ROS2 Controller manager launched but timeout

[zkeyg]

Affected ROS2 Driver version(s)

2.2.15

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

Build the driver from source and using the UR Client Library from binary

Which robot platform is the driver connected to.

UR E-series robot

Robot SW / URSim version(s)

5.19.0

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

Short introduction to the issue and how it impact you and why UR Ros2 driver launched with controller manager but it seems that controller manager timeout when loading scaled joint controller. However it said that controller is loaded later. This happened probably 1 out 10 in my case.

Issue details

Detailed description help us understand the problem. Code are welcome!

Steps to Reproduce

Make simple example to reproduce the issue. Try to remove dependencies to other hardware and software components, if it is possible.

Expected Behavior

What did you expect and why?

Actual Behavior

What did you observe? If possible please attach relevant information.

Workaround Suggestion

If a workaround has been found, you are welcome to share it. Relaunch would help.

Relevant log output

565
2025-04-11T07:38:19.958-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382299.958000244] [controller_manager]: Loading controller 'io_and_status_controller'
566
2025-04-11T07:38:19.973-07:00
[ros2-9] [spawner-7] [INFO] [1744382299.973393520] [spawner_joint_state_broadcaster]: [94mLoaded [1mio_and_status_controller[0m
567
2025-04-11T07:38:19.974-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382299.973626834] [controller_manager]: Configuring controller 'io_and_status_controller'
568
2025-04-11T07:38:19.992-07:00
[ros2-9] [controller_stopper_node-3] [0m[INFO] [1744382299.991369667] [Controller stopper]: [findAndStopControllers] No controllers to stop[0m
569
2025-04-11T07:38:19.992-07:00
[ros2-9] [spawner-7] [INFO] [1744382299.991846723] [spawner_joint_state_broadcaster]: [92mConfigured and activated [1mio_and_status_controller[0m
570
2025-04-11T07:38:19.993-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382299.992829399] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
571
2025-04-11T07:38:20.002-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.002023921] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
572
2025-04-11T07:38:20.003-07:00
[ros2-9] [spawner-7] [INFO] [1744382300.003526406] [spawner_joint_state_broadcaster]: [94mLoaded [1mspeed_scaling_state_broadcaster[0m
573
2025-04-11T07:38:20.004-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.003855656] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
574
2025-04-11T07:38:20.004-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.003946753] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
575
2025-04-11T07:38:20.011-07:00
[ros2-9] [spawner-7] [INFO] [1744382300.011303475] [spawner_joint_state_broadcaster]: [92mConfigured and activated [1mspeed_scaling_state_broadcaster[0m
576
2025-04-11T07:38:20.012-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.012148470] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
577
2025-04-11T07:38:20.028-07:00
[ros2-9] [spawner-7] [INFO] [1744382300.027594871] [spawner_joint_state_broadcaster]: [94mLoaded [1mforce_torque_sensor_broadcaster[0m
578
2025-04-11T07:38:20.028-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.028007771] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
579
2025-04-11T07:38:20.036-07:00
[ros2-9] [spawner-7] [INFO] [1744382300.035412167] [spawner_joint_state_broadcaster]: [92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m
580
2025-04-11T07:38:20.170-07:00
[ros2-9] [INFO] [spawner-7]: process has finished cleanly [pid 814]
583
2025-04-11T07:38:20.246-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.246240170] [controller_manager]: Loading controller 'forward_position_controller'
584
2025-04-11T07:38:20.260-07:00
[ros2-9] [spawner-8] [INFO] [1744382300.259630782] [spawner_forward_position_controller]: [94mLoaded [1mforward_position_controller[0m
585
2025-04-11T07:38:20.262-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.261523841] [controller_manager]: Configuring controller 'forward_position_controller'
586
2025-04-11T07:38:20.263-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.262797266] [forward_position_controller]: configure successful
587
2025-04-11T07:38:20.289-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382300.288027456] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
588
2025-04-11T07:38:20.313-07:00
[ros2-9] [ur_ros2_control_node-1] [WARN] [1744382300.312900216] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
589
2025-04-11T07:38:20.415-07:00

2025-04-11T07:38:30.157-07:00
[ros2-9] [spawner-6] [WARN] [1744382310.156529219] [spawner_scaled_joint_trajectory_controller]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 1 of 3.)
708
2025-04-11T07:38:30.157-07:00
[ros2-9] [ur_ros2_control_node-1] [INFO] [1744382310.156813519] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
709
2025-04-11T07:38:30.157-07:00
[ros2-9] [ur_ros2_control_node-1] [ERROR] [1744382310.156920676] [controller_manager]: A controller named 'scaled_joint_trajectory_controller' was already loaded inside the controller manager
710
2025-04-11T07:38:30.158-07:00
[ros2-9] [spawner-6] [FATAL] [1744382310.157821361] [spawner_scaled_joint_trajectory_controller]: [91mFailed loading controller [1mscaled_joint_trajectory_controller[0m
711
2025-04-11T07:38:30.295-07:00
[ros2-9] [ERROR] [spawner-6]: process has died [pid 812, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --controller-manager-timeout 15 --switch-timeout 10 --ros-args'].

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