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ROS TCP access denied

Discussion in 'Robotics' started by Haastregt, Apr 26, 2024.

  1. Haastregt

    Haastregt

    Joined:
    Feb 25, 2019
    Posts:
    5
    Hi,

    I am using the ROS TCP endpoint to connect my unity app to ROS. This works in playmode, however when I build the app to the quest3 and try to connect, it doesn't work, instead I get an Access denied message. I included the info messages from Android LogCat below.

    Furthermore what is strange, I made a VR app before where I used the same code for the ROS TCP endpoint. I was able to build this and connect to the same IP and Port on the same Quest3 device without issues. The only difference that I was able to find, is that in the player settings, I am using a different scripting back-end and CPU architecture (since I am now using OpenXR, which is only compatible with ARM64 specifically). Could this be influencing the functioning of the ROS TCP endpoint?

    If not, any other suggestions why I might get an Access denied on this build, but not on the build of another similar app to the same IP and Port, and why would it still work in play mode?

    Thanks.

    2024/04/26 16:33:32.989 31762 32186 Info Unity Connection to 172.16.0.11:10000 failed - System.Net.Sockets.SocketException (0x80004005): Access denied

    2024/04/26 16:33:32.989 31762 32186 Info Unity at System.Net.Sockets.Socket..ctor (System.Net.Sockets.AddressFamily addressFamily, System.Net.Sockets.SocketType socketType, System.Net.Sockets.ProtocolType protocolType) [0x00000] in <00000000000000000000000000000000>:0

    2024/04/26 16:33:32.989 31762 32186 Info Unity at System.Net.Sockets.TcpClient.initialize () [0x00000] in <00000000000000000000000000000000>:0

    2024/04/26 16:33:32.989 31762 32186 Info Unity at Unity.Robotics.ROSTCPConnector.ROSConnection.ConnectionThread (System.String rosIPAddress, System.Int32 rosPort, System.Single networkTimeoutSeconds, System.Single keepaliveTime, System.Int32 sleepMilliseconds, System.Action`1[T] OnConnectionStartedCallback, System.Action DeregisterAll, Unity.Robotics.ROSTCPConnector.ROSConnection+OutgoingMessageQueue outgoingQueue, System.Collections.Concurrent.ConcurrentQueue`1[T] incomingQueue, System.Threading.CancellationToken token) [0x00000] in <00000000000000000000000000000000>:0

    2024/04/26 16:33:32.989 31762 32186 Info Unity at System.Threading.ExecutionContext.RunInternal (System.Thr