UR Polyscope program stuck in "Starting program"

[martamillet]

Summary

Introduction to the issue
When the ROS driver is launched and we start the execution of a UR Polyscope program (any program, we also tried a simple program with just a wait command) the HMI gets stucked with the pop-up "Starting program... please wait".
As soon as we kill the UR ROS node, the HMI starts working normally

Versions

• ROS Driver version: up to date 7/09/2022
• Affected Robot Software Version(s): 5.9
• Affected Robot Hardware Version(s): UR10e
• Robot Serial Number: 20205090026
• UR+ product(s) installed:none
• URCaps Software version(s):

Impact

HIGH
we are unable to use the robot normally to execute polyscope programs.

[gavanderhoorn]

Likely a duplicate of #237.

[gavanderhoorn]

Might also want to take a look at #245 and use the urcap from that PR to see whether you get the error popup sooner.

[martamillet]

It is solved when deleting the External Control URCap.
But as soon as this URCap is installed it stops working (tried with the latest version of everything, repository and URCap)

[gavanderhoorn]

Have you read the comments in #237?

There is a good chance this is caused by misconfiguration, either on the robot controller (ie: the URCap settings), or on the PC (mismatch in IP address, active firewall, etc).

#237 documents a very similar case, which in the end turned out to be a misconfigured IP address.

I'd really recommend you try the URCap from #245, as that should show an error popup much sooner, which should give us an indication of what is going wrong.

[martamillet]

You were right, even if you don't use the External Control URCap in your program, but you have it installed, you should modify the IP to make it right. That solved the issue, once we changed the IP in the installation file it worked.

[gavanderhoorn]

Yes, this is not ideal right now.

It's a known issue, and is being worked on, but right now you have to make sure you've configured the correct IP.

[fmauch]

@martamillet did you try the URCap from #245 whether that gives a clearer feedback?

[martamillet]

With that version the issue apparently it doesn't happen