I am trying to run the ursim_e-series docker container and connect to it using the ur_robot_driver. I've set it up as per the descriptions so that it launches with the command docker run --rm -it -p 5900:5900 -p 6080:6080 -v ${HOME}/.ursim/urcaps:/urcaps -v ${HOME}/.ursim/programs:/ursim/programs --name ursim --net ursim_net --ip 192.168.56.101 universalrobots/ursim_e-series and should be accessable via the browser by http://192.168.56.101:6080/vnc.html.
It launches successfully, but I am only able to access the VNC in brovser using http://localhost:6080/vnc.html, which also doesn't allow for me to see the robot simulator, when trying to connect to it with ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101 as it can't find the robot on the ip address.
I have Linux Ubuntu 22.04 and Docker Desktop 4.21.1 (114176). Let me know if other info is required!
When running ifconfig i get the output
enp7s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 10.13.136.72 netmask 255.255.254.0 broadcast 10.13.137.255
inet6 fe80::7943:8ae8:4740:e969 prefixlen 64 scopeid 0x20<link>
ether 98:fa:9b:bb:d4:af txqueuelen 1000 (Ethernet)
RX packets 2896104 bytes 772999648 (772.9 MB)
RX errors 0 dropped 222 overruns 0 frame 0
TX packets 2516553 bytes 170849174 (170.8 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
inet6 ::1 prefixlen 128 scopeid 0x10<host>
loop txqueuelen 1000 (Local Loopback)
RX packets 251007 bytes 56927434 (56.9 MB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 251007 bytes 56927434 (56.9 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
docker network inspect -v ursim_net returns
[
{
"Name": "ursim_net",
"Id": "249333ce0b18910f29a69f69d5e9ff6229a14faaf4ff14f8d3c9cb51062d7c80",
"Created": "2023-07-26T12:59:11.831234829Z",
"Scope": "local",
"Driver": "bridge",
"EnableIPv6": false,
"IPAM": {
"Driver": "default",
"Options": {},
"Config": [
{
"Subnet": "192.168.56.0/24",
"Gateway": "192.168.56.1"
}
]
},
"Internal": false,
"Attachable": false,
"Ingress": false,
"ConfigFrom": {
"Network": ""
},
"ConfigOnly": false,
"Containers": {
"42219db95f6fd3be6fac11943664582a99e34276239e47844fe74f0c6d5e1b1b": {
"Name": "ursim",
"EndpointID": "2485afa6b5ed449706dca7164dc736325e5a2dab2724666204e43d71f431df14",
"MacAddress": "02:42:c0:a8:38:65",
"IPv4Address": "192.168.56.101/24",
"IPv6Address": ""
}
},
"Options": {},
"Labels": {}
}
]
Using docker.io instead of docker-desktop fixes the issue. Sadly, I don't know what differs between them to make this happen.