Inactive forward_position_controller

[vuva]

Hi all, I am trying to run URDriver for UR5e in this environment: OS: Ubuntu Jammy 22.04 ROS2 Humble [Universal_Robots_ROS2_Driver] branch: main

After running ur_driver: $ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=201.0.0.101 launch_rviz:=false (log output at the end of the post)

the forward_position_controller didn't seem to be activated.

$ ros2 control list_controllers
force_torque_sensor_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active
forward_position_controller[position_controllers/JointGroupPositionController] inactive
speed_scaling_state_broadcaster[ur_controllers/SpeedScalingStateBroadcaster] active
scaled_joint_trajectory_controller[ur_controllers/ScaledJointTrajectoryController] active
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
io_and_status_controller[ur_controllers/GPIOController] active

I tried to manually activate with:

$ ros2 control switch_controllers --activate forward_position_controller
Successfully switched controllers

also didn't work despite the output.

scaled_joint_trajectory_controller worked ok, since I could run test_scaled_joint_trajectory_controller.launch.py successfully. ros-humble-position-controllers was installed.

Does anyone encounter the same issue?

Cheers,

[ur_ros2_control_node-1] [INFO] [1659536731.072210141] [URPositionHardwareInterface]: Calibration checked successfully.
[ur_ros2_control_node-1] [INFO] [1659536731.073060047] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1659536731.073084140] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[controller_stopper_node-3] [INFO] [1659536731.078791739] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1659536731.078826066] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1659536731.078845317] [Controller stopper]: Service available
[ur_ros2_control_node-1] [INFO] [1659536731.156641595] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[spawner-7] [INFO] [1659536731.180233000] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1659536731.183276906] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1659536731.183382671] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ur_ros2_control_node-1] [INFO] [1659536731.186001104] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-6] [INFO] [1659536731.201942921] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1659536731.205598452] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[spawner-7] [INFO] [1659536731.213587091] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1659536731.228731139] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[ur_ros2_control_node-1] [INFO] [1659536731.233990241] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-10] [INFO] [1659536731.237476811] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1659536731.252040315] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1659536731.252145782] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[spawner-9] [INFO] [1659536731.252536269] [spawner_forward_position_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1659536731.254487136] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1659536731.256493275] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] [INFO] [1659536731.260225364] [controller_manager]: Configuring controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1659536731.260768832] [forward_position_controller]: configure successful
[ur_ros2_control_node-1] [INFO] [1659536731.285673283] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-10] [INFO] [1659536731.287782085] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1659536731.304675193] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-8] [INFO] [1659536731.305431234] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1659536731.323638896] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1659536731.334189486] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[spawner-5] [INFO] [1659536731.335786806] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1659536731.351484928] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1659536731.351550249] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1659536731.352195919] [spawner_io_and_status_controller]: Configured and activated io_and_status_controller
[INFO] [spawner-7]: process has finished cleanly [pid 150468]
[spawner-8] [INFO] [1659536731.365945762] [spawner_force_torque_sensor_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[spawner-5] [INFO] [1659536731.373283495] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster