Call Ros service java error

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sarra elghali
sarra elghali 2018-3-12
评论： sarra elghali 2018-3-14
Hi, I'm trying to communicate between ros core installed in ubuntu and ros matlab installed in windows 10. runing rossvcclient, I get a java error , unless I can see the service name when I tape rosservice list. I had already generate custom message form my workspace.
  2 个评论
MathWorks Robotics and Autonomous Systems Team
MathWorks Robotics and Autonomous Systems Team 2018-3-12
Are you saying the comment:
>> rosservice list
Throws Java error if there is no rosservice present?
Can you give details using "code" and also "exact error" messages?
sarra elghali
sarra elghali 2018-3-14
Hey, I think it's connexion network problem, i Tried to follow those steps that I found here https://fr.mathworks.com/matlabcentral/answers/196911-use-matlab-robotics-system-toolbox-to-receive-ros-message
I got the same problem here my steps : 1. I edited file C:\Windows\system32\drivers\etc\hosts and on Ubuntu /etc/hosts by adding : 92.168.65.82 UBUNTUPCIP 192.168.65.80 WINDOWSPCIP 2. I turned off all the firewalls on Window PC and Ubuntu PC 3. I have set environment variables on Ubuntu PC export ROS_MASTER_URI=http://UbuntuPCIP:11311 export ROS_IP=UbuntuPCIP 3. I tried to ping both windows and Ubutnu as said here http://wiki.ros.org/ROS/NetworkSetup # on matlab window command !ping 192.168.65.82
Pinging 192.168.65.82 with 32 bytes of data: Reply from 192.168.65.82: bytes=32 time=6ms TTL=64 Reply from 192.168.65.82: bytes=32 time=4ms TTL=64 Reply from 192.168.65.82: bytes=32 time=4ms TTL=64 Reply from 192.168.65.82: bytes=32 time=4ms TTL=64
  1. On Ubuntu
4. On Windows MATLAB, set the environment variables for ROS: setenv('ROS_MASTER_URI','http://192.168.65.82:11311') setenv('ROS_IP','192.168.65.80') rosinit result : The value of the ROS_MASTER_URI environment variable, http://192.168.65.82:11311, will be used to connect to the ROS master. The value of the ROS_IP environment variable, 192.168.65.80, will be used to set the advertised address for the ROS node. Initializing global node /matlab_global_node_33797 with NodeURI http://192.168.65.80:5348
5. create subscruiber: hw_status=rossubscriber('Niryo_one/hardware_status')
hw_status =
Subscriber with properties:
TopicName: '/Niryo_one/hardware_status'
MessageType: 'niryo_one_msgs/HardwareStatus'
LatestMessage: [0×1 HardwareStatus]
BufferSize: 1
NewMessageFcn: []
>> hwmesg=rosmessage(hw_status)
hwmesg =
ROS HardwareStatus message with properties:
MessageType: 'niryo_one_msgs/HardwareStatus'
Header: [1×1 Header]
RpiTemperature: 0
ConnectionUp: 0
ErrorMessage: ''
CalibrationNeeded: 0
CalibrationInProgress: 0
MotorNames: {0×1 cell}
MotorTypes: {0×1 cell}
Temperatures: [0×1 int32]
Voltages: [0×1 double]
HardwareErrors: [0×1 int32]
An emptymsg
5. I run roswtf command on ubuntu
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回答（1 个）

sarra elghali
sarra elghali 2018-3-13
this the java error I get when I run rossvcclient('/niryo_one/activate_learning_mode')
Mar 13, 2018 9:43:13 AM org.jboss.netty.channel.DefaultChannelPipeline
WARNING: An exception was thrown by a user handler while handling an exception event ([id: 0x730cfcfb] EXCEPTION: java.nio.channels.UnresolvedAddressException)
org.ros.exception.RosRuntimeException: java.nio.channels.UnresolvedAddressException
at org.ros.internal.transport.ConnectionTrackingHandler.exceptionCaught(ConnectionTrackingHandler.java:94)
at org.jboss.netty.channel.Channels.fireExceptionCaught(Channels.java:533)
at org.jboss.netty.channel.socket.nio.NioClientSocketPipelineSink.connect(NioClientSocketPipelineSink.java:157)
at org.jboss.netty.channel.socket.nio.NioClientSocketPipelineSink.eventSunk(NioClientSocketPipelineSink.java:102)
at org.jboss.netty.handler.codec.oneone.OneToOneEncoder.handleDownstream(OneToOneEncoder.java:55)
at org.jboss.netty.channel.Channels.connect(Channels.java:642)
at org.jboss.netty.channel.AbstractChannel.connect(AbstractChannel.java:205)
at org.jboss.netty.bootstrap.ClientBootstrap.connect(ClientBootstrap.java:230)
at org.jboss.netty.bootstrap.ClientBootstrap.connect(ClientBootstrap.java:183)
at org.ros.internal.transport.tcp.TcpClient.connect(TcpClient.java:114)
at org.ros.internal.transport.tcp.TcpClientManager.connect(TcpClientManager.java:69)
Caused by: java.nio.channels.UnresolvedAddressException
at sun.nio.ch.Net.checkAddress(Unknown Source)
at sun.nio.ch.SocketChannelImpl.connect(Unknown Source)
at org.jboss.netty.channel.socket.nio.NioClientSocketPipelineSink.connect(NioClientSocketPipelineSink.java:139)
... 8 more
Failed to create a /niryo_one/activate_learning_mode service client.

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