Fix UR5 Robot TCP/IP Errors

I'm encountering communication issues with my UR5 robot using TCP/IP in a ROS2 environment. The primary challenge lies in error handling.

I need a specialist to diagnose and rectify these error handling issues, ensuring smooth and reliable communication.

Ideal skills and experience:
- Proficiency in ROS2
- Strong understanding of TCP/IP
- Experience with UR5 robots
- Expertise in error handling and communication protocols