네트워크 connection refused

[Hyounjun-Oh]

안녕하세요.
로봇과 LAN선으로 연결이 안되는 현상이 있습니다.

192.168.137.100으로 ping은 잘 됩니다.
하지만 connection refused가 발생하며 노드가 비정상 종료됩니다.

아래 명령어로 런치한 결과입니다.
roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.137.100 port:=12345 model:=a0912

---

ohj@msi:~/mani_ws/src$ roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.137.100 port:=12345 model:=a0912
... logging to /home/ohj/.ros/log/68c495ce-4c40-11ef-ae50-190b238b2279/roslaunch-msi-4489.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://msi:43585/

SUMMARY

PARAMETERS

• /dsr01/dsr_joint1_position/joint: joint1
• /dsr01/dsr_joint1_position/pid/d: 200.0
• /dsr01/dsr_joint1_position/pid/i: 100.0
• /dsr01/dsr_joint1_position/pid/i_clamp: 500
• /dsr01/dsr_joint1_position/pid/p: 500.0
• /dsr01/dsr_joint1_position/type: position_controll...
• /dsr01/dsr_joint2_position/joint: joint2
• /dsr01/dsr_joint2_position/pid/d: 250.0
• /dsr01/dsr_joint2_position/pid/i: 100.0
• /dsr01/dsr_joint2_position/pid/i_clamp: 500
• /dsr01/dsr_joint2_position/pid/p: 500.0
• /dsr01/dsr_joint2_position/type: position_controll...
• /dsr01/dsr_joint3_position/joint: joint3
• /dsr01/dsr_joint3_position/pid/d: 40.0
• /dsr01/dsr_joint3_position/pid/i: 20.0
• /dsr01/dsr_joint3_position/pid/i_clamp: 500
• /dsr01/dsr_joint3_position/pid/p: 300.0
• /dsr01/dsr_joint3_position/type: position_controll...
• /dsr01/dsr_joint4_position/joint: joint4
• /dsr01/dsr_joint4_position/pid/d: 40.0
• /dsr01/dsr_joint4_position/pid/i: 0.0
• /dsr01/dsr_joint4_position/pid/i_clamp: 500
• /dsr01/dsr_joint4_position/pid/p: 100.0
• /dsr01/dsr_joint4_position/type: position_controll...
• /dsr01/dsr_joint5_position/joint: joint5
• /dsr01/dsr_joint5_position/pid/d: 25.0
• /dsr01/dsr_joint5_position/pid/i: 20.0
• /dsr01/dsr_joint5_position/pid/i_clamp: 500
• /dsr01/dsr_joint5_position/pid/p: 200.0
• /dsr01/dsr_joint5_position/type: position_controll...
• /dsr01/dsr_joint6_position/joint: joint6
• /dsr01/dsr_joint6_position/pid/d: 25.0
• /dsr01/dsr_joint6_position/pid/i: 20.0
• /dsr01/dsr_joint6_position/pid/i_clamp: 500
• /dsr01/dsr_joint6_position/pid/p: 300.0
• /dsr01/dsr_joint6_position/type: position_controll...
• /dsr01/dsr_joint_position_controller/joints: ['joint1', 'joint...
• /dsr01/dsr_joint_position_controller/publish_rate: 20
• /dsr01/dsr_joint_position_controller/type: position_controll...
• /dsr01/dsr_joint_publisher/publish_rate: 150
• /dsr01/dsr_joint_publisher/type: joint_state_contr...
• /dsr01/dsr_joint_trajectory_controller/joints: ['joint1', 'joint...
• /dsr01/dsr_joint_trajectory_controller/publish_rate: 20
• /dsr01/dsr_joint_trajectory_controller/type: position_controll...
• /dsr01/dsr_velocity_controller/angular/z/has_acceleration_limits: True
• /dsr01/dsr_velocity_controller/angular/z/has_velocity_limits: True
• /dsr01/dsr_velocity_controller/angular/z/max_acceleration: 6.0
• /dsr01/dsr_velocity_controller/angular/z/max_velocity: 2.0
• /dsr01/dsr_velocity_controller/base_frame_id: base_link
• /dsr01/dsr_velocity_controller/cmd_vel_timeout: 0.25
• /dsr01/dsr_velocity_controller/enable_odom_tf: False
• /dsr01/dsr_velocity_controller/estimate_velocity_from_position: False
• /dsr01/dsr_velocity_controller/left_wheel: ['front_left_whee...
• /dsr01/dsr_velocity_controller/linear/x/has_acceleration_limits: True
• /dsr01/dsr_velocity_controller/linear/x/has_velocity_limits: True
• /dsr01/dsr_velocity_controller/linear/x/max_acceleration: 3.0
• /dsr01/dsr_velocity_controller/linear/x/max_velocity: 1.0
• /dsr01/dsr_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
• /dsr01/dsr_velocity_controller/publish_rate: 50
• /dsr01/dsr_velocity_controller/right_wheel: ['front_right_whe...
• /dsr01/dsr_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
• /dsr01/dsr_velocity_controller/type: diff_drive_contro...
• /dsr01/dsr_velocity_controller/wheel_radius_multiplier: 1.0
• /dsr01/dsr_velocity_controller/wheel_separation_multiplier: 1.875
• /dsr01/gazebo_robot_state_publisher/robot_description: dsr01/robot_descr...
• /dsr01/gazebo_robot_state_publisher/tf_prefix: dsr01
• /dsr01/world_tf/tf_prefix: dsr01
• /dsr01a0912/command: True
• /dsr01a0912/dsr_joint1_position/joint: joint1
• /dsr01a0912/dsr_joint1_position/pid/d: 200.0
• /dsr01a0912/dsr_joint1_position/pid/i: 100.0
• /dsr01a0912/dsr_joint1_position/pid/i_clamp: 500
• /dsr01a0912/dsr_joint1_position/pid/p: 500.0
• /dsr01a0912/dsr_joint1_position/type: position_controll...
• /dsr01a0912/dsr_joint2_position/joint: joint2
• /dsr01a0912/dsr_joint2_position/pid/d: 250.0
• /dsr01a0912/dsr_joint2_position/pid/i: 100.0
• /dsr01a0912/dsr_joint2_position/pid/i_clamp: 500
• /dsr01a0912/dsr_joint2_position/pid/p: 500.0
• /dsr01a0912/dsr_joint2_position/type: position_controll...
• /dsr01a0912/dsr_joint3_position/joint: joint3
• /dsr01a0912/dsr_joint3_position/pid/d: 40.0
• /dsr01a0912/dsr_joint3_position/pid/i: 20.0
• /dsr01a0912/dsr_joint3_position/pid/i_clamp: 500
• /dsr01a0912/dsr_joint3_position/pid/p: 300.0
• /dsr01a0912/dsr_joint3_position/type: position_controll...
• /dsr01a0912/dsr_joint4_position/joint: joint4
• /dsr01a0912/dsr_joint4_position/pid/d: 40.0
• /dsr01a0912/dsr_joint4_position/pid/i: 0.0
• /dsr01a0912/dsr_joint4_position/pid/i_clamp: 500
• /dsr01a0912/dsr_joint4_position/pid/p: 100.0
• /dsr01a0912/dsr_joint4_position/type: position_controll...
• /dsr01a0912/dsr_joint5_position/joint: joint5
• /dsr01a0912/dsr_joint5_position/pid/d: 25.0
• /dsr01a0912/dsr_joint5_position/pid/i: 20.0
• /dsr01a0912/dsr_joint5_position/pid/i_clamp: 500
• /dsr01a0912/dsr_joint5_position/pid/p: 200.0
• /dsr01a0912/dsr_joint5_position/type: position_controll...
• /dsr01a0912/dsr_joint6_position/joint: joint6
• /dsr01a0912/dsr_joint6_position/pid/d: 25.0
• /dsr01a0912/dsr_joint6_position/pid/i: 20.0
• /dsr01a0912/dsr_joint6_position/pid/i_clamp: 500
• /dsr01a0912/dsr_joint6_position/pid/p: 300.0
• /dsr01a0912/dsr_joint6_position/type: position_controll...
• /dsr01a0912/dsr_joint_position_controller/joints: ['joint1', 'joint...
• /dsr01a0912/dsr_joint_position_controller/publish_rate: 20
• /dsr01a0912/dsr_joint_position_controller/type: position_controll...
• /dsr01a0912/dsr_joint_publisher/publish_rate: 150
• /dsr01a0912/dsr_joint_publisher/type: joint_state_contr...
• /dsr01a0912/dsr_joint_trajectory_controller/joints: ['joint1', 'joint...
• /dsr01a0912/dsr_joint_trajectory_controller/publish_rate: 20
• /dsr01a0912/dsr_joint_trajectory_controller/type: position_controll...
• /dsr01a0912/dsr_velocity_controller/angular/z/has_acceleration_limits: True
• /dsr01a0912/dsr_velocity_controller/angular/z/has_velocity_limits: True
• /dsr01a0912/dsr_velocity_controller/angular/z/max_acceleration: 6.0
• /dsr01a0912/dsr_velocity_controller/angular/z/max_velocity: 2.0
• /dsr01a0912/dsr_velocity_controller/base_frame_id: base_link
• /dsr01a0912/dsr_velocity_controller/cmd_vel_timeout: 0.25
• /dsr01a0912/dsr_velocity_controller/enable_odom_tf: False
• /dsr01a0912/dsr_velocity_controller/estimate_velocity_from_position: False
• /dsr01a0912/dsr_velocity_controller/left_wheel: ['front_left_whee...
• /dsr01a0912/dsr_velocity_controller/linear/x/has_acceleration_limits: True
• /dsr01a0912/dsr_velocity_controller/linear/x/has_velocity_limits: True
• /dsr01a0912/dsr_velocity_controller/linear/x/max_acceleration: 3.0
• /dsr01a0912/dsr_velocity_controller/linear/x/max_velocity: 1.0
• /dsr01a0912/dsr_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
• /dsr01a0912/dsr_velocity_controller/publish_rate: 50
• /dsr01a0912/dsr_velocity_controller/right_wheel: ['front_right_whe...
• /dsr01a0912/dsr_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
• /dsr01a0912/dsr_velocity_controller/type: diff_drive_contro...
• /dsr01a0912/dsr_velocity_controller/wheel_radius_multiplier: 1.0
• /dsr01a0912/dsr_velocity_controller/wheel_separation_multiplier: 1.875
• /dsr01a0912/gripper: none
• /dsr01a0912/host: 192.168.137.100
• /dsr01a0912/mobile: none
• /dsr01a0912/mode: real
• /dsr01a0912/model: a0912
• /dsr01a0912/moveit: False
• /dsr01a0912/name: dsr01
• /dsr01a0912/port: 12345
• /dsr01a0912/rate: 100
• /dsr01a0912/standby: 5000
• /gazebo/enable_ros_network: True
• /robot_description: <?xml version="1....
• /rosdistro: noetic
• /rosversion: 1.16.0
• /use_sim_time: True

NODES
/
dsr01a0912 (dsr_control/dsr_control_node)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
/dsr01/
controller_spawner (controller_manager/spawner)
gazebo_robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_create_model (gazebo_ros/spawn_model)
world_tf (tf/static_transform_publisher)
/dsr01a0912/
controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [4499]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 68c495ce-4c40-11ef-ae50-190b238b2279
process[rosout-1]: started with pid [4512]
started core service [/rosout]
process[gazebo-2]: started with pid [4519]
process[gazebo_gui-3]: started with pid [4523]
process[dsr01/controller_spawner-4]: started with pid [4528]
process[dsr01/gazebo_robot_state_publisher-5]: started with pid [4530]
process[dsr01a0912/controller_spawner-6]: started with pid [4531]
process[dsr01a0912-7]: started with pid [4532]
process[dsr01/world_tf-8]: started with pid [4533]
process[dsr01/spawn_create_model-9]: started with pid [4535]
[INFO] [1722102499.811380, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1722102499.914461, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1722102499.982410239]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1722102499.983147219]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1722102500.027124134]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1722102500.027986178]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1722102500.678838428, 0.034000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1722102500.706254882]: rate is 100

[ INFO] [1722102500.719311016]: name_space is dsr01, a0912

[ INFO] [1722102500.719333826]: [dsr_hw_interface] constructed
[ INFO] [1722102500.720715654, 0.074000000]: Physics dynamic reconfigure ready.
[ INFO] [1722102500.803841162]: [dsr_hw_interface] init() ==> setup callback fucntion
[ INFO] [1722102500.803870958]: INIT@@@@@@@@@@@@@@@@@@@@@@@@@
[ INFO] [1722102500.803883128]: [dsr_hw_interface] init() ==> arm is standby
[ INFO] [1722102500.804873400]: host 192.168.137.100, port=12345 bCommand: 1, mode: real

[ INFO] [1722102501.431338177, 0.376000000]: Loading gazebo_ros_control plugin
[ INFO] [1722102501.431421466, 0.376000000]: Starting gazebo_ros_control plugin in namespace: /dsr01
[ INFO] [1722102501.431744064, 0.376000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ERROR] [1722102501.539790156, 0.376000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint1
[ERROR] [1722102501.540200788, 0.376000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint2
[ERROR] [1722102501.540577227, 0.376000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint3
[ERROR] [1722102501.540915290, 0.376000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint4
[ERROR] [1722102501.541145013, 0.376000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint5
[ERROR] [1722102501.541360114, 0.376000000]: No p gain specified for pid. Namespace: /dsr01/gazebo_ros_control/pid_gains/joint6
[ INFO] [1722102501.543258192, 0.376000000]: Loaded gazebo_ros_control.
[INFO] [1722102501.621143, 0.454000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1722102501.623186, 0.456000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1722102501.624919, 0.458000]: Loading controller: dsr_joint_position_controller
[INFO] [1722102501.633823, 0.467000]: Controller Spawner: Loaded controllers: dsr_joint_position_controller
[INFO] [1722102501.637738, 0.471000]: Started controllers: dsr_joint_position_controller
[dsr01/spawn_create_model-9] process has finished cleanly
log file: /home/ohj/.ros/log/68c495ce-4c40-11ef-ae50-190b238b2279/dsr01-spawn_create_model-9*.log
Connection refused
[ERROR] [1722102503.458567654, 2.278000000]: [dsr_control] Error initializing robot
[dsr01a0912-7] process has died [pid 4532, exit code 255, cmd /home/ohj/mani_ws/devel/lib/dsr_control/dsr_control_node /dsr_joint_position_controller/command:=/dsr01/dsr_joint_position_controller/command __name:=dsr01a0912 __log:=/home/ohj/.ros/log/68c495ce-4c40-11ef-ae50-190b238b2279/dsr01a0912-7.log].
log file: /home/ohj/.ros/log/68c495ce-4c40-11ef-ae50-190b238b2279/dsr01a0912-7*.log

libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org

libcurl: (6) Could not resolve host: fuel.gazebosim.org
[WARN] [1722102530.049162, 28.683000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[dsr01a0912/controller_spawner-6] process has finished cleanly

log file: /home/ohj/.ros/log/68c495ce-4c40-11ef-ae50-190b238b2279/dsr01a0912-controller_spawner-6*.log

혹시 어떤 부분에서 문제가 예상되는지 알 수 있을까요?
필요하신 로그 파일도 답변드리겠습니다.

감사합니다.