How to check rws server working status?

yanjun_yang

Hi, all

I use abb_robot_driver to control the YuMI robot, and it works well on my laptop. I could connect to a virtual controller of YuMI on Robotstudio or to the real YuMI. But when I tried to replicate the setup on another laptop, it gives an error saying that Failed to establish RWS connection to the robot controller when I tried to connect to the virtual controller for simulation on Robotstudio (already have the IP address in the whitelist). But it can successfully connect to the real robot.

I guess the problem is because the rws server doesn't start/initiates correctly when I open a station solution on Robotstudio. Based on the troubleshooting section on this page(https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider) I guess visiting the link http:///rw?debug=1 could show the working status of the rws server. And it does give me a login prompt on my working laptop but showed the HTTP 404 error on another laptop.

I already keep all the setup on the network connection the same and tried to turn off the firewall or keep all the setup the same but none of them helps. 

Can anyone help me with this issue?
Cheers

Maxim Riabichev

Hello,

Can you please explain what you are trying to achieve a bit clearer?

1. Are you trying to access a Virtual Controller running on PC A from PC B?
2. When you say that you already whitelisted the IP, what do you mean? Where did you whitelist the IP?

yanjun_yang

Maxim Riabichev said:

Hello,

Can you please explain what you are trying to achieve a bit clearer?

1. Are you trying to access a Virtual Controller running on PC A from PC B?
2. When you say that you already whitelisted the IP, what do you mean? Where did you whitelist the IP?

Hi

Yes, I tried to access a virtual controller running on a local pc from a virtual machine. The whitelist setup is just following your suggestions on the question and It worked on my laptop.

When I tried to do the same thing on another pc, I kept receiving the error about the rws connection fail. I at first thought that's because the rws server didn't initiate. But I could see the instance when using the command 

dns-sd -B _http._tcp,rws

 Then I guess the problem might from the assigned port. From the working laptop, the port number is 80 if using the command 

dns-sd -L "RobotWebServices_StateMachine" _http._tcp

 and I can successfully connect to the controller using the driver provided driver here with the command 

roslaunch abb_robot_bringup_examples ex3_rws_and_egm_yumi_robot.launch robot_ip:=<local pc's IP address>

 While the port number is weird (e.g. 41663) in the pc which couldn't connect to the virtual controller from the virtual machine. So I would like to know can I assign the port number for the server in the local pc, therefore, I could use the roslaunch command to connect to the virtual controller

Maxim Riabichev

Take a look at this post: https://forums.robotstudio.com/discussion/12177/how-to-change-the-listening-port-of-the-virtual-controller-robotware-6-x-and-7-x