ur_ros2_control_node has died

Open ChangcongWang opened this issue 3 years ago • 1 comments

Description

I try to use ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller to connect to my UR5e in galactic, but it always stuck in [ERROR] [ur_ros2_control_node-1]: process has died .

My environment

ROS Distro: Galactic
OS Version: Ubuntu 20.04
Binary build
Desktop install

Step to reproduce

run ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller in galactic.

Expected behaviour

Connect to UR successfully.

Actual behaviour

Have some error and show "The connection to the remote PC at 192.168.1.2:50002 could not be established. Reason: Connection refused (Connection refused)" when I run the External Control. The following is output of ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller.

[INFO] [launch]: All log files can be found below /home/sucro/.ros/log/2022-08-19-15-27-17-894918-sucro-9482
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [9500]
[INFO] [controller_stopper_node-3]: process started with pid [9502]
[INFO] [ur_ros2_control_node-1]: process started with pid [9498]
[INFO] [robot_state_publisher-4]: process started with pid [9504]
[INFO] [spawner-5]: process started with pid [9506]
[INFO] [spawner-6]: process started with pid [9508]
[INFO] [spawner-7]: process started with pid [9510]
[INFO] [spawner-8]: process started with pid [9512]
[INFO] [spawner-9]: process started with pid [9515]
[INFO] [spawner-10]: process started with pid [9524]
[ur_ros2_control_node-1] [INFO] [1660894039.293376465] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1660894039.293480389] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [ERROR] [1660894039.297022948] [UR_Client_Library]: Unsuccessful in setting producer thread realtime priority. Error code: 1
[ur_ros2_control_node-1] [ERROR] [1660894039.297061640] [UR_Client_Library]: Producer thread: Scheduling is NOT SCHED_FIFO!
[ur_ros2_control_node-1] [INFO] [1660894039.297068764] [UR_Client_Library]: Thread priority is 0
[controller_stopper_node-3] [INFO] [1660894039.306387267] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_publisher-4] Link base_link had 2 children
[robot_state_publisher-4] Link base had 0 children
[robot_state_publisher-4] Link base_link_inertia had 1 children
[robot_state_publisher-4] Link shoulder_link had 1 children
[robot_state_publisher-4] Link upper_arm_link had 1 children
[robot_state_publisher-4] Link forearm_link had 1 children
[robot_state_publisher-4] Link wrist_1_link had 1 children
[robot_state_publisher-4] Link wrist_2_link had 1 children
[robot_state_publisher-4] Link wrist_3_link had 2 children
[robot_state_publisher-4] Link flange had 1 children
[robot_state_publisher-4] Link tool0 had 0 children
[robot_state_publisher-4] Link ft_frame had 0 children
[robot_state_publisher-4] [INFO] [1660894039.311063071] [robot_state_publisher]: got segment base
[robot_state_publisher-4] [INFO] [1660894039.311169160] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1660894039.311187109] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-4] [INFO] [1660894039.311200099] [robot_state_publisher]: got segment flange
[robot_state_publisher-4] [INFO] [1660894039.311211414] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-4] [INFO] [1660894039.311225801] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-4] [INFO] [1660894039.311238722] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-4] [INFO] [1660894039.311251433] [robot_state_publisher]: got segment tool0
[robot_state_publisher-4] [INFO] [1660894039.311265680] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-4] [INFO] [1660894039.311279299] [robot_state_publisher]: got segment world
[robot_state_publisher-4] [INFO] [1660894039.311292150] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-4] [INFO] [1660894039.311305071] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-4] [INFO] [1660894039.311318341] [robot_state_publisher]: got segment wrist_3_link
[dashboard_client-2] [INFO] [1660894039.315648849] [UR_Client_Library]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[ur_ros2_control_node-1] [INFO] [1660894039.466520329] [UR_Client_Library]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1660894039.466781325] [UR_Client_Library]: Setting up RTDE communication with frequency 500.000000
[spawner-6] [INFO] [1660894039.476194952] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1660894039.505423946] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1660894039.506386918] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1660894039.511090658] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1660894039.527882806] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1660894039.533430928] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [INFO] [1660894040.508783451] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'.
[ur_ros2_control_node-1] [ERROR] [1660894040.509562740] [UR_Client_Library]: Unsuccessful in setting producer thread realtime priority. Error code: 1
[ur_ros2_control_node-1] [ERROR] [1660894040.509627623] [UR_Client_Library]: Producer thread: Scheduling is NOT SCHED_FIFO!
[ur_ros2_control_node-1] [INFO] [1660894040.509639566] [UR_Client_Library]: Thread priority is 0
[spawner-6] [INFO] [1660894041.492115062] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1660894041.521064132] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1660894041.522334126] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1660894041.524884799] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1660894041.542917259] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1660894041.547732885] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [ERROR] [1660894041.584290883] [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.
[ur_ros2_control_node-1] [ERROR] [1660894041.584665302] [UR_Client_Library]: Unsuccessful in setting producer thread realtime priority. Error code: 1
[ur_ros2_control_node-1] [ERROR] [1660894041.584724877] [UR_Client_Library]: Producer thread: Scheduling is NOT SCHED_FIFO!
[ur_ros2_control_node-1] [INFO] [1660894041.584737448] [UR_Client_Library]: Thread priority is 0
[ur_ros2_control_node-1] [INFO] [1660894041.585011575] [URPositionHardwareInterface]: System successfully started!
[controller_stopper_node-3] [INFO] [1660894041.594540859] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1660894041.594602599] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1660894041.594656027] [Controller stopper]: Service available
[ur_ros2_control_node-1] [INFO] [1660894041.704506651] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-6] [INFO] [1660894041.711967864] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1660894041.712953185] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-6] [INFO] [1660894041.736074490] [spawner_io_and_status_controller]: Configured and started io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1660894041.737313823] [controller_manager]: Loading controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1660894041.743838745] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-9] [INFO] [1660894041.744197240] [spawner_forward_position_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1660894041.749028790] [controller_manager]: Loading controller 'joint_trajectory_controller'
[spawner-5] [INFO] [1660894041.749352713] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[spawner-10] [INFO] [1660894041.755902708] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1660894041.757013743] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1660894041.761765464] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-7] [INFO] [1660894041.761995242] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[spawner-8] [INFO] [1660894041.768177243] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[INFO] [spawner-6]: process has finished cleanly [pid 9508]
[ERROR] [ur_ros2_control_node-1]: process has died [pid 9498, exit code -11, cmd '/opt/ros/galactic/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_v7qckspd --params-file /opt/ros/galactic/share/ur_bringup/config/ur5e_update_rate.yaml --params-file /opt/ros/galactic/share/ur_bringup/config/ur_controllers.yaml'].

I tried to run the command in su, but it has the same problem. The following is output of ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller in su.

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-08-19-15-49-33-444399-sucro-12930
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [12956]
[INFO] [controller_stopper_node-3]: process started with pid [12958]
[INFO] [ur_ros2_control_node-1]: process started with pid [12954]
[INFO] [robot_state_publisher-4]: process started with pid [12960]
[INFO] [spawner-5]: process started with pid [12962]
[INFO] [spawner-6]: process started with pid [12964]
[INFO] [spawner-7]: process started with pid [12966]
[INFO] [spawner-8]: process started with pid [12968]
[INFO] [spawner-9]: process started with pid [12970]
[INFO] [spawner-10]: process started with pid [12974]
[dashboard_client-2] [INFO] [1660895374.924424671] [UR_Client_Library]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[controller_stopper_node-3] [INFO] [1660895374.929854950] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] [INFO] [1660895374.933469990] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1660895374.933551285] [URPositionHardwareInterface]: Initializing driver...
[robot_state_publisher-4] Link base_link had 2 children
[robot_state_publisher-4] Link base had 0 children
[robot_state_publisher-4] Link base_link_inertia had 1 children
[robot_state_publisher-4] Link shoulder_link had 1 children
[robot_state_publisher-4] Link upper_arm_link had 1 children
[robot_state_publisher-4] Link forearm_link had 1 children
[robot_state_publisher-4] Link wrist_1_link had 1 children
[robot_state_publisher-4] Link wrist_2_link had 1 children
[robot_state_publisher-4] Link wrist_3_link had 2 children
[robot_state_publisher-4] Link flange had 1 children
[robot_state_publisher-4] Link tool0 had 0 children
[robot_state_publisher-4] Link ft_frame had 0 children
[robot_state_publisher-4] [INFO] [1660895374.935255546] [robot_state_publisher]: got segment base
[robot_state_publisher-4] [INFO] [1660895374.935405425] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1660895374.935421698] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-4] [INFO] [1660895374.935431755] [robot_state_publisher]: got segment flange
[robot_state_publisher-4] [INFO] [1660895374.935442091] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-4] [INFO] [1660895374.935452218] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-4] [INFO] [1660895374.935465069] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-4] [INFO] [1660895374.935474986] [robot_state_publisher]: got segment tool0
[robot_state_publisher-4] [INFO] [1660895374.935483717] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-4] [INFO] [1660895374.935492237] [robot_state_publisher]: got segment world
[robot_state_publisher-4] [INFO] [1660895374.935505996] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-4] [INFO] [1660895374.935518497] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-4] [INFO] [1660895374.935532745] [robot_state_publisher]: got segment wrist_3_link
[ur_ros2_control_node-1] [INFO] [1660895374.971476634] [UR_Client_Library]: Producer thread: SCHED_FIFO OK
[ur_ros2_control_node-1] [INFO] [1660895374.971520145] [UR_Client_Library]: Thread priority is 99
[ur_ros2_control_node-1] [INFO] [1660895374.972307951] [UR_Client_Library]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1660895374.972583614] [UR_Client_Library]: Setting up RTDE communication with frequency 500.000000
[spawner-9] [INFO] [1660895375.041885038] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1660895375.067491758] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1660895375.070981434] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1660895375.071782440] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1660895375.072049862] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1660895375.075114416] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [INFO] [1660895376.004054189] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'.
[ur_ros2_control_node-1] [INFO] [1660895376.004558371] [UR_Client_Library]: Producer thread: SCHED_FIFO OK
[ur_ros2_control_node-1] [INFO] [1660895376.004593501] [UR_Client_Library]: Thread priority is 99
[spawner-9] [INFO] [1660895377.057262970] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [ERROR] [1660895377.074263739] [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.
[ur_ros2_control_node-1] [INFO] [1660895377.074402094] [UR_Client_Library]: Producer thread: SCHED_FIFO OK
[ur_ros2_control_node-1] [INFO] [1660895377.074420253] [UR_Client_Library]: Thread priority is 99
[ur_ros2_control_node-1] [INFO] [1660895377.074529764] [URPositionHardwareInterface]: System successfully started!
[controller_stopper_node-3] [INFO] [1660895377.077445836] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1660895377.077473981] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1660895377.077500521] [Controller stopper]: Service available
[ur_ros2_control_node-1] [INFO] [1660895377.084142820] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-5] [INFO] [1660895377.097032329] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1660895377.097846815] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1660895377.104636129] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[spawner-10] [INFO] [1660895377.105049588] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1660895377.115074008] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-7] [INFO] [1660895377.116132798] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[spawner-8] [INFO] [1660895377.122876856] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[ERROR] [ur_ros2_control_node-1]: process has died [pid 12954, exit code -11, cmd '/opt/ros/galactic/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_y4z985a4 --params-file /opt/ros/galactic/share/ur_bringup/config/ur5e_update_rate.yaml --params-file /opt/ros/galactic/share/ur_bringup/config/ur_controllers.yaml'].

Aug 19 '22 08:08 ChangcongWang

It seems to be related to this issue #460. The issue should be resolved, so updating your ros2 packages should fix it. If not you can try to disable the force torque sensor broadcaster spawner in the launch file, to see if that fixes the issue. Have a look at pr #461 for reference.

Aug 22 '22 07:08 urmahp