socket error on rm 65 arm

[Jubileus-ryz]

Great Project!
I met some socket transmission error when using rm_65_bringup
I got error from this line and seemed robot can be connect

I changed the udp address in config file with the same ip address, and port 8089 I confused if it is right

I can send socket message through python to this port but nothing received. If it is caused by api version.

[kaola-zero]

Is the ROS package version used 1.3.0? Our ROS package has been tested on controller version 1.6.7, but it has not been tested on higher versions. If the controller version of the robotic arm is higher than 1.6.7, it is recommended to roll back to 1.6.7 and try it out first.
If you are using a virtual machine to connect with a robotic arm, you also need to set the virtual machine network to bridging mode, otherwise UDP cannot report data to the virtual machine.

Hope it's helpful to you

[Jubileus-ryz]

Is the ROS package version used 1.3.0? Our ROS package has been tested on controller version 1.6.7, but it has not been tested on higher versions. If the controller version of the robotic arm is higher than 1.6.7, it is recommended to roll back to 1.6.7 and try it out first. If you are using a virtual machine to connect with a robotic arm, you also need to set the virtual machine network to bridging mode, otherwise UDP cannot report data to the virtual machine.

Hope it's helpful to you

thank you for your reply!

I pulled the latest code on humble branch in this repo yesterday, is that version 1.3.0 or I should pull from tag?

How can I check the version of controller, or how can I change it? I checked the robot and got [Plan_version V6.0.4] [Ctrl_version V7.0.4] [Real_time Kernal V2.0.4] [Joint Vd4.6.4] [End interface V1.7.2]. Should I downgrade the hardware and how can I downgrade them?

I'm not using virtual machine, directly connect robot with a ubuntu 22.04 machine. Is there any settings for udp connection needs to be turned on?

[kaola-zero]

The default UDP is enabled，The following images can reflect the corresponding information:
ROS package version:

Robot arm controller version：

[Jubileus-ryz]

I confirm the ros2 version. I think it is 1.3.0.
But I cant find the controller version like V1.6.7. I only found a page like this.

or can you send me a arm controller upgrade package?

I scaned all the ports on robot cant find a 8089 udp port, why does this robot using two ip address, I cant connect to the 192.168.1.10 even I connect the robot directly.