Socket communication error

Hello,

I'm trying to run the example project. I run this inside a Docker container with an Ubuntu 24.04 Image on Windows WSL. TwinCAT is also running on the same hostPc. I connect remotely to the PLC.
A followed the configuration steps, but there is something wrong when the ROS2 control want to setup a Socket communication (see figure 1). To be clear I launch the beckhoff_bot.launch.xml file. Is this the correct one?

Before I got the right configuration (to build up the socket communication), I needed to change this parameter from true to false (see figure 2). This is in the beckhoff_bot.launch.xml file. Changing this value will run the beckhoff_ads_hardware_interface/BeckhoffADSHardwareInterface plugin instead off the mock_components/GenericSystem plugin.
I don't know why this is set to standard, but it fixed that.

The values of the addresses in the URDF can be found in figure 3.

The AmsNetId and IP address of the PLC are the same (see figure 4).

And also the local AmsNetId is set to the same value as the URDF (see figure 5).

I run both programs (Twincat and the ROS2 control ads driver) on the same host pc. I can ping the PLC inside the Docker container and also in the CMD of the host PC.

I don't know at the moment what the problem could be.
Thanks in advance and every feedback could be helpful!

Start with beckhoff_bot.launch.xml and the URDF values shown in the report, then reproduce the launch inside the Ubuntu 24.04 Docker container while TwinCAT and the PLC are reachable. Check the mock_components setting, ADS addresses, and local and PLC AmsNetIds against the reported socket error. Done means identifying the configuration or environment mismatch and documenting a reproducible working setup.

Written by the indexing model from the issue text.