ROS, ReachRsDriver object has no attribute socket

This is a question about the reach_ros_driver. I’m trying to retrieve the NMEA messages for a ROS setup, here are the details:

  • EMLID Reach RS2, firmware version 26.1, ip address
  • Laptop with Ubuntu 18 and ROS Melodic, ip address
  • ROS package enwaytech/reach_rs_ros_driver

The Reach is connected through WiFI to the same local network than the Ubuntu machine, i can access to the Reach portal over a browser without problems and I can ping from the laptop the Reach without problems.

As recommended, settings in the ReachView web interface are :
On the Position output tab under Output1 choose TCP . Set the role to Server , the address to localhost and choose a port number. From the formats select NMEA .

Then, I start roscore in the laptop, setup the parameters and get the ros node running:

rosparam set reach_rs_host_or_ip
rosparam set reach_rs_port 9001
rosrun reach_rs_driver reach_rs_driver_node

and when I execute the node, I get the following error:

Traceback (most recent call last):
  File "/home/usr/ws/t_ws/src/reach_rs_ros_driver/scripts/reach_rs_driver_node", line 45, in <module>
    reachRsDriver = ReachRsDriver()
  File "/home/usr/ws/t_ws/src/reach_rs_ros_driver/src/enway_reach_rs_driver/", line 53, in __init__
    port = rospy.get_param('~reach_rs_port')
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/", line 467, in get_param
    return _param_server[param_name] #MasterProxy does all the magic for us
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/", line 123, in __getitem__
    raise KeyError(key)
KeyError: '~reach_rs_port'
Exception AttributeError: "'ReachRsDriver' object has no attribute 'socket'" in <bound method ReachRsDriver.__del__ of <enway_reach_rs_driver.reach_rs_driver.ReachRsDriver object at 0x7f5ef71fdbd0>> ignored

I think it should be a pretty simple error because I’m basically just executing the package as it is, but i can not get it working…
If any of you has experienced similar issue, I would appreciate your feedback or comments,

Thank you in advance!!!

Hi @AG08,

I’ve never worked with this package myself, but I have several suggestions to check:

  • Make sure that Reach’s IP address wasn’t changed. You can check it in the ReachView 3
  • Make sure that the 9001 port isn’t busy by Correction output or input
  • Try to connect your laptop to Reach’s hotspot and check if it works. In that case, Reach’s IP address is

Also, I see that this package was written for Reach RS. Probably, it’s not optimized for Reach RS2.

You can check another one in this topic: Is their any ROS Package for REACH RS2? We didn’t test it too, but our users say it works for them.

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