Connection to UR5e using a VM fail

Open marols27 opened this issue 9 months ago • 7 comments

Affected ROS2 Driver version(s)

3.0.2 and 3.1.0

Used ROS distribution.

Other

Which combination of platform is the ROS driver running on.

Linux in a virtual machine

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

UR E-series robot

Robot SW / URSim version(s)

5.12

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

*We are attempting to connect the ROS2 driver to a ur5e robot from a virtual ubuntu machine for testing. When we have the driver and connection established, we will also connect the MiR by ROS2 as well and then we will attempt to create a collaboration setup between the two robots. We are using a virtual machine for better system version handling, for easier rollbacks if something does not work, and because we up till now did not have any other options.

Noteworthy: We have been able to connect UR5e using the driver, however, only to read its position, not to control it. *

Issue details

We are now running an Ubuntu 24.02, with an instance of Jazzy Jalisco using VMWare 16 Player on Windows. We have followed each of the setup steps at the driver home page: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver. And when we attempt a connection by the prompt "ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:= 172.31.1.144" in our VM, we get the following output:

Steps to Reproduce

Create an Ubuntu 24.02 VM in VMWare.
Install the Jazzy Jalisco ros2.
Do the setup as instructed at the home page https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.
Runn the launch file.

Expected Behavior

*We expected it to connect to UR5e and gain ability to run controller programs and the URCaps program to connect in return. *

Actual Behavior

*It does not connect, at least not reliably, and we are unable to control the robot and run the URCaps control script. *

Workaround Suggestion

*We are aware that the VM part might be the issue (we have been informed), and to solve it we would have to get a computer with Ubuntu installed as the host system and run ROS2 directly on the host.

However, the ability to run the driver would be greatly helpful as we would easier be able to roll back systems and updates in case of accidents. *

Relevant log output

[INFO] [launch]: All log files can be found below /home/prosjekt/.ros/log/2025-03-12-15-22-10-883220-ROS2-jazzy-jalisco-318102
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [318120]
[INFO] [controller_stopper_node-3]: process started with pid [318121]
[INFO] [ros2_control_node-1]: process started with pid [318119]
[INFO] [urscript_interface-4]: process started with pid [318122]
[INFO] [robot_state_publisher-5]: process started with pid [318123]
[INFO] [rviz2-6]: process started with pid [318124]
[INFO] [spawner-7]: process started with pid [318125]
[INFO] [spawner-8]: process started with pid [318126]
[controller_stopper_node-3] [INFO] [1741789331.557913141] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_publisher-5] [INFO] [1741789331.775876782] [robot_state_publisher]: Robot initialized
[dashboard_client-2] [INFO] [1741789331.870086355] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[ros2_control_node-1] [INFO] [1741789331.915801683] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1741789331.917017232] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1741789331.917029175] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1741789331.917359164] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] [INFO] [1741789331.934038308] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1741789331.950969098] [controller_manager.resource_manager]: Loading hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1741789331.968873254] [controller_manager.resource_manager]: Loaded hardware 'ur5e' from plugin 'ur_robot_driver/URPositionHardwareInterface'
[ros2_control_node-1] [INFO] [1741789331.968998070] [controller_manager.resource_manager]: Initialize hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1741789331.969182298] [controller_manager.resource_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1741789331.974429857] [resource_manager]: 'configure' hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1741789331.974511362] [URPositionHardwareInterface]: Starting ...please wait...
[ros2_control_node-1] [INFO] [1741789331.974531660] [URPositionHardwareInterface]: Initializing driver...
[ros2_control_node-1] [WARN] [1741789332.020568076] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details.
[ros2_control_node-1] [INFO] [1741789332.277800543] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ros2_control_node-1] [INFO] [1741789332.278663395] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[rviz2-6] [INFO] [1741789332.667587987] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1741789332.667795690] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-6] [INFO] [1741789332.837005320] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-1] [INFO] [1741789333.322072015] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'.
[spawner-8] [INFO] [1741789333.595712427] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [INFO] [1741789333.631271237] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [ERROR] [1741789334.337255646] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/README.md] for details.
[ros2_control_node-1] [INFO] [1741789334.337354553] [URPositionHardwareInterface]: System successfully started!
[ERROR] [ros2_control_node-1]: process has died [pid 318119, exit code -11, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /home/prosjekt/ros2_ws/install/ur_robot_driver/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_ya4pkx24'].
[spawner-8] [FATAL] [1741789343.689063474] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [FATAL] [1741789343.707990514] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[ERROR] [spawner-8]: process has died [pid 318126, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 --inactive joint_trajectory_controller forward_velocity_controller forward_position_controller force_mode_controller passthrough_trajectory_controller freedrive_mode_controller --ros-args'].
[ERROR] [spawner-7]: process has died [pid 318125, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster tcp_pose_broadcaster ur_configuration_controller scaled_joint_trajectory_controller --ros-args'].

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Mar 13 '25 11:03 marols27