I’m runing Turtblebot3 Manipulation with OpenManipulator-X.
The following commands were called:
roscore
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
$ roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch
$ roslaunch turtlebot3_manipulation_moveit_config move_group.launch
$ roslaunch turtlebot3_manipulation_gui turtlebot3_manipulation_gui.launch
It works fine at the beginning, but quickly the manipulation_bringup start constantly crashing and the following error information is found in logs:
[rosmaster.master][INFO] 2024-04-25 18:58:53,341: publisherUpdate[/arm_controller/follow_joint_trajectory/goal] → http://172.26.174.94:36755/ : sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.master][INFO] 2024-04-25 18:58:53,344: publisherUpdate[/execute_trajectory/result] → http://172.26.174.94:33081/ : sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2024-04-25 18:58:53,349: Traceback (most recent call last):
File “/opt/ros/noetic/lib/python3/dist-packages/rosmaster/threadpool.py”, line 218, in run
result = cmd(*args)
File “/opt/ros/noetic/lib/python3/dist-packages/rosmaster/master_api.py”, line 210, in publisher_update_task
ret = xmlrpcapi(api).publisherUpdate(‘/master’, topic, pub_uris)
File “/usr/lib/python3.8/xmlrpc/client.py”, line 1109, in call
return self.__send(self.__name, args)
File “/usr/lib/python3.8/xmlrpc/client.py”, line 1450, in __request
response = self.__transport.request(
File “/usr/lib/python3.8/xmlrpc/client.py”, line 1153, in request
return self.single_request(host, handler, request_body, verbose)
File “/usr/lib/python3.8/xmlrpc/client.py”, line 1165, in single_request
http_conn = self.send_request(host, handler, request_body, verbose)
File “/usr/lib/python3.8/xmlrpc/client.py”, line 1278, in send_request
self.send_content(connection, request_body)
File “/usr/lib/python3.8/xmlrpc/client.py”, line 1308, in send_content
connection.endheaders(request_body)
File “/usr/lib/python3.8/http/client.py”, line 1251, in endheaders
self._send_output(message_body, encode_chunked=encode_chunked)
File “/usr/lib/python3.8/http/client.py”, line 1011, in _send_output
self.send(msg)
File “/usr/lib/python3.8/http/client.py”, line 951, in send
self.connect()
File “/usr/lib/python3.8/http/client.py”, line 922, in connect
self.sock = self._create_connection(
File “/usr/lib/python3.8/socket.py”, line 808, in create_connection
raise err
File “/usr/lib/python3.8/socket.py”, line 796, in create_connection
sock.connect(sa)
ConnectionRefusedError: [Errno 111] Connection refused
My setup is OpenCR 1.0, and Intel NUC 11 serves as both the master PC and SBC. The ROS Version is Noetic.