Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111): MOTOMAN Driver

[MohamedOmar2014]

Hello, I'm working on MA-1400 robot with DX-100 controller. I have installed the motoman packages on ubuntu 20.04 and ROS neotic.
I have followed the instructions in https://wiki.ros.org/motoman_driver/Tutorials/Usage.

After starting the driver, I got he following error:

[ERROR] [1703353479.806916846]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1703353479.812421194]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ WARN] [1703353479.812605071]: Not connected, bytes not received
[ERROR] [1703353479.812731196]: Failed to receive message length
[ERROR] [1703353479.812871423]: Failed to receive incoming message
[ WARN] [1703353479.812991339]: Send failure, no callback support
[ERROR] [1703353479.820512152]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ WARN] [1703353479.821230674]: Unable to read velocity limits from 'robot_description' param.  Velocity validation disabled.
[ERROR] [1703353479.824602270]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[FATAL] [1703353479.826375655]: Failed to connect
[ERROR] [1703353479.835195004]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
process[joint_trajectory_action-4]: started with pid [71405]
[ERROR] [1703353480.085480484]: Timeout connecting to robot controller.  Send new motion command to retry.
[ WARN] [1703353480.862728526]: Trajectory state not received for 1.000000 seconds
[ERROR] [1703353484.813898216]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ WARN] [1703353484.814005807]: Not connected, bytes not received
[ERROR] [1703353484.814076188]: Failed to receive message length
[ERROR] [1703353484.814148783]: Failed to receive incoming message
[ WARN] [1703353484.814217250]: Send failure, no callback support
[ERROR] [1703353489.815142831]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)

How can I solve that issue?

Also, their is no support package for MA-1400 robot. I have the URDF of this robot, can I copy the support package of MA-2010 and modify it for my robot. will that work?

[gavanderhoorn]

The connection errors seem to suggest MotoROS is not running on the DX100 -- or you're not providing the correct IP address to motoman_driver.

Assuming you're using the correct IP address:

• did you install the .out file on your controller?
• do you have a MotoPlus runtime license on that controller (as mentioned on the driver's wiki page)?
• has your controller been configured correctly for MotoROS?

if the answer to any of these questions is no, then the errors you report are what we would expect to see.

Also, their is no support package for MA-1400 robot. I have the URDF of this robot, can I copy the support package of MA-2010 and modify it for my robot. will that work?

Probably, yes.

If you'd like to have us review your changes, I'd suggest forking this repository, adding your MA-1400 support package, committing it and then opening a pull request here.