Даниил Грабарь
79d88db930
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons. - Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller. - Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. - Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording. - Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux. - Created a section on installing a Windows compatibility tool (PortProton) on Linux. - Documented the installation process for SunriseWorkbench on Linux using PortProton. - Added installation instructions for SunriseWorkbench on Windows. - Created troubleshooting documentation for configuration errors and SSL errors during installation. - Implemented a hook to generate the shared PDF only during the default-language build.
4.7 KiB
SSL error during installation
Problem description
When running cobot setup or rosdep update, an SSL handshake error may occur while downloading ROS dependency indexes from GitHub.
Possible causes:
- network restrictions such as a corporate firewall or ISP filtering;
- GitHub being blocked by the router or ISP;
- DNS resolution problems for
raw.githubusercontent.com; - restricted TLS connections caused by Deep Packet Inspection.
Symptoms
=== "cobot setup"
[rosdep] Initializing rosdep... ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]: <urlopen error _ssl.c:983: The handshake operation timed out> ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]: <urlopen error _ssl.c:983: The handshake operation timed out> ERROR: Not all sources were able to be updated.
=== "rosdep update"
/usr/bin/rosdep:6: DeprecationWarning: pkg_resources is deprecated as an API. from pkg_resources import load_entry_point ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]: <urlopen error _ssl.c:983: The handshake operation timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml) ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]: <urlopen error _ssl.c:983: The handshake operation timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml) ERROR: Not all sources were able to be updated. [[[ ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]: <urlopen error _ssl.c:983: The handshake operation timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml) ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]: <urlopen error _ssl.c:983: The handshake operation timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
Solution: WireGuard VPN
The recommended way to bypass network restrictions is to establish a WireGuard VPN tunnel. For WireGuard server setup, see the official WireGuard documentation or your cloud provider's documentation.
The following steps configure the client on the workstation.
1. Install WireGuard
sudo apt update && sudo apt install -y wireguard-tools
2. Configure the client
Create the configuration file:
sudo nano /etc/wireguard/wg0.conf
Add the following content and substitute your server details:
[Interface]
# Client private key (generate with: wg genkey)
PrivateKey = <YOUR_PRIVATE_KEY>
# Client address on the VPN network
Address = 10.0.0.2/24
# DNS servers (optional)
DNS = 8.8.8.8, 1.1.1.1
[Peer]
# WireGuard server public key
PublicKey = <SERVER_PUBLIC_KEY>
# Server address and UDP port
Endpoint = <SERVER_IP>:51820
# Route all traffic through the VPN
AllowedIPs = 0.0.0.0/0
# Keepalive for clients behind NAT
PersistentKeepalive = 25
!!! tip "Generating keys" If you do not have a key pair, generate one: ```bash # Private key wg genkey | tee privatekey
# Public key (send it to the server administrator)
cat privatekey | wg pubkey
```
!!! note "Split routing"
To route only GitHub traffic through the VPN, replace AllowedIPs with:
ini AllowedIPs = 140.82.112.0/20, 185.199.108.0/22
!!! warning "MTU problems"
If the connection is established but packets are lost, reduce the MTU in [Interface]:
ini MTU = 1420
3. Manage the tunnel
# Start the tunnel
sudo wg-quick up wg0
# Check connection status and statistics
sudo wg show
# Stop the tunnel
sudo wg-quick down wg0
4. Start automatically at boot
sudo systemctl enable wg-quick@wg0
sudo systemctl start wg-quick@wg0
5. Verify the connection
# Verify that the interface is up
ip addr show wg0
# Check routes
ip route show
# Ping the VPN server
ping 10.0.0.1
# Check the external IP (it should match the VPN server IP)
curl -s ifconfig.me
After the connection succeeds, run installation again:
cobot setup
or update only rosdep:
rosdep update
6. Diagnostics
If the tunnel does not start, inspect the system log:
sudo journalctl -u wg-quick@wg0 -f
Make sure that UDP port 51820 is open on the server:
# Check on the server
sudo ufw status
# or
sudo iptables -L -n | grep 51820