UR5 reverse interface keeps dropping in WSL2 about universal_robots_ros2_driver HOT 2 OPEN

As written in other places: We aren't that familiar with how network traffic is handled on WSL2. As we are currently relying on rather strict timing constraints we encourage people to use a native Linux with a low-latency kernel.

So, I'm afraid I cannot give much more help at the time being.

from universal_robots_ros2_driver.

@AGuthmann this was a problem I experienced myself as well using the foxy distribution on a Jetson nano running Ubuntu 20.04. The fix for me was to uninstall the binary packages, build from source, go into the hardware_interfaces.cpp file and insert a new line to the initialization function: ur_driver_->setKeepaliveCount(500); right before ur_driver_->startRTDECommunication();.

For the foxy distibution the startup function was URPositionHardwareInterface::start().

I'm running WSL2 on a Windows 11 PC and have set up the drivers from source with a similar hard-coded modification, until I find an easy way to modify the system parameter. 500ms could be significantly longer than needed, so you can adjust accordingly.

from universal_robots_ros2_driver.