Connection to 192.XXX.XX.ab:10000 failed - System.IO.IOException

GerenMeric · May 29, 2023, 8:37am

Hello there,

I am trying to send messages from a pc through ROS to another copmputer in the same local network and into Unity via ROS-TCP-Endpoint and ROS-TCP-Connector. I have only set ROS_IP and ROS_MASTER_URI at each device and ROS_IP value in Unity is set to ip of the computer which will run endpoint.launch and Unity (subscriber side). But, when i launch endpoint.launch with roslaunch ros_tcp_endpoint endpoint.launch and then press the play button in unity, i see that the icon next to the ROS_IP is red and i see the following error in console

Connection to 192.XXX.XXX.ab:10000 failed - System.IO.IOException: Unable to write data to the transport connection: An existing connection was forcibly closed by the remote host.

UnityEngine.Debug:Log (object)
Unity.Robotics.ROSTCPConnector.ROSConnection/<ConnectionThread>d__115:MoveNext () (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@c27f00c6cf/Runtime/TcpConnector/ROSConnection.cs:854)
System.Runtime.CompilerServices.AsyncTaskMethodBuilder:Start<Unity.Robotics.ROSTCPConnector.ROSConnection/<ConnectionThread>d__115> (Unity.Robotics.ROSTCPConnector.ROSConnection/<ConnectionThread>d__115&)
Unity.Robotics.ROSTCPConnector.ROSConnection:ConnectionThread (string,int,single,single,int,System.Action`1<System.Net.Sockets.NetworkStream>,System.Action,Unity.Robotics.ROSTCPConnector.ROSConnection/OutgoingMessageQueue,System.Collections.Concurrent.ConcurrentQueue`1<System.Tuple`2<string, byte[]>>,System.Threading.CancellationToken)
Unity.Robotics.ROSTCPConnector.ROSConnection:<Connect>b__102_0 () (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@c27f00c6cf/Runtime/TcpConnector/ROSConnection.cs:507)
System.Threading._ThreadPoolWaitCallback:PerformWaitCallback ()

Subscriber PC (Running endpoint, Unity and subscriber):

OS: Windows 10
IP Address: 192.XXX.XXX.ab
ROS_IP (set from cmd): 192.XXX.XXX.ab
ROS_IP (set inside Unity): 192.XXX.XXX.ab
ROS_MASTER_URI (set from cmd): http://192.XXX.XXX.dc:11311
Unity Version: 2021.3.25f1
ROS-TCP-Connector Version: 0.7.0-preview
ROS-TCP-Endpoint Version: 0.7.0
ROS Distro: Noetic
Connection Method: WIFI

Publisher PC (Running roscore and publisher):

OS: Linux Ubuntu 18.04
IP Address: 192.XXX.XXX.dc
ROS_IP (set inside .bashrc with export ROS_IP): 192.XXX.XXX.dc
ROS_MASTER_URI (set inside .bashrc with export command): http://192.XXX.XXX.dc:11311
ROS Distro: Melodic
Connection Method: Ethernet

Could you help me on this issue please?

Thanks in advance.

P.S. I tried setting tcp_ip and tcp_port parameters on roslaunch. But, the issue still persists.

GerenMeric · May 29, 2023, 11:53am

When, i try to set tcp_ip and tcp_port number to 192.XXX.XXX.ab and to 11311 respectively, i get the following exception:

ROS_MASTER_URI=http://192.XXX.XXX.dc:11311
process[unity_endpoint-1]: started with pid [27896]
[INFO] [1685360279.273296]: Starting server on 192.XXX.XXX.ab:11311
Exception in thread Thread-5:
Traceback (most recent call last):
  File "threading.py", line 932, in _bootstrap_inner
  File "threading.py", line 870, in run
  File "C:/catkin_ws/src/ROS-TCP-Endpoint-main/src\ros_tcp_endpoint\server.py", line 88, in listen_loop
    tcp_server.bind((self.tcp_ip, self.tcp_port))
OSError: [WinError 10013] An attempt was made to access a socket in a way forbidden by its access permissions