UR5e connected with external control but wont move

Open vhczz opened this issue 11 months ago • 3 comments

Affected ROS2 Driver version(s)

Ros2 Jazzy

Used ROS distribution.

Other

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

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)

UR5e

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

I am trying to load a python code to move the physical robot, I run the drivers, see the UR in Rviz and then try to run my launch file on another terminal. However when I run the code the robot wont move and the joint_trajectory_controller deactivates.

Issue details

I also encounter some warning when running the drivers but overall it seem to be a problem with the controller (I think), however I should also mention when I ping the robot my latency tends to be quite high (around 6ms). Here is the output of the drivers on the bash:

$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.135
[INFO] [launch]: All log files can be found below /home/victor-chavez/.ros/log/2025-05-08-13-46-29-693447-victor-chavezr-23296
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [23303]
[INFO] [controller_stopper_node-4]: process started with pid [23305]
[INFO] [ros2_control_node-1]: process started with pid [23302]
[INFO] [robot_state_helper-3]: process started with pid [23304]
[INFO] [urscript_interface-5]: process started with pid [23306]
[INFO] [robot_state_publisher-6]: process started with pid [23307]
[INFO] [rviz2-7]: process started with pid [23308]
[INFO] [spawner-8]: process started with pid [23309]
[INFO] [spawner-9]: process started with pid [23310]
[dashboard_client-2] [INFO] [1746733589.986122293] [UR_Client_Library:]: Starting primary client pipeline
[robot_state_publisher-6] [INFO] [1746733589.987576103] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1746733589.991340034] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[controller_stopper_node-4] [INFO] [1746733589.992111013] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_helper-3] [INFO] [1746733589.993132302] [UR_Client_Library:]: Starting primary client pipeline
[ros2_control_node-1] [INFO] [1746733589.993954122] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1746733589.997222486] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1746733589.997265713] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1746733589.997330136] [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.
[dashboard_client-2] [INFO] [1746733590.053239214] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[rviz2-7] [INFO] [1746733590.145002330] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1746733590.145150204] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-7] [INFO] [1746733590.159727006] [rviz2]: Stereo is NOT SUPPORTED
[spawner-9] [INFO] [1746733590.305926183] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-8] [INFO] [1746733590.320894632] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [WARN] [1746733590.993593289] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1746733591.993641595] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1746733592.993569804] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1746733593.993581980] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [INFO] [1746733594.568075638] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1746733594.570563610] [controller_manager]: Loading hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733594.574189065] [controller_manager]: Loaded hardware 'ur5e' from plugin 'ur_robot_driver/URPositionHardwareInterface'
[ros2_control_node-1] [INFO] [1746733594.574256525] [controller_manager]: Initialize hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733594.574522070] [controller_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733594.575481960] [resource_manager]: 'configure' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733594.575495216] [URPositionHardwareInterface]: Starting ...please wait...
[ros2_control_node-1] [INFO] [1746733594.575508434] [URPositionHardwareInterface]: Initializing driver...
[ros2_control_node-1] [WARN] [1746733594.579816122] [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] [1746733594.585572430] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ros2_control_node-1] [INFO] [1746733594.591737698] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[ros2_control_node-1] [INFO] [1746733595.675951818] [UR_Client_Library:]: Starting primary client pipeline
[ros2_control_node-1] [INFO] [1746733595.688850912] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'.
[ros2_control_node-1] [ERROR] [1746733596.688989564] [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] [1746733596.689116808] [URPositionHardwareInterface]: System successfully started!
[ros2_control_node-1] [INFO] [1746733596.689135557] [resource_manager]: Successful 'configure' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733596.689178397] [resource_manager]: 'activate' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733596.689182520] [URPositionHardwareInterface]: Activating HW interface
[ros2_control_node-1] [INFO] [1746733596.689187543] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733596.689281014] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[ros2_control_node-1] [WARN] [1746733596.689596747] [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] [WARN] [1746733596.702032292] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 12.600394 ms (missed cycles : 7).
[spawner-9] [FATAL] [1746733600.313486609] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-8] [INFO] [1746733600.329347449] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/load_controller to become available...
[controller_stopper_node-4] [INFO] [1746733600.348090294] [Controller stopper]: Service available
[controller_stopper_node-4] [INFO] [1746733600.348119542] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-4] [INFO] [1746733600.348156398] [Controller stopper]: Service available
[ERROR] [spawner-9]: process has died [pid 23310, 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 tool_contact_controller --ros-args'].
[ros2_control_node-1] [INFO] [1746733605.446736250] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1746733605.446775005] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733605.448972315] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_v95g0gi4
[spawner-8] [INFO] [1746733605.476809215] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1746733605.606470087] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733605.606603600] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [INFO] [1746733605.733148980] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[ros2_control_node-1] [INFO] [1746733605.733679194] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733605.736817081] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1746733605.738202868] [controller_manager]: Loading controller : 'io_and_status_controller' of type 'ur_controllers/GPIOController'
[ros2_control_node-1] [INFO] [1746733605.738227516] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1746733605.741845762] [controller_manager]: Controller 'io_and_status_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_v95g0gi4
[spawner-8] [INFO] [1746733605.764761993] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1746733605.765084886] [controller_manager]: Configuring controller: 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1746733605.766380065] [controller_manager]: Activating controllers: [ io_and_status_controller ]
[ros2_control_node-1] [WARN] [1746733605.798579349] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 31.147671 ms (missed cycles : 16).
[ros2_control_node-1] [INFO] [1746733605.798579518] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733605.800870764] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ros2_control_node-1] [INFO] [1746733605.802514741] [controller_manager]: Loading controller : 'speed_scaling_state_broadcaster' of type 'ur_controllers/SpeedScalingStateBroadcaster'
[ros2_control_node-1] [INFO] [1746733605.802546086] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733605.802836868] [controller_manager]: Controller 'speed_scaling_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_v95g0gi4
[ros2_control_node-1] [INFO] [1746733605.837119376] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[spawner-8] [INFO] [1746733605.838711163] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1746733605.839109630] [controller_manager]: Configuring controller: 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733605.839173739] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [INFO] [1746733605.842610747] [controller_manager]: Activating controllers: [ speed_scaling_state_broadcaster ]
[ros2_control_node-1] [INFO] [1746733605.843622868] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733605.846909016] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1746733605.848792201] [controller_manager]: Loading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'
[ros2_control_node-1] [INFO] [1746733605.848815886] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1746733605.850092083] [controller_manager]: Controller 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_v95g0gi4
[spawner-8] [INFO] [1746733605.888761065] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1746733605.889194715] [controller_manager]: Configuring controller: 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1746733605.892595259] [controller_manager]: Activating controllers: [ force_torque_sensor_broadcaster ]
[ros2_control_node-1] [INFO] [1746733605.893610391] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733605.896611700] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1746733605.898163725] [controller_manager]: Loading controller : 'tcp_pose_broadcaster' of type 'pose_broadcaster/PoseBroadcaster'
[ros2_control_node-1] [INFO] [1746733605.898185015] [controller_manager]: Loading controller 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1746733605.899032822] [controller_manager]: Controller 'tcp_pose_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_v95g0gi4
[spawner-8] [INFO] [1746733605.976914197] [spawner_joint_state_broadcaster]: Loaded tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1746733605.977260500] [controller_manager]: Configuring controller: 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1746733605.982573365] [controller_manager]: Activating controllers: [ tcp_pose_broadcaster ]
[ros2_control_node-1] [INFO] [1746733605.983632990] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733605.986839257] [spawner_joint_state_broadcaster]: Configured and activated tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1746733605.988636432] [controller_manager]: Loading controller : 'ur_configuration_controller' of type 'ur_controllers/URConfigurationController'
[ros2_control_node-1] [INFO] [1746733605.988657738] [controller_manager]: Loading controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1746733605.989024132] [controller_manager]: Controller 'ur_configuration_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_v95g0gi4
[spawner-8] [INFO] [1746733606.080863049] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1746733606.081210121] [controller_manager]: Configuring controller: 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1746733606.094739910] [controller_manager]: Activating controllers: [ ur_configuration_controller ]
[ros2_control_node-1] [INFO] [1746733606.095605361] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733606.098718153] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [INFO] [1746733606.100764361] [controller_manager]: Loading controller : 'scaled_joint_trajectory_controller' of type 'ur_controllers/ScaledJointTrajectoryController'
[ros2_control_node-1] [INFO] [1746733606.100797305] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1746733606.101321884] [controller_manager]: Controller 'scaled_joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_v95g0gi4
[ros2_control_node-1] [INFO] [1746733606.224052001] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[spawner-8] [INFO] [1746733606.287002408] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1746733606.287356823] [controller_manager]: Configuring controller: 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1746733606.287469342] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1746733606.287487499] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1746733606.287513760] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1746733606.292646369] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1746733606.346719296] [controller_manager]: Activating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1746733606.347832190] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733606.350803852] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1746733606.487092806] [controller_manager]: Deactivating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1746733606.487210527] [controller_manager]: Switch controller timeout is set to 0, using default 1s!
[ros2_control_node-1] [INFO] [1746733606.487654927] [controller_manager]: Successfully switched controllers!
[INFO] [spawner-8]: process has finished cleanly [pid 23309]
[robot_state_helper-3] [INFO] [1746733606.502608246] [robot_state_helper]: The robot is currently in safety mode NORMAL.
[ros2_control_node-1] [WARN] [1746733620.719864408] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[ros2_control_node-1] [WARN] [1746733622.747549586] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[ros2_control_node-1] [WARN] [1746733624.795557559] [UR_Client_Library:]: Failed to read from stream, reconnecting in 2 seconds...
[ros2_control_node-1] [WARN] [1746733627.803571148] [UR_Client_Library:]: Failed to read from stream, reconnecting in 4 seconds...
[ros2_control_node-1] [WARN] [1746733632.858567154] [UR_Client_Library:]: Failed to read from stream, reconnecting in 8 seconds...
[ros2_control_node-1] [WARN] [1746733641.882545880] [UR_Client_Library:]: Failed to read from stream, reconnecting in 16 seconds...
[ros2_control_node-1] [WARN] [1746733658.906573349] [UR_Client_Library:]: Failed to read from stream, reconnecting in 32 seconds...
[ros2_control_node-1] [WARN] [1746733691.930566719] [UR_Client_Library:]: Failed to read from stream, reconnecting in 64 seconds...
[ros2_control_node-1] [WARN] [1746733756.954582555] [UR_Client_Library:]: Failed to read from stream, reconnecting in 64 seconds...
[ros2_control_node-1] [WARN] [1746733787.008831051] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 3.399454 ms (missed cycles : 2).
[ros2_control_node-1] [WARN] [1746733821.978572621] [UR_Client_Library:]: Failed to read from stream, reconnecting in 64 seconds...
[robot_state_helper-3] [WARN] [1746733865.388812434] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[dashboard_client-2] [WARN] [1746733865.388818388] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[ros2_control_node-1] [WARN] [1746733865.388882590] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[ros2_control_node-1] [WARN] [1746733887.002540997] [UR_Client_Library:]: Failed to read from stream, reconnecting in 64 seconds...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[dashboard_client-2] [INFO] [1746733890.896021322] [rclcpp]: signal_handler(signum=2)
[controller_stopper_node-4] [INFO] [1746733890.896020879] [rclcpp]: signal_handler(signum=2)
[rviz2-7] [INFO] [1746733890.896016678] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] [INFO] [1746733890.896022117] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] [INFO] [1746733890.896122732] [controller_manager]: Shutdown request received....
[ros2_control_node-1] [INFO] [1746733890.896164726] [controller_manager]: Shutting down all controllers in the controller manager.
[ros2_control_node-1] [INFO] [1746733890.896190051] [controller_manager]: Shutting down controller 'scaled_joint_trajectory_controller'
[robot_state_helper-3] [INFO] [1746733890.896020738] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-6] [INFO] [1746733890.896031765] [rclcpp]: signal_handler(signum=2)
[urscript_interface-5] [INFO] [1746733890.896041685] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] [INFO] [1746733890.896502834] [controller_manager]: Deactivating controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1746733890.896544093] [controller_manager]: Shutting down controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1746733890.896603002] [controller_manager]: Deactivating controller 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1746733890.896620586] [controller_manager]: Shutting down controller 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1746733890.896665758] [controller_manager]: Deactivating controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1746733890.896685832] [controller_manager]: Shutting down controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1746733890.896725216] [controller_manager]: Deactivating controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733890.896742625] [controller_manager]: Shutting down controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733890.896772497] [controller_manager]: Deactivating controller 'io_and_status_controller'
[robot_state_helper-3] [INFO] [1746733890.922518379] [UR_Client_Library:]: Stopping primary client pipeline
[ros2_control_node-1] [INFO] [1746733890.931116185] [controller_manager]: Shutting down controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1746733890.931188735] [controller_manager]: Deactivating controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733890.931214207] [controller_manager]: Shutting down controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733890.931239880] [resource_manager]: 'deactivate' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733890.931245891] [resource_manager]: Successful 'deactivate' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733890.931247782] [resource_manager]: 'shutdown' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733890.931258995] [URPositionHardwareInterface]: Stopping ...please wait...
[ros2_control_node-1] [INFO] [1746733890.936087912] [UR_Client_Library:]: Stopping primary client pipeline
[dashboard_client-2] [INFO] [1746733890.941756467] [UR_Client_Library:]: Stopping primary client pipeline
[INFO] [urscript_interface-5]: process has finished cleanly [pid 23306]
[INFO] [controller_stopper_node-4]: process has finished cleanly [pid 23305]
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 23307]
[INFO] [dashboard_client-2]: process has finished cleanly [pid 23303]
[INFO] [robot_state_helper-3]: process has finished cleanly [pid 23304]
[INFO] [rviz2-7]: process has finished cleanly [pid 23308]
[ros2_control_node-1] [ERROR] [1746733891.963317640] [UR_Client_Library:]: Could not get response to RTDE communication pause request from robot
[ERROR] [ros2_control_node-1]: process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [ros2_control_node-1]: sending signal 'SIGTERM' to process[ros2_control_node-1]
[ros2_control_node-1] [INFO] [1746733895.904718492] [rclcpp]: signal_handler(signum=15)
[ERROR] [ros2_control_node-1]: process[ros2_control_node-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [ros2_control_node-1]: sending signal 'SIGKILL' to process[ros2_control_node-1]
[ERROR] [ros2_control_node-1]: process has died [pid 23302, exit code -9, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_v95g0gi4'].

victor-chavez@victor-chavezr:~$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.135
[INFO] [launch]: All log files can be found below /home/victor-chavez/.ros/log/2025-05-08-13-52-37-078970-victor-chavezr-24424
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [24429]
[INFO] [controller_stopper_node-4]: process started with pid [24431]
[INFO] [ros2_control_node-1]: process started with pid [24428]
[INFO] [robot_state_helper-3]: process started with pid [24430]
[INFO] [urscript_interface-5]: process started with pid [24432]
[INFO] [robot_state_publisher-6]: process started with pid [24433]
[INFO] [rviz2-7]: process started with pid [24434]
[INFO] [spawner-8]: process started with pid [24435]
[INFO] [spawner-9]: process started with pid [24436]
[dashboard_client-2] [INFO] [1746733957.375603275] [UR_Client_Library:]: Starting primary client pipeline
[controller_stopper_node-4] [INFO] [1746733957.379045415] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_helper-3] [INFO] [1746733957.380841344] [UR_Client_Library:]: Starting primary client pipeline
[robot_state_publisher-6] [INFO] [1746733957.381934430] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1746733957.384519504] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[ros2_control_node-1] [INFO] [1746733957.386793141] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1746733957.389843228] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1746733957.389887616] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1746733957.389975111] [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.
[dashboard_client-2] [INFO] [1746733957.450931055] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[rviz2-7] [INFO] [1746733957.541322484] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1746733957.541459028] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-7] [INFO] [1746733957.553681111] [rviz2]: Stereo is NOT SUPPORTED
[spawner-8] [INFO] [1746733957.685188487] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-9] [INFO] [1746733957.691881137] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [WARN] [1746733958.386572408] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1746733959.386547644] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1746733960.386579884] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1746733961.386574215] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1746733962.386573127] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [INFO] [1746733962.848168917] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1746733962.850219856] [controller_manager]: Loading hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733962.853208980] [controller_manager]: Loaded hardware 'ur5e' from plugin 'ur_robot_driver/URPositionHardwareInterface'
[ros2_control_node-1] [INFO] [1746733962.853254420] [controller_manager]: Initialize hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733962.853408166] [controller_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733962.854261511] [resource_manager]: 'configure' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733962.854272769] [URPositionHardwareInterface]: Starting ...please wait...
[ros2_control_node-1] [INFO] [1746733962.854284463] [URPositionHardwareInterface]: Initializing driver...
[ros2_control_node-1] [WARN] [1746733962.860051700] [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] [1746733962.869184634] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ros2_control_node-1] [INFO] [1746733962.879964842] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[ros2_control_node-1] [INFO] [1746733963.930872253] [UR_Client_Library:]: Starting primary client pipeline
[ros2_control_node-1] [INFO] [1746733963.935752351] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'.
[ros2_control_node-1] [ERROR] [1746733964.935873088] [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] [1746733964.935994301] [URPositionHardwareInterface]: System successfully started!
[ros2_control_node-1] [INFO] [1746733964.936009154] [resource_manager]: Successful 'configure' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733964.936044055] [resource_manager]: 'activate' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733964.936046533] [URPositionHardwareInterface]: Activating HW interface
[ros2_control_node-1] [INFO] [1746733964.936050092] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1746733964.936144178] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[ros2_control_node-1] [WARN] [1746733964.938293065] [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] [WARN] [1746733964.954162218] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 16.090339 ms (missed cycles : 9).
[controller_stopper_node-4] [INFO] [1746733964.971912046] [Controller stopper]: Service available
[controller_stopper_node-4] [INFO] [1746733964.971940195] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-4] [INFO] [1746733964.971965032] [Controller stopper]: Service available
[ros2_control_node-1] [INFO] [1746733965.284150280] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1746733965.284199379] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733965.286082399] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[ros2_control_node-1] [INFO] [1746733965.302486311] [controller_manager]: Loading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
[ros2_control_node-1] [INFO] [1746733965.302518538] [controller_manager]: Loading controller 'joint_trajectory_controller'
[spawner-8] [INFO] [1746733965.303308861] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1746733965.304016391] [controller_manager]: Controller 'joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-9] [INFO] [1746733965.349208693] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1746733965.501433157] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733965.501593603] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [INFO] [1746733965.616911280] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[ros2_control_node-1] [INFO] [1746733965.618456733] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733965.621227110] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1746733965.622382402] [controller_manager]: Loading controller : 'io_and_status_controller' of type 'ur_controllers/GPIOController'
[ros2_control_node-1] [INFO] [1746733965.622423218] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1746733965.628945636] [controller_manager]: Controller 'io_and_status_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-8] [INFO] [1746733965.687076646] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1746733965.687404474] [controller_manager]: Configuring controller: 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1746733965.691759353] [controller_manager]: Activating controllers: [ io_and_status_controller ]
[ros2_control_node-1] [WARN] [1746733965.712318201] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 20.247951 ms (missed cycles : 11).
[ros2_control_node-1] [INFO] [1746733965.712322310] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733965.715367011] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ros2_control_node-1] [INFO] [1746733965.716904502] [controller_manager]: Loading controller : 'speed_scaling_state_broadcaster' of type 'ur_controllers/SpeedScalingStateBroadcaster'
[ros2_control_node-1] [INFO] [1746733965.716946461] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733965.717413313] [controller_manager]: Controller 'speed_scaling_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[ros2_control_node-1] [INFO] [1746733965.797751447] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[spawner-8] [INFO] [1746733965.799314415] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1746733965.799673348] [controller_manager]: Configuring controller: 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1746733965.799770239] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [INFO] [1746733965.809145225] [controller_manager]: Activating controllers: [ speed_scaling_state_broadcaster ]
[ros2_control_node-1] [INFO] [1746733965.810270744] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733965.813211251] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1746733965.814438572] [controller_manager]: Loading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'
[ros2_control_node-1] [INFO] [1746733965.814483674] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1746733965.815462681] [controller_manager]: Controller 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-8] [INFO] [1746733965.895166648] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1746733965.895555779] [controller_manager]: Configuring controller: 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1746733965.927249087] [controller_manager]: Activating controllers: [ force_torque_sensor_broadcaster ]
[ros2_control_node-1] [INFO] [1746733965.928361031] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733965.937077896] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1746733965.951758636] [controller_manager]: Loading controller : 'tcp_pose_broadcaster' of type 'pose_broadcaster/PoseBroadcaster'
[ros2_control_node-1] [INFO] [1746733965.951802879] [controller_manager]: Loading controller 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1746733965.952650646] [controller_manager]: Controller 'tcp_pose_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-8] [INFO] [1746733966.063328001] [spawner_joint_state_broadcaster]: Loaded tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1746733966.063759819] [controller_manager]: Configuring controller: 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1746733966.091236295] [controller_manager]: Activating controllers: [ tcp_pose_broadcaster ]
[ros2_control_node-1] [INFO] [1746733966.092294415] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733966.095263725] [spawner_joint_state_broadcaster]: Configured and activated tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1746733966.096654264] [controller_manager]: Loading controller : 'ur_configuration_controller' of type 'ur_controllers/URConfigurationController'
[ros2_control_node-1] [INFO] [1746733966.096678107] [controller_manager]: Loading controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1746733966.100171773] [controller_manager]: Controller 'ur_configuration_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-8] [INFO] [1746733966.225938697] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1746733966.226408019] [controller_manager]: Configuring controller: 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1746733966.241160421] [controller_manager]: Activating controllers: [ ur_configuration_controller ]
[ros2_control_node-1] [INFO] [1746733966.242278155] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733966.251214101] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [INFO] [1746733966.257712689] [controller_manager]: Loading controller : 'scaled_joint_trajectory_controller' of type 'ur_controllers/ScaledJointTrajectoryController'
[ros2_control_node-1] [INFO] [1746733966.257747990] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1746733966.258088942] [controller_manager]: Controller 'scaled_joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[ros2_control_node-1] [INFO] [1746733966.416125752] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[spawner-8] [INFO] [1746733966.449489077] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1746733966.449903574] [controller_manager]: Configuring controller: 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1746733966.450087487] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1746733966.450118876] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1746733966.450152087] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1746733966.466749223] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1746733966.515249419] [controller_manager]: Activating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1746733966.516428283] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1746733966.519408940] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1746733966.649753900] [controller_manager]: Deactivating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1746733966.649857991] [controller_manager]: Switch controller timeout is set to 0, using default 1s!
[ros2_control_node-1] [INFO] [1746733966.650244303] [controller_manager]: Successfully switched controllers!
[INFO] [spawner-8]: process has finished cleanly [pid 24435]
[robot_state_helper-3] [INFO] [1746733967.616601174] [robot_state_helper]: The robot is currently in safety mode NORMAL.
[ros2_control_node-1] [INFO] [1746733968.344659451] [controller_manager]: Configuring controller: 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1746733968.344796036] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1746733968.344808960] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1746733968.344816508] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1746733968.352366241] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1746733968.412599379] [controller_manager]: Loading controller : 'forward_velocity_controller' of type 'velocity_controllers/JointGroupVelocityController'
[ros2_control_node-1] [INFO] [1746733968.412633349] [controller_manager]: Loading controller 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1746733968.414071561] [controller_manager]: Controller 'forward_velocity_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-9] [INFO] [1746733968.605102991] [spawner_joint_trajectory_controller]: Loaded forward_velocity_controller
[ros2_control_node-1] [INFO] [1746733968.605462978] [controller_manager]: Configuring controller: 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1746733968.639246560] [forward_velocity_controller]: configure successful
[ros2_control_node-1] [INFO] [1746733968.642273876] [controller_manager]: Loading controller : 'forward_position_controller' of type 'position_controllers/JointGroupPositionController'
[ros2_control_node-1] [INFO] [1746733968.642304631] [controller_manager]: Loading controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1746733968.647537751] [controller_manager]: Controller 'forward_position_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-9] [INFO] [1746733968.909434512] [spawner_joint_trajectory_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1746733968.909880815] [controller_manager]: Configuring controller: 'forward_position_controller'
[ros2_control_node-1] [INFO] [1746733968.917856993] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1746733968.920046538] [controller_manager]: Loading controller : 'force_mode_controller' of type 'ur_controllers/ForceModeController'
[ros2_control_node-1] [INFO] [1746733968.920074950] [controller_manager]: Loading controller 'force_mode_controller'
[ros2_control_node-1] [INFO] [1746733968.920436906] [controller_manager]: Controller 'force_mode_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-9] [INFO] [1746733969.275170158] [spawner_joint_trajectory_controller]: Loaded force_mode_controller
[ros2_control_node-1] [INFO] [1746733969.275606018] [controller_manager]: Configuring controller: 'force_mode_controller'
[ros2_control_node-1] [INFO] [1746733969.467104825] [controller_manager]: Loading controller : 'passthrough_trajectory_controller' of type 'ur_controllers/PassthroughTrajectoryController'
[ros2_control_node-1] [INFO] [1746733969.467135399] [controller_manager]: Loading controller 'passthrough_trajectory_controller'
[ros2_control_node-1] [INFO] [1746733969.467555116] [controller_manager]: Controller 'passthrough_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-9] [INFO] [1746733969.705889317] [spawner_joint_trajectory_controller]: Loaded passthrough_trajectory_controller
[ros2_control_node-1] [INFO] [1746733969.706449320] [controller_manager]: Configuring controller: 'passthrough_trajectory_controller'
[ros2_control_node-1] [INFO] [1746733969.775845849] [controller_manager]: Loading controller : 'freedrive_mode_controller' of type 'ur_controllers/FreedriveModeController'
[ros2_control_node-1] [INFO] [1746733969.775878697] [controller_manager]: Loading controller 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1746733969.776257749] [controller_manager]: Controller 'freedrive_mode_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-9] [INFO] [1746733969.977289185] [spawner_joint_trajectory_controller]: Loaded freedrive_mode_controller
[ros2_control_node-1] [INFO] [1746733969.977699113] [controller_manager]: Configuring controller: 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1746733969.998123044] [controller_manager]: Loading controller : 'tool_contact_controller' of type 'ur_controllers/ToolContactController'
[ros2_control_node-1] [INFO] [1746733969.998155481] [controller_manager]: Loading controller 'tool_contact_controller'
[ros2_control_node-1] [INFO] [1746733969.998675539] [controller_manager]: Controller 'tool_contact_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_j9i70tut
[spawner-9] [INFO] [1746733970.149484207] [spawner_joint_trajectory_controller]: Loaded tool_contact_controller
[ros2_control_node-1] [INFO] [1746733970.149863069] [controller_manager]: Configuring controller: 'tool_contact_controller'
[INFO] [spawner-9]: process has finished cleanly [pid 24436]
[ros2_control_node-1] [INFO] [1746733975.469520302] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.469560925] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1746733975.471549971] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.471575283] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1746733975.473236488] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.473261518] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1746733975.474452382] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.474469213] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1746733975.475533672] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.475552049] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1746733975.476615639] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.476633265] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1746733975.477610707] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.477626935] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1746733975.478925338] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.478941544] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1746733975.479975452] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1746733975.479992152] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [WARN] [1746733979.959554135] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[ros2_control_node-1] [WARN] [1746733981.978554509] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[ros2_control_node-1] [WARN] [1746733984.026554198] [UR_Client_Library:]: Failed to read from stream, reconnecting in 2 seconds...

Steps to Reproduce

I extracted the calibration parameters from the robot
I set into remote control the teach pendant (also create a remote pc program in the URCaps)
I run the drivers with $ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.135 kinematics_params_file:="/home/victor-chavez/my_robot_calibration.yaml"
Wait until the driver finishes launching and I see the model on Rviz
I run my python program from a ws i created

#!/usr/bin/env python3
import rclpy
import math  # <-- Added import
from rclpy.node import Node
from control_msgs.action import FollowJointTrajectory
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from rclpy.action import ActionClient
from controller_manager_msgs.srv import ListControllers

class PickPlace(Node):
    def __init__(self):
        super().__init__('ur5e_pickplace')
        self.client = ActionClient(
            self,
            FollowJointTrajectory,
            '/scaled_joint_trajectory_controller/follow_joint_trajectory'
        )
        self.get_logger().info("Pick-and-Place node initialized")

    def move_to_pose(self, joint_positions_degrees, time_sec):  # <-- Changed parameter name
        # Convert degrees to radians (only added these 2 lines)
        joint_positions_radians = [math.radians(deg) for deg in joint_positions_degrees]
        
        goal_msg = FollowJointTrajectory.Goal()
        goal_msg.trajectory.joint_names = [
            'shoulder_pan_joint',
            'shoulder_lift_joint',
            'elbow_joint',
            'wrist_1_joint',
            'wrist_2_joint',
            'wrist_3_joint'
        ]
        
        point = JointTrajectoryPoint()
        point.positions = joint_positions_radians  # <-- Use converted radians here
        point.time_from_start.sec = time_sec
        goal_msg.trajectory.points.append(point)
        
        self.client.wait_for_server()
        self.get_logger().info(f"Sending goal (deg): {joint_positions_degrees}")  # <-- Log degrees
        
        send_goal_future = self.client.send_goal_async(goal_msg)
        rclpy.spin_until_future_complete(self, send_goal_future)
        goal_handle = send_goal_future.result()
        
        if not goal_handle.accepted:
            self.get_logger().error('Goal rejected')
            return False
        
        self.get_logger().info('Goal accepted')
        result_future = goal_handle.get_result_async()
        rclpy.spin_until_future_complete(self, result_future)
        result = result_future.result()
        
        self.get_logger().info(f'Goal result: {result.result.error_code}')
        return True

def main(args=None):
    rclpy.init(args=args)
    node = PickPlace()
    
    # Define waypoints in DEGREES (only changed these numbers)
    home = [90.0, -90.0, 90.0, -90.0, -90.0, 0.0]
    pick = [90.0, -87.47, 105.18, -107.71, -90.0, 0.0]
    #postpick = [90.0, -90.0, 90.0, -90.0, -90.0, 0.0]
    postpick2 = [46.50, -82.0, 81.43, -89.61, -89.87, -43.50]
    preplace = [-40.44, -66.27, 66.09, -89.9, -89.48, 130.14]
    place = [-40.47, -18.99, 84.6, -155.69, -89.65, -129.92]
    
    # Execute trajectory (no changes below)
    node.move_to_pose(home, 4)  
    node.move_to_pose(pick, 4)
    node.move_to_pose(home, 4)
    node.move_to_pose(postpick2, 4)
    node.move_to_pose(preplace, 6)
    node.move_to_pose(place, 6)
    node.move_to_pose(preplace, 6)
    node.move_to_pose(postpick2, 4)
    node.move_to_pose(home, 4)

    rclpy.spin(node)
    rclpy.shutdown()

if __name__ == '__main__':
    main()

Expected Behavior

I expect the physical robot to move after the python program is running, I also tried this same steps but with a simulation running ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e \ robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true \ initial_joint_controller:=joint_trajectory_controller

Actual Behavior

After I reproduce these steps the physical robot won't move.

Workaround Suggestion

Relevant log output

Accept Public visibility

[x] I agree to make this context public

May 09 '25 21:05 vhczz

Hi, thank you for reaching out. I've taken the liberty to put your log output and python code into code blocks to make things more readable and I split the two different runs into two sections.

In the driver's log output you posted, I can see two starting attempts: In the first one the driver seems to take too much time to come up for the controller spawner to wait for it. That surprises me to be honest, as I wouldn't expect the driver to take longer than 10 seconds to start. It seems, your controller_manager receives the robot_description roughly 4 seconds after the robot_state_publisher has been initialized and then another 6 seconds later one spawner is happy with the controller_manager services, while the other dies. There seems to be an issue with your local ROS communication. I cannot really give you support on that, but one suggestion is to try using local discovery only, as explained here

Your second attempt seems to be coming up correctly, but it appears that the robot program isn't started, so the robot won't accept any commands, hence the controller keeps being deactivated. See our troubleshooting section for details on that. You probably need to create a program on the robot as explained here (Use the "PolyScope 5" tab).

Since your driver seems to be losing the connection to the robot rather often: Do you connect over a shared network with potentially high load? We suggest a direct connection between the ROS machine and the robot.

May 13 '25 09:05 urfeex

I am working with some other robots (some turtlebots4) where they are discovery servers. Although I don't think that's the problem because as you can see on the second attempt it seems to come up correctly but when I put the teach pendant on remote mode and load the program remote control program there then launch the code I get:

victor-chavez@victor-chavezr:~$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.51 kinematics_params_file:="/home/victor-chavez/my_robot_calibration.yaml"
[INFO] [launch]: All log files can be found below /home/victor-chavez/.ros/log/2025-05-13-20-27-29-151900-victor-chavezr-20585
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [20590]
[INFO] [controller_stopper_node-4]: process started with pid [20592]
[INFO] [ros2_control_node-1]: process started with pid [20589]
[INFO] [robot_state_helper-3]: process started with pid [20591]
[INFO] [urscript_interface-5]: process started with pid [20593]
[INFO] [robot_state_publisher-6]: process started with pid [20594]
[INFO] [rviz2-7]: process started with pid [20595]
[INFO] [spawner-8]: process started with pid [20596]
[INFO] [spawner-9]: process started with pid [20597]
[dashboard_client-2] [INFO] [1747189649.628999664] [UR_Client_Library:]: Starting primary client pipeline
[controller_stopper_node-4] [INFO] [1747189649.630842311] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_helper-3] [INFO] [1747189649.631473342] [UR_Client_Library:]: Starting primary client pipeline
[robot_state_publisher-6] [INFO] [1747189649.637012482] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1747189649.644121589] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[ros2_control_node-1] [INFO] [1747189649.649740592] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1747189649.654493126] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1747189649.654560717] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1747189649.654723152] [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.
[dashboard_client-2] [INFO] [1747189649.713819808] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[rviz2-7] [INFO] [1747189649.946021625] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1747189649.946223275] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-7] [INFO] [1747189649.976496011] [rviz2]: Stereo is NOT SUPPORTED
[spawner-9] [INFO] [1747189650.175752622] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-8] [INFO] [1747189650.199468953] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [WARN] [1747189650.649099817] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1747189651.649073135] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1747189652.649063944] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [INFO] [1747189653.360811350] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1747189653.364117362] [controller_manager]: Loading hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1747189653.370244612] [controller_manager]: Loaded hardware 'ur5e' from plugin 'ur_robot_driver/URPositionHardwareInterface'
[ros2_control_node-1] [INFO] [1747189653.370331062] [controller_manager]: Initialize hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1747189653.370625418] [controller_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1747189653.372146468] [resource_manager]: 'configure' hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1747189653.372162337] [URPositionHardwareInterface]: Starting ...please wait...
[ros2_control_node-1] [INFO] [1747189653.372179918] [URPositionHardwareInterface]: Initializing driver...
[ros2_control_node-1] [WARN] [1747189653.411483142] [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] [1747189653.436013252] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ros2_control_node-1] [INFO] [1747189653.452782858] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[ros2_control_node-1] [INFO] [1747189654.606507952] [UR_Client_Library:]: Starting primary client pipeline
[ros2_control_node-1] [INFO] [1747189654.621491747] [URPositionHardwareInterface]: Calibration checksum: 'calib_3004552546670478336'.
[ros2_control_node-1] [INFO] [1747189655.621636897] [URPositionHardwareInterface]: Calibration checked successfully.
[ros2_control_node-1] [INFO] [1747189655.621759042] [URPositionHardwareInterface]: System successfully started!
[ros2_control_node-1] [INFO] [1747189655.621781487] [resource_manager]: Successful 'configure' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1747189655.621834641] [resource_manager]: 'activate' hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1747189655.621839115] [URPositionHardwareInterface]: Activating HW interface
[ros2_control_node-1] [INFO] [1747189655.621845217] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1747189655.621962944] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[ros2_control_node-1] [WARN] [1747189655.623091547] [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] [WARN] [1747189655.662443005] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 39.576195 ms (missed cycles : 20).
[ros2_control_node-1] [WARN] [1747189657.661106726] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[controller_stopper_node-4] [INFO] [1747189658.770628629] [Controller stopper]: Service available
[controller_stopper_node-4] [INFO] [1747189658.770670519] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-4] [INFO] [1747189658.770764851] [Controller stopper]: Service available
[ros2_control_node-1] [INFO] [1747189659.065311412] [controller_manager]: Loading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
[ros2_control_node-1] [INFO] [1747189659.065413950] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1747189659.070164290] [controller_manager]: Controller 'joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [INFO] [1747189659.193451898] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1747189659.193507902] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-9] [INFO] [1747189659.194830496] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1747189659.196417496] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [INFO] [1747189659.565345161] [controller_manager]: Configuring controller: 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1747189659.565644206] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1747189659.565690291] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1747189659.565764922] [joint_trajectory_controller]: Using 'splines' interpolation method.
[spawner-8] [INFO] [1747189659.567599495] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1747189659.579697387] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [WARN] [1747189659.725758708] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds...
[ros2_control_node-1] [INFO] [1747189659.728492439] [controller_manager]: Loading controller : 'forward_velocity_controller' of type 'velocity_controllers/JointGroupVelocityController'
[ros2_control_node-1] [INFO] [1747189659.728565562] [controller_manager]: Loading controller 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1747189659.734964702] [controller_manager]: Controller 'forward_velocity_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [INFO] [1747189660.157782199] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1747189660.157909900] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-9] [INFO] [1747189660.158852358] [spawner_joint_trajectory_controller]: Loaded forward_velocity_controller
[ros2_control_node-1] [INFO] [1747189660.211557620] [controller_manager]: Configuring controller: 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1747189660.230385588] [forward_velocity_controller]: configure successful
[ros2_control_node-1] [INFO] [1747189660.233762634] [controller_manager]: Loading controller : 'forward_position_controller' of type 'position_controllers/JointGroupPositionController'
[ros2_control_node-1] [INFO] [1747189660.233799306] [controller_manager]: Loading controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1747189660.235246869] [controller_manager]: Controller 'forward_position_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [INFO] [1747189660.607689350] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[spawner-9] [INFO] [1747189660.608662868] [spawner_joint_trajectory_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1747189660.609277658] [controller_manager]: Successfully switched controllers!
[ros2_control_node-1] [INFO] [1747189660.611566005] [controller_manager]: Configuring controller: 'forward_position_controller'
[spawner-8] [INFO] [1747189660.613209968] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1747189660.640951860] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1747189660.645108039] [controller_manager]: Loading controller : 'io_and_status_controller' of type 'ur_controllers/GPIOController'
[ros2_control_node-1] [INFO] [1747189660.645150113] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1747189660.657112741] [controller_manager]: Controller 'io_and_status_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [INFO] [1747189660.899938268] [controller_manager]: Loading controller : 'force_mode_controller' of type 'ur_controllers/ForceModeController'
[ros2_control_node-1] [INFO] [1747189660.899993612] [controller_manager]: Loading controller 'force_mode_controller'
[ros2_control_node-1] [INFO] [1747189660.900584235] [controller_manager]: Controller 'force_mode_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[spawner-8] [INFO] [1747189660.901005394] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1747189661.093701574] [controller_manager]: Configuring controller: 'io_and_status_controller'
[spawner-9] [INFO] [1747189661.094809537] [spawner_joint_trajectory_controller]: Loaded force_mode_controller
[ros2_control_node-1] [INFO] [1747189661.095425704] [controller_manager]: Configuring controller: 'force_mode_controller'
[ros2_control_node-1] [INFO] [1747189661.185344150] [controller_manager]: Activating controllers: [ io_and_status_controller ]
[ros2_control_node-1] [WARN] [1747189661.363242973] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 176.375636 ms (missed cycles : 89).
[ros2_control_node-1] [INFO] [1747189661.363288832] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1747189661.367282486] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ros2_control_node-1] [INFO] [1747189661.367635134] [controller_manager]: Loading controller : 'passthrough_trajectory_controller' of type 'ur_controllers/PassthroughTrajectoryController'
[ros2_control_node-1] [INFO] [1747189661.367679023] [controller_manager]: Loading controller 'passthrough_trajectory_controller'
[ros2_control_node-1] [INFO] [1747189661.368739213] [controller_manager]: Controller 'passthrough_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[spawner-9] [INFO] [1747189661.629320462] [spawner_joint_trajectory_controller]: Loaded passthrough_trajectory_controller
[ros2_control_node-1] [INFO] [1747189661.629825319] [controller_manager]: Loading controller : 'speed_scaling_state_broadcaster' of type 'ur_controllers/SpeedScalingStateBroadcaster'
[ros2_control_node-1] [INFO] [1747189661.629927593] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1747189661.630906993] [controller_manager]: Controller 'speed_scaling_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [WARN] [1747189661.773749234] [UR_Client_Library:]: Failed to read from stream, reconnecting in 2 seconds...
[ros2_control_node-1] [INFO] [1747189661.896133381] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[ros2_control_node-1] [INFO] [1747189661.898252680] [controller_manager]: Configuring controller: 'passthrough_trajectory_controller'
[spawner-8] [INFO] [1747189661.899019374] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1747189662.041831639] [controller_manager]: Configuring controller: 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1747189662.041937280] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [INFO] [1747189662.064065167] [controller_manager]: Activating controllers: [ speed_scaling_state_broadcaster ]
[ros2_control_node-1] [INFO] [1747189662.065291249] [controller_manager]: Successfully switched controllers!
[ros2_control_node-1] [INFO] [1747189662.067476456] [controller_manager]: Loading controller : 'freedrive_mode_controller' of type 'ur_controllers/FreedriveModeController'
[ros2_control_node-1] [INFO] [1747189662.067533277] [controller_manager]: Loading controller 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1747189662.068846081] [controller_manager]: Controller 'freedrive_mode_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[spawner-8] [INFO] [1747189662.069740005] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[spawner-9] [INFO] [1747189662.791321276] [spawner_joint_trajectory_controller]: Loaded freedrive_mode_controller
[ros2_control_node-1] [INFO] [1747189662.818192655] [controller_manager]: Configuring controller: 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1747189662.843837827] [controller_manager]: Loading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'
[ros2_control_node-1] [INFO] [1747189662.843886770] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1747189662.848193195] [controller_manager]: Controller 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[robot_state_helper-3] [INFO] [1747189663.249634284] [robot_state_helper]: The robot is currently in safety mode NORMAL.
[spawner-8] [INFO] [1747189663.361053430] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1747189663.361526826] [controller_manager]: Loading controller : 'tool_contact_controller' of type 'ur_controllers/ToolContactController'
[ros2_control_node-1] [INFO] [1747189663.361563744] [controller_manager]: Loading controller 'tool_contact_controller'
[ros2_control_node-1] [INFO] [1747189663.362407087] [controller_manager]: Controller 'tool_contact_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [INFO] [1747189663.740301733] [controller_manager]: Configuring controller: 'force_torque_sensor_broadcaster'
[spawner-9] [INFO] [1747189663.741259332] [spawner_joint_trajectory_controller]: Loaded tool_contact_controller
[ros2_control_node-1] [INFO] [1747189663.769652382] [controller_manager]: Configuring controller: 'tool_contact_controller'
[ros2_control_node-1] [INFO] [1747189663.907773850] [controller_manager]: Activating controllers: [ force_torque_sensor_broadcaster ]
[ros2_control_node-1] [INFO] [1747189663.909189199] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1747189663.913442661] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1747189663.917442217] [controller_manager]: Loading controller : 'tcp_pose_broadcaster' of type 'pose_broadcaster/PoseBroadcaster'
[ros2_control_node-1] [INFO] [1747189663.917487147] [controller_manager]: Loading controller 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1747189663.919802024] [controller_manager]: Controller 'tcp_pose_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[INFO] [spawner-9]: process has finished cleanly [pid 20597]
[spawner-8] [INFO] [1747189664.389368172] [spawner_joint_state_broadcaster]: Loaded tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1747189664.390602715] [controller_manager]: Configuring controller: 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1747189664.429392228] [controller_manager]: Activating controllers: [ tcp_pose_broadcaster ]
[ros2_control_node-1] [INFO] [1747189664.431285925] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1747189664.435669958] [spawner_joint_state_broadcaster]: Configured and activated tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1747189664.440650315] [controller_manager]: Loading controller : 'ur_configuration_controller' of type 'ur_controllers/URConfigurationController'
[ros2_control_node-1] [INFO] [1747189664.440725928] [controller_manager]: Loading controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1747189664.441805591] [controller_manager]: Controller 'ur_configuration_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [WARN] [1747189664.780754925] [UR_Client_Library:]: Failed to read from stream, reconnecting in 4 seconds...
[spawner-8] [INFO] [1747189664.782867558] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1747189664.784104987] [controller_manager]: Configuring controller: 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1747189664.820322699] [controller_manager]: Activating controllers: [ ur_configuration_controller ]
[ros2_control_node-1] [INFO] [1747189664.821211572] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1747189664.827088304] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [INFO] [1747189664.833629058] [controller_manager]: Loading controller : 'scaled_joint_trajectory_controller' of type 'ur_controllers/ScaledJointTrajectoryController'
[ros2_control_node-1] [INFO] [1747189664.833685728] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1747189664.834819424] [controller_manager]: Controller 'scaled_joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_u3_8oqjb 
[ros2_control_node-1] [INFO] [1747189665.215526935] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[spawner-8] [INFO] [1747189665.275334725] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1747189665.276040973] [controller_manager]: Configuring controller: 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1747189665.276320853] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1747189665.276345028] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1747189665.276364111] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1747189665.408979847] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1747189666.089125157] [controller_manager]: Activating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1747189666.091569562] [controller_manager]: Successfully switched controllers!
[spawner-8] [INFO] [1747189666.096440765] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1747189666.222096537] [controller_manager]: Deactivating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1747189666.222314872] [controller_manager]: Switch controller timeout is set to 0, using default 1s!
[ros2_control_node-1] [INFO] [1747189666.223270744] [controller_manager]: Successfully switched controllers!
[INFO] [spawner-8]: process has finished cleanly [pid 20596]
[ros2_control_node-1] [WARN] [1747189669.837740536] [UR_Client_Library:]: Failed to read from stream, reconnecting in 8 seconds...
[ros2_control_node-1] [WARN] [1747189678.860753343] [UR_Client_Library:]: Failed to read from stream, reconnecting in 16 seconds...
[ros2_control_node-1] [WARN] [1747189695.885751013] [UR_Client_Library:]: Failed to read from stream, reconnecting in 32 seconds...
[ros2_control_node-1] [WARN] [1747189728.908746577] [UR_Client_Library:]: Failed to read from stream, reconnecting in 64 seconds...
[ros2_control_node-1] [INFO] [1747189739.421322114] [UR_Client_Library:]: Robot requested program
[ros2_control_node-1] [INFO] [1747189739.421435373] [UR_Client_Library:]: Sent program to robot
[ros2_control_node-1] [INFO] [1747189740.042190904] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.
[ros2_control_node-1] [INFO] [1747189750.542596769] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1747189750.542679672] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1747189750.552158353] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1747189750.552219355] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [1747189750.555115244] [scaled_joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [ERROR] [1747189750.555143227] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
[ros2_control_node-1] [INFO] [17471

May 14 '25 02:05 vhczz

I am still a bit worried about that Failed to read from stream, reconnecting in 8 seconds.... That indicates that you have temporarily lost connection to your robot. That's why I was asking about your network setup previously.

I can reproduce that behavior locally by unplugging the robot's network cable and plugging it back in. The RTDE client seems not to be reconnecting properly by its own. That's unwanted behavior, we will investigate. As a side-effect the controller_stopper doesn't get notifier that the robot is running, so the controller is never started, which is what you see if you try to send it a trajectory.

Nevertheless: The fact that your control PC is losing connection to the robot is worrying and should be addressed. If you don't have a stable connection between your control PC and the robot, you will inevitably run into all sorts of problems.

May 14 '25 12:05 urfeex