5]: process started with pid [13193]
[robot_state_publisher-1] [INFO] [1774249884.411118093] [dsr01.robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1774249884.411283720] [dsr01.robot_state_publisher]: got segment link_1
[robot_state_publisher-1] [INFO] [1774249884.411298456] [dsr01.robot_state_publisher]: got segment link_2
[robot_state_publisher-1] [INFO] [1774249884.411303906] [dsr01.robot_state_publisher]: got segment link_3
[robot_state_publisher-1] [INFO] [1774249884.411308347] [dsr01.robot_state_publisher]: got segment link_4
[robot_state_publisher-1] [INFO] [1774249884.411312586] [dsr01.robot_state_publisher]: got segment link_5
[robot_state_publisher-1] [INFO] [1774249884.411316724] [dsr01.robot_state_publisher]: got segment link_6
[robot_state_publisher-1] [INFO] [1774249884.411320963] [dsr01.robot_state_publisher]: got segment world
[ros2_control_node-5] [WARN] [1774249884.772554588] [dsr01.controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-5] [INFO] [1774249884.773069231] [resource_manager]: Loading hardware 'h2515'
[ros2_control_node-5] [INFO] [1774249884.893544093] [resource_manager]: Initialize hardware 'h2515'
[ros2_control_node-5] [INFO] [1774249884.893749385] [dsr_hw_interface2]: model : h2515
[ros2_control_node-5] [INFO] [1774249884.893759579] [dsr_hw_interface2]: mode : real
[ros2_control_node-5] [INFO] [1774249884.893763112] [dsr_hw_interface2]: update_rate : 100
[ros2_control_node-5] [INFO] [1774249884.893770379] [dsr_hw_interface2]: port : 12345
[ros2_control_node-5] [INFO] [1774249884.893773305] [dsr_hw_interface2]: rt_host : 192.168.137.50
[ros2_control_node-5] [INFO] [1774249884.893776031] [dsr_hw_interface2]: host : 192.168.137.100
[ros2_control_node-5] [INFO] [1774249884.893837194] [dsr_hw_interface2]: [on_init] Hardware name : h2515, type : system, class type : dsr_hardware2/DRHWInterface
[ros2_control_node-5] [INFO] [1774249884.893898459] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-5]
[ros2_control_node-5] [INFO] [1774249884.893902900] [dsr_hw_interface2]: INITAILIZE
[ros2_control_node-5] [INFO] [1774249884.893905423] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-5]
[ros2_control_node-5] [INFO] [1774249885.006173952] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249885.618182568] [dsr_hw_interface2]: Connecting failure.. retry...
[spawner-3] [INFO] [1774249886.173153868] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [INFO] [1774249886.173185866] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[ros2_control_node-5] [INFO] [1774249886.230421585] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249886.842008643] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249887.454912149] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249888.066751678] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249888.678760400] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249889.290670520] [dsr_hw_interface2]: Connecting failure.. retry...
[rviz2-2] [INFO] [1774249889.395835081] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1774249889.396064640] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-2] [INFO] [1774249889.492708243] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-5] [INFO] [1774249889.902614225] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249890.515391552] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249891.127427136] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249891.739541478] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249892.351910840] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249892.964298153] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249893.576686533] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249894.189086414] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249894.801437952] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249895.413419627] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [INFO] [1774249896.025522636] [dsr_hw_interface2]: Connecting failure.. retry...
[spawner-3] [WARN] [1774249896.190647004] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-3] [INFO] [1774249896.191080154] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1774249896.194147755] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1774249896.194636834] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[ros2_control_node-5] [INFO] [1774249896.637387608] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-5] [ERROR] [1774249897.137516148] [dsr_hw_interface2]: DSRInterface::init() DRCF connecting ERROR!!!
[ros2_control_node-5] [INFO] [1774249897.137664111] [resource_manager]: Failed to initialize hardware 'h2515'
[ros2_control_node-5] [WARN] [1774249897.137671399] [resource_manager]: System hardware component 'h2515' from plugin 'dsr_hardware2/DRHWInterface' failed to initialize.
[ros2_control_node-5] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-5] what(): Wrong state or command interface configuration.
[ros2_control_node-5] missing state interfaces:
[ros2_control_node-5] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-5] missing command interfaces:
[ros2_control_node-5] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-5] Stack trace (most recent call last):
[ros2_control_node-5] #15 Object "", at 0xffffffffffffffff, in
[ros2_control_node-5] #14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56617ca4cec4, in
[ros2_control_node-5] #13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x71e5c1229e3f, in __libc_start_main
[ros2_control_node-5] #12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x71e5c1229d8f, in
[ros2_control_node-5] #11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56617ca4c36f, in
[ros2_control_node-5] #10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x71e5c1bea81a, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-5] #9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x71e5c1be57af, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-5] #8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x71e5c15c0334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-5] #7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x71e5c159c723, in
[ros2_control_node-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x71e5c16ae4d7, in __cxa_throw
[ros2_control_node-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x71e5c16ae276, in std::terminate()
[ros2_control_node-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x71e5c16ae20b, in
[ros2_control_node-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x71e5c16a2b9d, in
[ros2_control_node-5] #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x71e5c12287f2, in abort
[ros2_control_node-5] #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x71e5c1242475, in raise
[ros2_control_node-5] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x71e5c12969fc, in pthread_kill
[ros2_control_node-5] Aborted (Signal sent by tkill() 13193 1000)
[ERROR] [ros2_control_node-5]: process has died [pid 13193, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/dsr01 --params-file /tmp/launch_params_eum4c7em --params-file /home/zyq/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/dsr_controller2.yaml'].
[spawner-3] [WARN] [1774249906.206687602] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-3] [INFO] [1774249906.207224775] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1774249906.210198162] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1774249906.210546677] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[INFO] [rviz2-2]: process has finished cleanly [pid 13187]
[spawner-3] [WARN] [1774249916.228077948] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-3] [INFO] [1774249916.228475938] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1774249916.230171059] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1774249916.230478843] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1774249918.608961784] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 13185]
[INFO] [spawner-4]: process has finished cleanly [pid 13191]
[INFO] [spawner-3]: process has finished cleanly [pid 13189

[M78qin]

@dr-yurirocha15 hello,and i also try the ros1,
cd ~/ros1_ws
rm -rf build/ devel/
catkin_make -j1 --cmake-args -DDRCF_VER=2
source devel/setup.bash
roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.137.100 port:=12345
Thank for you attention

roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.137.100 port:=12345
zyq@DESKTOP-P27HTVO:/ros1_ws$ source ./devel/setup.bash
zyq@DESKTOP-P27HTVO:/ros1_ws$ roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.137.100 port:=12345
... logging to /home/zyq/.ros/log/7f864d04-268a-11f1-b9ce-41b2fb87dff9/roslaunch-DESKTOP-P27HTVO-9101.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://desktop-p27htvo:43285/
SUMMARY
PARAMETERS

• /dsr01/dsr_joint1_position/joint: joint1
• /dsr01/dsr_joint1_position/pid/d: 200.0
• /dsr01/dsr_joint1_position/pid/i: 100.0
• /dsr01/dsr_joint1_position/pid/i_clamp: 500
• /dsr01/dsr_joint1_position/pid/p: 500.0
• /dsr01/dsr_joint1_position/type: position_controll...
• /dsr01/dsr_joint2_position/joint: joint2
• /dsr01/dsr_joint2_position/pid/d: 250.0
• /dsr01/dsr_joint2_position/pid/i: 100.0
• /dsr01/dsr_joint2_position/pid/i_clamp: 500
• /dsr01/dsr_joint2_position/pid/p: 500.0
• /dsr01/dsr_joint2_position/type: position_controll...
• /dsr01/dsr_joint3_position/joint: joint3
• /dsr01/dsr_joint3_position/pid/d: 40.0
• /dsr01/dsr_joint3_position/pid/i: 20.0
• /dsr01/dsr_joint3_position/pid/i_clamp: 500
• /dsr01/dsr_joint3_position/pid/p: 300.0
• /dsr01/dsr_joint3_position/type: position_controll...
• /dsr01/dsr_joint4_position/joint: joint4
• /dsr01/dsr_joint4_position/pid/d: 40.0
• /dsr01/dsr_joint4_position/pid/i: 0.0
• /dsr01/dsr_joint4_position/pid/i_clamp: 500
• /dsr01/dsr_joint4_position/pid/p: 100.0
• /dsr01/dsr_joint4_position/type: position_controll...
• /dsr01/dsr_joint5_position/joint: joint5
• /dsr01/dsr_joint5_position/pid/d: 25.0
• /dsr01/dsr_joint5_position/pid/i: 20.0
• /dsr01/dsr_joint5_position/pid/i_clamp: 500
• /dsr01/dsr_joint5_position/pid/p: 200.0
• /dsr01/dsr_joint5_position/type: position_controll...
• /dsr01/dsr_joint6_position/joint: joint6
• /dsr01/dsr_joint6_position/pid/d: 25.0
• /dsr01/dsr_joint6_position/pid/i: 20.0
• /dsr01/dsr_joint6_position/pid/i_clamp: 500
• /dsr01/dsr_joint6_position/pid/p: 300.0
• /dsr01/dsr_joint6_position/type: position_controll...
• /dsr01/dsr_joint_position_controller/joints: ['joint1', 'joint...
• /dsr01/dsr_joint_position_controller/publish_rate: 20
• /dsr01/dsr_joint_position_controller/type: position_controll...
• /dsr01/dsr_joint_publisher/publish_rate: 150
• /dsr01/dsr_joint_publisher/type: joint_state_contr...
• /dsr01/dsr_joint_trajectory_controller/joints: ['joint1', 'joint...
• /dsr01/dsr_joint_trajectory_controller/publish_rate: 20
• /dsr01/dsr_joint_trajectory_controller/type: position_controll...
• /dsr01/dsr_velocity_controller/angular/z/has_acceleration_limits: True
• /dsr01/dsr_velocity_controller/angular/z/has_velocity_limits: True
• /dsr01/dsr_velocity_controller/angular/z/max_acceleration: 6.0
• /dsr01/dsr_velocity_controller/angular/z/max_velocity: 2.0
• /dsr01/dsr_velocity_controller/base_frame_id: base_link
• /dsr01/dsr_velocity_controller/cmd_vel_timeout: 0.25
• /dsr01/dsr_velocity_controller/enable_odom_tf: False
• /dsr01/dsr_velocity_controller/estimate_velocity_from_position: False
• /dsr01/dsr_velocity_controller/left_wheel: ['front_left_whee...
• /dsr01/dsr_velocity_controller/linear/x/has_acceleration_limits: True
• /dsr01/dsr_velocity_controller/linear/x/has_velocity_limits: True
• /dsr01/dsr_velocity_controller/linear/x/max_acceleration: 3.0
• /dsr01/dsr_velocity_controller/linear/x/max_velocity: 1.0
• /dsr01/dsr_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
• /dsr01/dsr_velocity_controller/publish_rate: 50
• /dsr01/dsr_velocity_controller/right_wheel: ['front_right_whe...
• /dsr01/dsr_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
• /dsr01/dsr_velocity_controller/type: diff_drive_contro...
• /dsr01/dsr_velocity_controller/wheel_radius_multiplier: 1.0
• /dsr01/dsr_velocity_controller/wheel_separation_multiplier: 1.875
• /dsr01/robot_description: <?xml version="1....
• /dsr01/robot_state_publisher/robot_description: /dsr01/robot_desc...
• /dsr01/robot_state_publisher/tf_prefix: dsr01
• /dsr01m1013/command: True
• /dsr01m1013/dsr_joint1_position/joint: joint1
• /dsr01m1013/dsr_joint1_position/pid/d: 200.0
• /dsr01m1013/dsr_joint1_position/pid/i: 100.0
• /dsr01m1013/dsr_joint1_position/pid/i_clamp: 500
• /dsr01m1013/dsr_joint1_position/pid/p: 500.0
• /dsr01m1013/dsr_joint1_position/type: position_controll...
• /dsr01m1013/dsr_joint2_position/joint: joint2
• /dsr01m1013/dsr_joint2_position/pid/d: 250.0
• /dsr01m1013/dsr_joint2_position/pid/i: 100.0
• /dsr01m1013/dsr_joint2_position/pid/i_clamp: 500
• /dsr01m1013/dsr_joint2_position/pid/p: 500.0
• /dsr01m1013/dsr_joint2_position/type: position_controll...
• /dsr01m1013/dsr_joint3_position/joint: joint3
• /dsr01m1013/dsr_joint3_position/pid/d: 40.0
• /dsr01m1013/dsr_joint3_position/pid/i: 20.0
• /dsr01m1013/dsr_joint3_position/pid/i_clamp: 500
• /dsr01m1013/dsr_joint3_position/pid/p: 300.0
• /dsr01m1013/dsr_joint3_position/type: position_controll...
• /dsr01m1013/dsr_joint4_position/joint: joint4
• /dsr01m1013/dsr_joint4_position/pid/d: 40.0
• /dsr01m1013/dsr_joint4_position/pid/i: 0.0
• /dsr01m1013/dsr_joint4_position/pid/i_clamp: 500
• /dsr01m1013/dsr_joint4_position/pid/p: 100.0
• /dsr01m1013/dsr_joint4_position/type: position_controll...
• /dsr01m1013/dsr_joint5_position/joint: joint5
• /dsr01m1013/dsr_joint5_position/pid/d: 25.0
• /dsr01m1013/dsr_joint5_position/pid/i: 20.0
• /dsr01m1013/dsr_joint5_position/pid/i_clamp: 500
• /dsr01m1013/dsr_joint5_position/pid/p: 200.0
• /dsr01m1013/dsr_joint5_position/type: position_controll...
• /dsr01m1013/dsr_joint6_position/joint: joint6
• /dsr01m1013/dsr_joint6_position/pid/d: 25.0
• /dsr01m1013/dsr_joint6_position/pid/i: 20.0
• /dsr01m1013/dsr_joint6_position/pid/i_clamp: 500
• /dsr01m1013/dsr_joint6_position/pid/p: 300.0
• /dsr01m1013/dsr_joint6_position/type: position_controll...
• /dsr01m1013/dsr_joint_position_controller/joints: ['joint1', 'joint...
• /dsr01m1013/dsr_joint_position_controller/publish_rate: 20
• /dsr01m1013/dsr_joint_position_controller/type: position_controll...
• /dsr01m1013/dsr_joint_publisher/publish_rate: 150
• /dsr01m1013/dsr_joint_publisher/type: joint_state_contr...
• /dsr01m1013/dsr_joint_trajectory_controller/joints: ['joint1', 'joint...
• /dsr01m1013/dsr_joint_trajectory_controller/publish_rate: 20
• /dsr01m1013/dsr_joint_trajectory_controller/type: position_controll...
• /dsr01m1013/dsr_velocity_controller/angular/z/has_acceleration_limits: True
• /dsr01m1013/dsr_velocity_controller/angular/z/has_velocity_limits: True
• /dsr01m1013/dsr_velocity_controller/angular/z/max_acceleration: 6.0
• /dsr01m1013/dsr_velocity_controller/angular/z/max_velocity: 2.0
• /dsr01m1013/dsr_velocity_controller/base_frame_id: base_link
• /dsr01m1013/dsr_velocity_controller/cmd_vel_timeout: 0.25
• /dsr01m1013/dsr_velocity_controller/enable_odom_tf: False
• /dsr01m1013/dsr_velocity_controller/estimate_velocity_from_position: False
• /dsr01m1013/dsr_velocity_controller/left_wheel: ['front_left_whee...
• /dsr01m1013/dsr_velocity_controller/linear/x/has_acceleration_limits: True
• /dsr01m1013/dsr_velocity_controller/linear/x/has_velocity_limits: True
• /dsr01m1013/dsr_velocity_controller/linear/x/max_acceleration: 3.0
• /dsr01m1013/dsr_velocity_controller/linear/x/max_velocity: 1.0
• /dsr01m1013/dsr_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
• /dsr01m1013/dsr_velocity_controller/publish_rate: 50
• /dsr01m1013/dsr_velocity_controller/right_wheel: ['front_right_whe...
• /dsr01m1013/dsr_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
• /dsr01m1013/dsr_velocity_controller/type: diff_drive_contro...
• /dsr01m1013/dsr_velocity_controller/wheel_radius_multiplier: 1.0
• /dsr01m1013/dsr_velocity_controller/wheel_separation_multiplier: 1.875
• /dsr01m1013/gripper: none
• /dsr01m1013/host: 192.168.137.100
• /dsr01m1013/mobile: none
• /dsr01m1013/mode: real
• /dsr01m1013/model: m1013
• /dsr01m1013/name: dsr01
• /dsr01m1013/port: 12345
• /dsr01m1013/rate: 100
• /dsr01m1013/standby: 5000
• /gazebo/enable_ros_network: True
• /rosdistro: noetic
• /rosversion: 1.17.4
• /use_sim_time: True
  NODES
  /
  dsr01m1013 (dsr_control/dsr_control_node)
  gazebo (gazebo_ros/gzserver)
  gazebo_gui (gazebo_ros/gzclient)
  /dsr01/
  controller_spawner (controller_manager/spawner)
  robot_state_publisher (robot_state_publisher/robot_state_publisher)
  spawn_create_model (gazebo_ros/spawn_model)
  world_tf (tf/static_transform_publisher)
  /dsr01m1013/
  controller_spawner (controller_manager/spawner)
  auto-starting new master
  process[master]: started with pid [9113]
  ROS_MASTER_URI=http://localhost:11311
  setting /run_id to 7f864d04-268a-11f1-b9ce-41b2fb87dff9
  process[rosout-1]: started with pid [9123]
  started core service [/rosout]
  process[gazebo-2]: started with pid [9126]
  process[gazebo_gui-3]: started with pid [9128]
  process[dsr01/controller_spawner-4]: started with pid [9134]
  process[dsr01m1013/controller_spawner-5]: started with pid [9135]
  process[dsr01m1013-6]: started with pid [9136]
  process[dsr01/robot_state_publisher-7]: started with pid [9141]
  process[dsr01/world_tf-8]: started with pid [9146]
  process[dsr01/spawn_create_model-9]: started with pid [9147]
  INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/zyq/.ros/log/latest'
  [INFO] [1774251172.851358, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
  [INFO] [1774251172.950672, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
  [INFO] [1774251172.955674746]: rate is 100
  [INFO] [1774251172.963520888]: name_space is dsr01, m1013
  [INFO] [1774251172.963571944]: [dsr_hw_interface] constructed
  [INFO] [1774251173.038987943]: [dsr_hw_interface] init() ==> setup callback fucntion
  [INFO] [1774251173.039160413]: INIT@@@@@@@@@@@@@@@@@@@@@@@@@
  [INFO] [1774251173.039199652]: [dsr_hw_interface] init() ==> arm is standby
  [INFO] [1774251173.042244446]: host 192.168.137.100, port=12345 bCommand: 1, mode: real
  dsr_control_node: /home/zyq/ros1_ws/src/doosan-robot/dsr_control/src/dsr_hw_interface.cpp:1066: bool dsr_control::DRHWInterface::init(): Assertion `Drfl.get_system_version(&tSysVerion)' failed.
  [dsr01m1013-6] process has died [pid 9136, exit code -6, cmd /home/zyq/ros1_ws/devel/lib/dsr_control/dsr_control_node /dsr_joint_position_controller/command:=/dsr01/dsr_joint_position_controller/command __name:=dsr01m1013 __log:=/home/zyq/.ros/log/7f864d04-268a-11f1-b9ce-41b2fb87dff9/dsr01m1013-6.log].
  log file: /home/zyq/.ros/log/7f864d04-268a-11f1-b9ce-41b2fb87dff9/dsr01m1013-6*.log
  [INFO] [1774251177.934922672]: Finished loading Gazebo ROS API Plugin.
  [INFO] [1774251177.937285751]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  [INFO] [1774251178.063184647]: Finished loading Gazebo ROS API Plugin.
  [INFO] [1774251178.064933932]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
  [INFO] [1774251181.081414269]: waitForService: Service [/gazebo/set_physics_properties] is now available.
  [INFO] [1774251181.120625851, 0.022000000]: Physics dynamic reconfigure ready.
  [INFO] [1774251181.561451354, 0.302000000]: Loading gazebo_ros_control plugin
  [INFO] [1774251181.561609468, 0.302000000]: Starting gazebo_ros_control plugin in namespace: /dsr01
  [INFO] [1774251181.562113555, 0.302000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/dsr01/robot_description] on the ROS param server.
  [ERROR] [1774251181.808781205, 0.302000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint1
  [ERROR] [1774251181.809639450, 0.302000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint2
  [ERROR] [1774251181.810295462, 0.302000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint3
  [ERROR] [1774251181.810950376, 0.302000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint4
  [ERROR] [1774251181.811571052, 0.302000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint5
  [ERROR] [1774251181.812172562, 0.302000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint6
  [INFO] [1774251181.892847948, 0.302000000]: Loaded gazebo_ros_control.
  [INFO] [1774251182.189074, 0.596000]: Controller Spawner: Waiting for service controller_manager/switch_controller
  [INFO] [1774251182.191389, 0.598000]: Controller Spawner: Waiting for service controller_manager/unload_controller
  [INFO] [1774251182.193447, 0.600000]: Loading controller: dsr_joint_position_controller
  [INFO] [1774251182.221985, 0.629000]: Controller Spawner: Loaded controllers: dsr_joint_position_controller
  [INFO] [1774251182.225898, 0.633000]: Started controllers: dsr_joint_position_controller
  [dsr01/spawn_create_model-9] process has finished cleanly
  log file: /home/zyq/.ros/log/7f864d04-268a-11f1-b9ce-41b2fb87dff9/dsr01-spawn_create_model-9*.log
  Error in XmlRpcClient::writeRequest: write error (Connection refused).
  ^C[dsr01/world_tf-8] killing on exit
  [dsr01/robot_state_publisher-7] killing on exit
  [dsr01m1013/controller_spawner-5] killing on exit
  [dsr01/controller_spawner-4] killing on exit
  [gazebo_gui-3] killing on exit
  [gazebo-2] killing on exit
  [INFO] [1774251192.095934, 10.487000]: Shutting down spawner. Stopping and unloading controllers...
  [INFO] [1774251192.097505, 10.489000]: Stopping all controllers...
  [WARN] [1774251192.697349, 10.489000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
  [gazebo_gui-3] escalating to SIGTERM
  [dsr01/controller_spawner-4] escalating to SIGTERM
  [gazebo-2] escalating to SIGTERM
  [WARN] [1774251207.156703, 10.489000]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender's logs for details
  [rosout-1] killing on exit
  [master] killing on exit
  shutting down processing monitor...
  ... shutting down processing monitor complete
  done

[yuri-rocha-dr]

Hi @M78qin,

Thank you for the detailed logs. Based on what you've shared, we suggest the following:

1. Basic connectivity
Before anything else, confirm that your Linux environment can reach the robot:

ping 192.168.137.100

If this does not reply, the issue is at the network level and the steps below won't help until connectivity is established.

2. WSL2 network isolation
You appear to be running ROS inside WSL2 on Windows (DESKTOP-P27HTVO). WSL2 uses NAT by default, which means the robot sees a different IP/port than what your ROS node uses internally. Our connection authentication is sensitive to this. The robot must be able to see your machine's actual network address.

Please try one of the following:

• Run ROS from a native Linux machine connected to the same network as the robot
• Or configure WSL2 to use bridged networking (mirrored mode): add networkingMode=mirrored to your %USERPROFILE%\.wslconfig and restart WSL

3. Firmware version
Your controller reports version GV02100300, which was released a few years ago. We strongly recommend updating to firmware 2.12.4.

---

If none of the above resolves the issue, please export the controller logs from the teach pendant and attach them here so we can investigate further. You can find them under: TP Menu → System → Log Export.

Also, please note that the ROS1 package is no longer updated.

(Note: if the exported log is too large to upload here, unzip the file and create a new zip containing only EventLog/EventLog + EventLog/EventLop.log.1)

[M78qin]

@dr-yurirocha15 Thank you so much for the guidance! I’ve successfully established the connection.
The issue turned out to be related to WSL2. Following your suggestion, I configured WSL2 to use bridged networking (mirrored mode) by adding networkingMode=mirrored to the %USERPROFILE%.wslconfig file and restarting WSL. This completely resolved the communication hurdle.
A quick heads-up for others: Please note that Windows 10’s WSL does not support Mirrored Mode; this feature is currently exclusive to Windows 11.
Thank you again.