Tool Communication

[GDqbrobotics]

Hello!
I'm using this urcapx with Universal Robots ROS2 Driver. I'm having issues to establish communication with my serial tool, the same way I use to do with Polyscope5.
I define the driver node in my launcher this way:

    ur_include = GroupAction(
        actions=[
            SetRemap(src='/robot_description',dst='/robot_description_ur3e'),

            IncludeLaunchDescription(
                PythonLaunchDescriptionSource([os.path.join(
                    get_package_share_directory('ur_robot_driver'), 'launch'),
                    '/ur_control.launch.py']),
                launch_arguments={'ur_type': 'ur3e',
                                    'robot_ip': '192.168.1.96',
                                    'initial_joint_controller': 'joint_trajectory_controller',
                                    'robot_controller': 'joint_trajectory_controller',
                                    'launch_rviz': 'false',
                                    'use_tool_communication': 'true',
                                    'tool_baud_rate': '2000000',
                                    'tool_voltage': '24',
                                    'headless_mode': 'true'}.items(),
            )
        ]
    )

And the error that I get on the tool is:
[tool_communication.py-4] 2025/07/29 14:11:35 socat[216] E connect(6, AF=2 192.168.1.96:54321, 16): Connection refused

Is the tool communication feature already working?

[urfeex]

The tool communication feature is done with another URCap on PolyScope 5. That one has not been ported to PolyScope X, yet.

[GDqbrobotics]

Yes you are right. My bad, sorry... looking forward for this implementation!