Affected ROS2 Driver version(s)

Latest

Used ROS distribution.

Rolling

Which combination of platform is the ROS driver running on.

Ubuntu Linux with realtime patch

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

Real robot

Robot SW / URSim version(s)

UR10

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

When sending joint positions to the UR10 robot does not move. Two weeks ago it did move.

Issue details

Steps to Reproduce

I start the UR10 robot and initialize it --> add the structure for remote control in the robot program
Start the ur_driver $ ros2 launch ur_robot_driver ur10.launch.py robot_ip:=192.168.1.200 launch_rviz:=true
Run python program that sends six joint angles to the robot (py code below)

import rclpy
from rclpy.node import Node
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint

class UR10Mover(Node):

    def __init__(self):
        super().__init__('ur10_mover')
        self.publisher_ = self.create_publisher(JointTrajectory, '/scaled_joint_trajectory_controller/joint_trajectory', 10)

    def move_ur10(self):
        msg = JointTrajectory()
        msg.joint_names = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", 
                           "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]   

        
        point = JointTrajectoryPoint()
        # positions: [theta1, theta2, theta3, theta4, theta5, theta6]
        point.positions = [0, -0.6109, -24435, -1.6581, 1.5708, 0]
        """
        point.positions = [-0.54, -1.4491, -2.5592, -0.6562, -0.6562, -1.6914]
        point.positions = [0.6435, -1.2161, -0.8685, 0.7594, 1.3617, -1.6916]   
        """

        point.time_from_start.sec = 16
        msg.points.append(point)

        
        self.publisher_.publish(msg)
        self.get_logger().info('Publishing Joint Trajectory')

def main(args=None):
    rclpy.init(args=args)

    ur10_mover = UR10Mover()

    input("press enter to move")    

    ur10_mover.move_ur10()
    
    input("press enter to destroy node")


    ur10_mover.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

Expected Behavior

Normally the robot just moves to that joint position, but now it has an error.

Actual Behavior

Below you can find the full log. The end is where the error is. [ur_ros2_control_node-1] [ERROR] [1698400606.938671893] [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation

Extra info

I did extract calibration information but where does that yaml-file gets used?
Yes I can ping to the robot
Yes the robot is in "play" mode
The Teachpendand does not go in error

Thank you for helping

Relevant log output

labo@labo:~$ ros2 launch ur_robot_driver ur10.launch.py robot_ip:=192.168.1.200 launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/labo/.ros/log/2023-10-27-11-44-21-408438-labo-30338
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [30345]
[INFO] [controller_stopper_node-3]: process started with pid [30347]
[INFO] [ur_ros2_control_node-1]: process started with pid [30343]
[INFO] [urscript_interface-4]: process started with pid [30349]
[INFO] [robot_state_publisher-5]: process started with pid [30351]
[INFO] [rviz2-6]: process started with pid [30353]
[INFO] [spawner-7]: process started with pid [30355]
[INFO] [spawner-8]: process started with pid [30413]
[INFO] [spawner-9]: process started with pid [30415]
[INFO] [spawner-10]: process started with pid [30417]
[INFO] [spawner-11]: process started with pid [30419]
[INFO] [spawner-12]: process started with pid [30422]
[robot_state_publisher-5] [INFO] [1698399862.049775463] [robot_state_publisher]: Robot initialized
[dashboard_client-2] [INFO] [1698399862.044217111] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[controller_stopper_node-3] [INFO] [1698399862.104686963] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] [WARN] [1698399862.802653666] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ur_ros2_control_node-1] text not specified in the tf_prefix tag
[ur_ros2_control_node-1] [INFO] [1698399862.803075264] [resource_manager]: Loading hardware 'ur10' 
[ur_ros2_control_node-1] [INFO] [1698399862.825405098] [resource_manager]: Initialize hardware 'ur10' 
[ur_ros2_control_node-1] [INFO] [1698399862.825485094] [resource_manager]: Successful initialization of hardware 'ur10'
[ur_ros2_control_node-1] [INFO] [1698399862.825663410] [resource_manager]: 'configure' hardware 'ur10' 
[ur_ros2_control_node-1] [INFO] [1698399862.825671708] [resource_manager]: Successful 'configure' of hardware 'ur10'
[ur_ros2_control_node-1] [INFO] [1698399862.825693062] [resource_manager]: 'activate' hardware 'ur10' 
[ur_ros2_control_node-1] [INFO] [1698399862.825700584] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1698399862.825713449] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [WARN] [1698399862.833965485] [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://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-1] [INFO] [1698399862.996507711] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1698399862.996730063] [UR_Client_Library:]: Setting up RTDE communication with frequency 125.000000
[rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[ur_ros2_control_node-1] [WARN] [1698399864.024330501] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead use the RobotReceiveTimeout, to set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-1] [WARN] [1698399864.024354241] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead you should set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-1] [INFO] [1698399864.024359798] [URPositionHardwareInterface]: Calibration checksum: 'calib_17227329492635474227'.
[rviz2-6] [INFO] [1698399864.721714742] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1698399864.721873059] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-6] [INFO] [1698399864.749710260] [rviz2]: Stereo is NOT SUPPORTED
[spawner-11] [INFO] [1698399864.846534572] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-12] [INFO] [1698399864.866515415] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1698399864.872049765] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1698399864.879248535] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1698399864.885977678] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1698399864.889699235] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [ERROR] [1698399865.071877557] [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] [1698399865.072013965] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1698399865.072037030] [resource_manager]: Successful 'activate' of hardware 'ur10'
[controller_stopper_node-3] [INFO] [1698399865.445746123] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1698399865.445773363] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1698399865.445786080] [Controller stopper]: Service available
[ur_ros2_control_node-1] [WARN] [1698399865.450524714] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-1] [WARN] [1698399865.450657969] [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://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-1] [INFO] [1698399865.701732494] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1698399865.832099938] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399865.836348861] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-10] [INFO] [1698399865.837863176] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1698399865.868833620] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-8] [INFO] [1698399865.868862483] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1698399865.892409700] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-9] [INFO] [1698399865.893760268] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1698399865.932862142] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-12] [INFO] [1698399865.934172360] [spawner_forward_position_controller]: Loaded forward_position_controller
[spawner-11] [INFO] [1698399865.973716744] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1698399865.974964281] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [WARN] [1698399866.002763823] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-7] [INFO] [1698399866.005313105] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1698399866.008473327] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1698399866.008662649] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ur_ros2_control_node-1] [INFO] [1698399866.014121574] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1698399866.014195853] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ur_ros2_control_node-1] [INFO] [1698399866.083416526] [controller_manager]: Configuring controller 'io_and_status_controller'
[ur_ros2_control_node-1] [INFO] [1698399866.092719404] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[spawner-10] [INFO] [1698399866.093274795] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1698399866.094718509] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.096305520] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.096744007] [controller_manager]: Configuring controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1698399866.098783110] [forward_position_controller]: configure successful
[ur_ros2_control_node-1] [INFO] [1698399866.099815465] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.100119529] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[ur_ros2_control_node-1] [INFO] [1698399866.117343651] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.117612426] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1698399866.117776359] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1698399866.117802337] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1698399866.117819918] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[spawner-8] [INFO] [1698399866.118027944] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1698399866.123989038] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] [INFO] [1698399866.153752758] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.155921408] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.155988053] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.156004409] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.156303580] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.209088252] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.209205323] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.212685056] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[spawner-9] [INFO] [1698399866.215054459] [spawner_io_and_status_controller]: Configured and activated io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1698399866.220182771] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.228822392] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[spawner-11] [INFO] [1698399866.231129881] [spawner_force_torque_sensor_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1698399866.236426351] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.236509167] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698399866.244798670] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[spawner-7] [INFO] [1698399866.246288417] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1698399866.252206457] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[INFO] [spawner-10]: process has finished cleanly [pid 30417]
[INFO] [spawner-8]: process has finished cleanly [pid 30413]
[INFO] [spawner-12]: process has finished cleanly [pid 30422]
[INFO] [spawner-11]: process has finished cleanly [pid 30419]
[INFO] [spawner-9]: process has finished cleanly [pid 30415]
[INFO] [spawner-7]: process has finished cleanly [pid 30355]
[ur_ros2_control_node-1] [INFO] [1698400108.570537299] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1698400108.570601816] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1698400108.958180040] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.
[ur_ros2_control_node-1] [INFO] [1698400108.974025114] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1698400108.974112649] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ur_ros2_control_node-1] [ERROR] [1698400606.938671893] [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation

Accept Public visibility

[X] I agree to make this context public

Oct 27 '23 10:10 AxelDegrande

If I slightly modify your code and change the -24435 to -2.4435, then your code runs fine for me. The output could probably be improved there, though.

Oct 31 '23 13:10 fmauch

Agree, we should improve the error feedback to make it easier to spot problem. Though, nice to hear that the tolerance check worked and prevented the robot to do an unexpected fast motion.

Nov 23 '23 07:11 urrsk

@AxelDegrande did you succeed making it work and can we close this issue?

Nov 23 '23 07:11 urrsk

Going ahead and closing this due to inactivity. Feel free to comment / reopen if the issue still persists.

Jul 15 '24 20:07 fmauch

Hello, I am also getting the same error with the OPs code (I fixed the wrong joint angle -24435 -> -2.4435) as well as the test_scaled_joint_controller launch file.

for context, I am running this from a docker container with the actual robot. I am getting the warning regarding the real-time kernel although I just compiled the 6.12 kernel with the PREEMPT_RT config enabled. The ports published in the docker container are 29999-30010 and 50000-50012 as well as 9000.

Relevant Logs

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-12-15-16-40-27-780804-eb9ebb18e450-464 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [calibration_correction-1]: process started with pid [465] [calibration_correction-1] [WARN] [1734280827.881114559] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds... [calibration_correction-1] [INFO] [1734280829.080919440] [ur_calibration]: checksum: [2905197280 2905497409 759806402 2853233814 2852910048 2852651659 ] [calibration_correction-1] dh_theta: [-5.7617997137327e-08 1.36820651398328 4.24324506496508 0.671742550068674 -1.23032896499854e-07 -9.43368128002685e-08 ] [calibration_correction-1] dh_a: [-0.000124567734565739 -0.123182849936155 -0.447266677871086 4.43889902256801e-05 -7.44562913741664e-06 0 ] [calibration_correction-1] dh_d: [0.180554786329347 -1948.05426491946 2381.78167415029 -433.553219433789 0.119884644433412 0.115597112697294 ] [calibration_correction-1] dh_alpha: [1.57156953964481 -0.000307837167018039 -0.000819908037964153 1.57012711837425 -1.57078338179139 0 ] [calibration_correction-1] calibration_status: 2 [calibration_correction-1] [calibration_correction-1] [INFO] [1734280829.181287094] [ur_calibration]: Writing calibration data to "/root/my_robot_calibration.yaml" [calibration_correction-1] [INFO] [1734280829.181802788] [ur_calibration]: Wrote output. [calibration_correction-1] [INFO] [1734280829.181891968] [ur_calibration]: Calibration correction done [INFO] [calibration_correction-1]: process has finished cleanly [pid 465] root@eb9ebb18e450:/# ros2 launch ur_robot_driver ur_control.launch.py \ ur_type:=ur10e \ robot_ip:=192.168.1.16 \ kinematics_params_file:="${HOME}/my_robot_calibration.yaml" [INFO] [launch]: All log files can be found below /root/.ros/log/2024-12-15-16-40-51-844589-eb9ebb18e450-478 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [dashboard_client-2]: process started with pid [482] [INFO] [controller_stopper_node-3]: process started with pid [484] [INFO] [ur_ros2_control_node-1]: process started with pid [480] [INFO] [urscript_interface-4]: process started with pid [486] [INFO] [robot_state_publisher-5]: process started with pid [488] [INFO] [rviz2-6]: process started with pid [490] [INFO] [spawner-7]: process started with pid [492] [INFO] [spawner-8]: process started with pid [494] [INFO] [spawner-9]: process started with pid [496] [dashboard_client-2] [INFO] [1734280852.066074864] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server [dashboard_client-2] [controller_stopper_node-3] [INFO] [1734280852.068503247] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller [ur_ros2_control_node-1] [WARN] [1734280852.070475149] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ur_ros2_control_node-1] text not specified in the tf_prefix tag [ur_ros2_control_node-1] [INFO] [1734280852.070750314] [resource_manager]: Loading hardware 'ur10e' [ur_ros2_control_node-1] [INFO] [1734280852.071782282] [resource_manager]: Initialize hardware 'ur10e' [ur_ros2_control_node-1] [INFO] [1734280852.071834131] [resource_manager]: Successful initialization of hardware 'ur10e' [ur_ros2_control_node-1] [INFO] [1734280852.071960122] [resource_manager]: 'configure' hardware 'ur10e' [ur_ros2_control_node-1] [INFO] [1734280852.071967385] [URPositionHardwareInterface]: Starting ...please wait... [ur_ros2_control_node-1] [INFO] [1734280852.071975591] [URPositionHardwareInterface]: Initializing driver... [ur_ros2_control_node-1] [WARN] [1734280852.072791818] [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://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details. [ur_ros2_control_node-1] [INFO] [1734280852.074146102] [UR_Client_Library:]: Negotiated RTDE protocol version to 2. [ur_ros2_control_node-1] [INFO] [1734280852.074370961] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000 [rviz2-6] qt.qpa.xcb: could not connect to display [rviz2-6] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found. [rviz2-6] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem. [rviz2-6] [rviz2-6] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb. [rviz2-6] [robot_state_publisher-5] [INFO] [1734280852.094065703] [robot_state_publisher]: got segment base [robot_state_publisher-5] [INFO] [1734280852.094162588] [robot_state_publisher]: got segment base_link [robot_state_publisher-5] [INFO] [1734280852.094167737] [robot_state_publisher]: got segment base_link_inertia [robot_state_publisher-5] [INFO] [1734280852.094171074] [robot_state_publisher]: got segment flange [robot_state_publisher-5] [INFO] [1734280852.094174460] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-5] [INFO] [1734280852.094177656] [robot_state_publisher]: got segment ft_frame [robot_state_publisher-5] [INFO] [1734280852.094180822] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-5] [INFO] [1734280852.094183768] [robot_state_publisher]: got segment tool0 [robot_state_publisher-5] [INFO] [1734280852.094186704] [robot_state_publisher]: got segment upper_arm_link [robot_state_publisher-5] [INFO] [1734280852.094189659] [robot_state_publisher]: got segment world [robot_state_publisher-5] [INFO] [1734280852.094192444] [robot_state_publisher]: got segment wrist_1_link [robot_state_publisher-5] [INFO] [1734280852.094195110] [robot_state_publisher]: got segment wrist_2_link [robot_state_publisher-5] [INFO] [1734280852.094197955] [robot_state_publisher]: got segment wrist_3_link [spawner-9] [INFO] [1734280852.223772215] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-8] [INFO] [1734280852.223776192] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [INFO] [1734280852.223928543] [spawner_scaled_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available... [ur_ros2_control_node-1] [INFO] [1734280853.095216017] [URPositionHardwareInterface]: Calibration checksum: 'calib_14196578872229196740'. [ERROR] [rviz2-6]: process has died [pid 490, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/ur_description/rviz/view_robot.rviz --ros-args -r __node:=rviz2']. [ur_ros2_control_node-1] [INFO] [1734280854.167454730] [URPositionHardwareInterface]: Calibration checked successfully. [ur_ros2_control_node-1] [INFO] [1734280854.167515135] [URPositionHardwareInterface]: System successfully started! [ur_ros2_control_node-1] [INFO] [1734280854.167528321] [resource_manager]: Successful 'configure' of hardware 'ur10e' [ur_ros2_control_node-1] [INFO] [1734280854.167552537] [resource_manager]: 'activate' hardware 'ur10e' [ur_ros2_control_node-1] [INFO] [1734280854.167556464] [URPositionHardwareInterface]: Activating HW interface [ur_ros2_control_node-1] [INFO] [1734280854.167559821] [resource_manager]: Successful 'activate' of hardware 'ur10e' [controller_stopper_node-3] [INFO] [1734280854.169946173] [Controller stopper]: Service available [controller_stopper_node-3] [INFO] [1734280854.169961442] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers [controller_stopper_node-3] [INFO] [1734280854.169968455] [Controller stopper]: Service available [ur_ros2_control_node-1] [WARN] [1734280854.171121645] [controller_manager]: Could not enable FIFO RT scheduling policy [ur_ros2_control_node-1] [WARN] [1734280854.171193442] [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://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details. [ur_ros2_control_node-1] [INFO] [1734280854.228004640] [controller_manager]: Loading controller 'forward_position_controller' [ur_ros2_control_node-1] [INFO] [1734280854.241260588] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller' [spawner-9] [INFO] [1734280854.241733551] [spawner_forward_position_controller]: Loaded forward_position_controller [ur_ros2_control_node-1] [WARN] [1734280854.250008347] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [ur_ros2_control_node-1] [INFO] [1734280854.251297266] [controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-7] [INFO] [1734280854.251730562] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller [ur_ros2_control_node-1] [INFO] [1734280854.257454772] [controller_manager]: Configuring controller 'forward_position_controller' [spawner-8] [INFO] [1734280854.257910291] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ur_ros2_control_node-1] [INFO] [1734280854.258069074] [forward_position_controller]: configure successful [ur_ros2_control_node-1] [INFO] [1734280854.259451542] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller' [ur_ros2_control_node-1] [INFO] [1734280854.259563515] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ur_ros2_control_node-1] [INFO] [1734280854.259578694] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ur_ros2_control_node-1] [INFO] [1734280854.259596598] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method. [ur_ros2_control_node-1] [INFO] [1734280854.260814983] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz. [ur_ros2_control_node-1] [INFO] [1734280854.263009890] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [ur_ros2_control_node-1] [INFO] [1734280854.267575910] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1734280854.267617650] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-7] [INFO] [1734280854.273819101] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller [spawner-8] [INFO] [1734280854.277865971] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [ur_ros2_control_node-1] [INFO] [1734280854.278949979] [controller_manager]: Loading controller 'io_and_status_controller' [spawner-8] [INFO] [1734280854.283727593] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller [ur_ros2_control_node-1] [INFO] [1734280854.284209803] [controller_manager]: Configuring controller 'io_and_status_controller' [spawner-8] [INFO] [1734280854.296492104] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller [ur_ros2_control_node-1] [INFO] [1734280854.297586162] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1734280854.300694902] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: [spawner-8] [INFO] [1734280854.301634174] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster [ur_ros2_control_node-1] [INFO] [1734280854.302043384] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1734280854.302072209] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz [spawner-8] [INFO] [1734280854.307719052] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster [ur_ros2_control_node-1] [INFO] [1734280854.308788683] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster' [spawner-8] [INFO] [1734280854.313700503] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster [ur_ros2_control_node-1] [INFO] [1734280854.314038518] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster' [spawner-8] [INFO] [1734280854.319679820] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster [ur_ros2_control_node-1] [INFO] [1734280854.320793094] [controller_manager]: Loading controller 'ur_configuration_controller' [spawner-8] [INFO] [1734280854.325818280] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller [ur_ros2_control_node-1] [INFO] [1734280854.326141206] [controller_manager]: Configuring controller 'ur_configuration_controller' [spawner-8] [INFO] [1734280854.331683620] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller [ur_ros2_control_node-1] [INFO] [1734280854.373752875] [controller_manager]: Switch controller timeout is set to 0, using default 1s! [INFO] [spawner-9]: process has finished cleanly [pid 496] [INFO] [spawner-7]: process has finished cleanly [pid 492] [INFO] [spawner-8]: process has finished cleanly [pid 494] [ur_ros2_control_node-1] [INFO] [1734280857.136487652] [UR_Client_Library:]: Robot requested program [ur_ros2_control_node-1] [INFO] [1734280857.136549670] [UR_Client_Library:]: Sent program to robot [ur_ros2_control_node-1] [ERROR] [1734280938.041206470] [tolerances]: State tolerances failed for joint 3: [ur_ros2_control_node-1] [ERROR] [1734280938.041220436] [tolerances]: Position Error: 0.200135, Position Tolerance: 0.200000 [ur_ros2_control_node-1] [ERROR] [1734280938.041226368] [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation [ur_ros2_control_node-1] [ERROR] [1734280944.219209728] [tolerances]: State tolerances failed for joint 3: [ur_ros2_control_node-1] [ERROR] [1734280944.219225138] [tolerances]: Position Error: 0.200509, Position Tolerance: 0.200000 [ur_ros2_control_node-1] [ERROR] [1734280944.219231260] [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation [ur_ros2_control_node-1] [ERROR] [1734281315.193204023] [tolerances]: State tolerances failed for joint 2: [ur_ros2_control_node-1] [ERROR] [1734281315.193217318] [tolerances]: Position Error: -0.200272, Position Tolerance: 0.200000 [ur_ros2_control_node-1] [ERROR] [1734281315.193223490] [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation

Dec 15 '24 16:12 alin742

Error scaled_joint_trajectory_controller: Holding position due to state tolerance violation

Affected ROS2 Driver version(s)

Used ROS distribution.

Which combination of platform is the ROS driver running on.

How is the UR ROS2 Driver installed.

Which robot platform is the driver connected to.

Robot SW / URSim version(s)

How is the ROS driver used.

Issue details

Summary

Issue details

Steps to Reproduce

Expected Behavior

Actual Behavior

Extra info

Relevant log output

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