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Published 20 hours ago • verified publisher icon UniversalRobots

Robot control is currently inactive. Starting controllers that claim resources is currently not possible. Not starting controller 'scaled_pos_joint_traj_controller'

Open mkaur013 opened this issue 2 years ago • 1 comments

Summary

I am trying to control a UR5e using the ROS driver. I installed the URcap file on the TP. Since I am using an e-series I think I should be using the remote control? (which I am also doing). The simple movement I am trying to do is the test_move script provided with the package, but not able to see any result. **Unable to control robot using the ROS. No Joint list in controller manager ns. Unable to move robot using rviz

Versions

  • ROS Driver version: Noetic, Ubuntu 20.04
  • Affected Robot Software Version(s): 5.10.2
  • Affected Robot Hardware Version(s): UR5e
  • Robot Serial Number:
  • UR+ product(s) installed:
  • URCaps Software version(s): externalcontrol-1.0.5.urcap

Impact

Universal_robots_ROS_driver compatibility with Noetic and Ubuntu 20.04

##Terminal 1: Input: roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.11.0.1 kinematics_config:=$(rospack find example_organization_ur_launch)/etc/ur5e-1_calibration.yaml output:

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
started roslaunch server http://lambda-quad:44485/

SUMMARY
========

PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 500
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_cartesian_traj_controller/type: pass_through_cont...
 * /forward_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_joint_traj_controller/type: pass_through_cont...
 * /hardware_control_loop/loop_hz: 500
 * /joint_based_cartesian_traj_controller/base: base
 * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /joint_based_cartesian_traj_controller/tip: tool0
 * /joint_based_cartesian_traj_controller/type: position_controll...
 * /joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 500
 * /joint_state_controller/type: joint_state_contr...
 * /pos_joint_traj_controller/action_monitor_rate: 20
 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/goal_time: 0.6
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /pos_joint_traj_controller/state_publish_rate: 500
 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /pos_joint_traj_controller/type: position_controll...
 * /pose_based_cartesian_traj_controller/base: base
 * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /pose_based_cartesian_traj_controller/tip: tool0_controller
 * /pose_based_cartesian_traj_controller/type: pose_controllers/...
 * /robot_description: <?xml version="1....
 * /robot_status_controller/handle_name: industrial_robot_...
 * /robot_status_controller/publish_rate: 10
 * /robot_status_controller/type: industrial_robot_...
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_pos_joint_traj_controller/state_publish_rate: 500
 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_pos_joint_traj_controller/type: position_controll...
 * /scaled_vel_joint_traj_controller/action_monitor_rate: 20
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_vel_joint_traj_controller/state_publish_rate: 500
 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_vel_joint_traj_controller/type: velocity_controll...
 * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
 * /speed_scaling_state_controller/publish_rate: 500
 * /speed_scaling_state_controller/type: scaled_controller...
 * /twist_controller/frame_id: tool0_controller
 * /twist_controller/joints: ['shoulder_pan_jo...
 * /twist_controller/publish_rate: 500
 * /twist_controller/type: ros_controllers_c...
 * /ur_hardware_interface/headless_mode: False
 * /ur_hardware_interface/input_recipe_file: /home/level/ACobo...
 * /ur_hardware_interface/joints: ['shoulder_pan_jo...
 * /ur_hardware_interface/kinematics/forearm/pitch: 3.139299981997532
 * /ur_hardware_interface/kinematics/forearm/roll: 3.139883644626566
 * /ur_hardware_interface/kinematics/forearm/x: -0.4254108848505715
 * /ur_hardware_interface/kinematics/forearm/y: 0
 * /ur_hardware_interface/kinematics/forearm/yaw: -3.141592427496374
 * /ur_hardware_interface/kinematics/forearm/z: 0
 * /ur_hardware_interface/kinematics/hash: calib_89070586301...
 * /ur_hardware_interface/kinematics/shoulder/pitch: 0
 * /ur_hardware_interface/kinematics/shoulder/roll: 0
 * /ur_hardware_interface/kinematics/shoulder/x: 0
 * /ur_hardware_interface/kinematics/shoulder/y: 0
 * /ur_hardware_interface/kinematics/shoulder/yaw: -6.04558287459200...
 * /ur_hardware_interface/kinematics/shoulder/z: 0.1626104601064394
 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0
 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.570576354224424
 * /ur_hardware_interface/kinematics/upper_arm/x: 4.93972723540473e-05
 * /ur_hardware_interface/kinematics/upper_arm/y: 0
 * /ur_hardware_interface/kinematics/upper_arm/yaw: -1.00913851493497...
 * /ur_hardware_interface/kinematics/upper_arm/z: 0
 * /ur_hardware_interface/kinematics/wrist_1/pitch: -3.139858597276887
 * /ur_hardware_interface/kinematics/wrist_1/roll: 3.141256931529219
 * /ur_hardware_interface/kinematics/wrist_1/x: -0.3925835675952467
 * /ur_hardware_interface/kinematics/wrist_1/y: 4.496415959113912...
 * /ur_hardware_interface/kinematics/wrist_1/yaw: -3.141590128430223
 * /ur_hardware_interface/kinematics/wrist_1/z: 0.133932687726652
 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0
 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.570010543735669
 * /ur_hardware_interface/kinematics/wrist_2/x: 7.041796945024269...
 * /ur_hardware_interface/kinematics/wrist_2/y: -0.09967401175672246
 * /ur_hardware_interface/kinematics/wrist_2/yaw: -2.06230548742848...
 * /ur_hardware_interface/kinematics/wrist_2/z: 7.832216600384178...
 * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.572643847605177
 * /ur_hardware_interface/kinematics/wrist_3/x: 0.000132924145932...
 * /ur_hardware_interface/kinematics/wrist_3/y: 0.09962479111555489
 * /ur_hardware_interface/kinematics/wrist_3/yaw: 3.141591766182705
 * /ur_hardware_interface/kinematics/wrist_3/z: 0.000184059084224...
 * /ur_hardware_interface/output_recipe_file: /home/level/ACobo...
 * /ur_hardware_interface/reverse_ip: 
 * /ur_hardware_interface/reverse_port: 50001
 * /ur_hardware_interface/robot_ip: 192.11.0.1
 * /ur_hardware_interface/script_file: /opt/ros/noetic/s...
 * /ur_hardware_interface/script_sender_port: 50002
 * /ur_hardware_interface/servoj_gain: 2000
 * /ur_hardware_interface/servoj_lookahead_time: 0.03
 * /ur_hardware_interface/tf_prefix: 
 * /ur_hardware_interface/tool_baud_rate: 115200
 * /ur_hardware_interface/tool_parity: 0
 * /ur_hardware_interface/tool_rx_idle_chars: 1.5
 * /ur_hardware_interface/tool_stop_bits: 1
 * /ur_hardware_interface/tool_tx_idle_chars: 3.5
 * /ur_hardware_interface/tool_voltage: 0
 * /ur_hardware_interface/trajectory_port: 50003
 * /ur_hardware_interface/use_tool_communication: False
 * /vel_joint_traj_controller/action_monitor_rate: 20
 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/goal_time: 0.6
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /vel_joint_traj_controller/state_publish_rate: 500
 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /vel_joint_traj_controller/type: velocity_controll...
 * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0

NODES
  /
    controller_stopper (controller_stopper/node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)
    ros_control_stopped_spawner (controller_manager/spawner)
    ur_hardware_interface (ur_robot_driver/ur_robot_driver_node)
  /ur_hardware_interface/
    ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master
process[master]: started with pid [192112]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0dadc618-077a-11ed-9478-8324190d497b
process[rosout-1]: started with pid [192148]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [192156]
process[ur_hardware_interface-3]: started with pid [192157]
process[ros_control_controller_spawner-4]: started with pid [192158]
process[ros_control_stopped_spawner-5]: started with pid [192160]
process[controller_stopper-6]: started with pid [192166]
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [192171]
[ INFO] [1658245632.747010002]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1658245632.751377656]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1658245632.753210463]: Initializing dashboard client
[ INFO] [1658245632.756304959]: Connected: Universal Robots Dashboard Server

[ INFO] [1658245632.757821233]: waitForService: Service [/ur_hardware_interface/dashboard/play] has not been advertised, waiting...
[ INFO] [1658245632.765130317]: Initializing urdriver
[ WARN] [1658245632.765783435]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1658245632.780182145]: waitForService: Service [/ur_hardware_interface/dashboard/play] is now available.
[ INFO] [1658245632.863416465]: Negotiated RTDE protocol version to 2.
[ INFO] [1658245632.863639146]: Setting up RTDE communication with frequency 500.000000
[INFO] [1658245633.048949]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1658245633.073668]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1658245633.893512975]: Checking if calibration data matches connected robot.
[ WARN] [1658245633.893899569]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1658245634.967444924]: Calibration checked successfully.
[ WARN] [1658245634.972384872]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1658245634.972501478]: Loaded ur_robot_driver hardware_interface
[ INFO] [1658245635.031081030]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1658245635.031146705]: Service available.
[ INFO] [1658245635.031183157]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1658245635.032508875]: Service available.
[INFO] [1658245635.165750]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1658245635.170104]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1658245635.174087]: Loading controller: joint_state_controller
[INFO] [1658245635.185751]: Loading controller: scaled_pos_joint_traj_controller
[ INFO] [1658245635.186830844]: Robot mode is now RUNNING
[ INFO] [1658245635.186896981]: Robot's safety mode is now NORMAL
[INFO] [1658245635.192704]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1658245635.199243]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1658245635.206582]: Loading controller: pos_joint_traj_controller
[INFO] [1658245635.235836]: Loading controller: speed_scaling_state_controller
[INFO] [1658245635.271699]: Loading controller: joint_group_vel_controller
[INFO] [1658245635.275886]: Loading controller: force_torque_sensor_controller
[INFO] [1658245635.283740]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1658245635.287563]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1658245635.293587]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[ERROR] [1658245641.024743951]: A controller named 'scaled_pos_joint_traj_controller' was already loaded inside the controller manager
[ERROR] [1658245641.027622947]: Robot control is currently inactive. Starting controllers that claim resources is currently not possible. Not starting controller 'scaled_pos_joint_traj_controller'
[ERROR] [1658245641.027700946]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.
[ERROR] [1658245643.671229151]: Can't accept new action goals. Controller is not running.```

## Terminal 2:
Input: `roslaunch ur_robot_driver example_rviz.launch`
Output:
```... logging to /home/level/.ros/log/57e18c7a-076a-11ed-9478-8324190d497b/roslaunch-lambda-quad-16791.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://lambda-quad:33693/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [16828]
[ INFO] [1658239320.383612775]: rviz version 1.14.14
[ INFO] [1658239320.383684785]: compiled against Qt version 5.12.8
[ INFO] [1658239320.383706153]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1658239320.400357116]: Forcing OpenGl version 0.
[ INFO] [1658239321.049110320]: Stereo is NOT SUPPORTED
[ INFO] [1658239321.049158921]: OpenGL device: NVIDIA GeForce RTX 3090/PCIe/SSE2
[ INFO] [1658239321.049173244]: OpenGl version: 4.6 (GLSL 4.6).
[ERROR] [1658240146.299149078]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
[ INFO] [1658240146.299710271]: Loading robot model 'ur'...
[ INFO] [1658240146.299802409]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1658240146.410863077]: Starting planning scene monitor
[ INFO] [1658240146.413313688]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1658240146.452020727]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1658240151.465975481]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1658240191.772591740]: Stopping planning scene monitor```

##Termianl 3:
Input `rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller`
Output: Empty /controller_manager joints list

## Terminal 4:
Input `roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch`
Output:
```... logging to /home/level/.ros/log/0dadc618-077a-11ed-9478-8324190d497b/roslaunch-lambda-quad-436779.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
started roslaunch server http://lambda-quad:43793/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': 'scaled...
 * /move_group/disable_capabilities: 
 * /move_group/endeffector/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01
 * /move_group/generic_hw_control_loop/loop_hz: 300
 * /move_group/hardware_interface/joints: ['shoulder_pan_jo...
 * /move_group/hardware_interface/sim_control_mode: 1
 * /move_group/jiggle_fraction: 0.05
 * /move_group/joint_state_controller/publish_rate: 50
 * /move_group/joint_state_controller/type: joint_state_contr...
 * /move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/moveit_sim_hw_interface/joint_model_group: manipulator
 * /move_group/moveit_sim_hw_interface/joint_model_group_pose: home
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.141592653589793
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [436842]
[ WARN] [1658254443.208575039]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).
[ INFO] [1658254443.222501223]: Loading robot model 'ur5_robot'...
[ WARN] [1658254443.281226032]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1658254443.345367910]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1658254443.347590561]: Listening to 'joint_states' for joint states
[ INFO] [1658254443.351371507]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1658254443.351395007]: Starting planning scene monitor
[ INFO] [1658254443.353198126]: Listening to '/planning_scene'
[ INFO] [1658254443.353216971]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1658254443.354925205]: Listening to '/collision_object'
[ INFO] [1658254443.356336117]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1658254443.356889002]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1658254443.359430353]: Loading planning pipeline ''
[ INFO] [1658254443.441040247]: Using planning interface 'OMPL'
[ INFO] [1658254443.446954401]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1658254443.447373048]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1658254443.447741912]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1658254443.448123441]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1658254443.448470905]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1658254443.448833100]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1658254443.448918330]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1658254443.448954784]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1658254443.448984935]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1658254443.449017200]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1658254443.449046661]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1658254443.698944875]: Added FollowJointTrajectory controller for scaled_pos_joint_traj_controller
[ INFO] [1658254443.699114834]: Returned 1 controllers in list
[ INFO] [1658254443.717449373]: Trajectory execution is managing controllers
[ INFO] [1658254443.717502582]: MoveGroup debug mode is OFF
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1658254443.813025155]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1658254443.813121086]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1658254443.813163025]: MoveGroup context initialization complete

You can start planning now!

This cuase error in Termial 1: Error: Could not get fresh data package from robot. then I interrupted the ternial, it gave below error:

^C[ur_hardware_interface/ur_robot_state_helper-7] killing on exit
[controller_stopper-6] killing on exit
[ros_control_controller_spawner-4] killing on exit
[ros_control_stopped_spawner-5] killing on exit
[ur_hardware_interface-3] killing on exit
[robot_state_publisher-2] killing on exit
[INFO] [1658254739.807112]: Shutting down spawner. Stopping and unloading controllers...
Interrupt signal (2) received.
[INFO] [1658254739.808540]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1658254739.811605]: Stopping all controllers...
[INFO] [1658254739.812264]: Stopping all controllers...
[ERROR] [1658254739.821038848]: Could not stop controller 'scaled_pos_joint_traj_controller' since it is not running
[ERROR] [1658254739.821261280]: Could not stop controller 'pos_joint_traj_controller' since it is not running
[INFO] [1658254739.821420]: Unloading all loaded controllers...
[INFO] [1658254739.821700]: Unloading all loaded controllers...
[INFO] [1658254739.824925]: Trying to unload joint_group_vel_controller
[INFO] [1658254739.825268]: Trying to unload force_torque_sensor_controller
[ros_control_controller_spawner-4] escalating to SIGTERM
[ur_hardware_interface-3] escalating to SIGTERM
[ros_control_stopped_spawner-5] escalating to SIGTERM
[WARN] [1658254754.843321]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender's logs for details
[WARN] [1658254754.843374]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender's logs for details
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Expected Behavior

  1. Control the UR5e with joint slider.
  2. Control the UR5e with RVIZ.
  3. See a list ubder controller manager
  4. See Robot ready to receive control commands after press the play button on the TP

Actual Behavior

  • Control move UR5e using joint slider, rviz
  • Don't see ready command on TP
  • [ERROR] [1658251471.349553861]: A controller named 'scaled_pos_joint_traj_controller' was already loaded inside the controller manager [ERROR] [1658251471.352626426]: Robot control is currently inactive. Starting controllers that claim resources is currently not possible. Not starting controller 'scaled_pos_joint_traj_controller' [ERROR] [1658251471.352694619]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible. [ERROR] [1658251474.595711650]: Can't accept new action goals. Controller is not running.

mkaur013 avatar Jul 19 '22 17:07 mkaur013

Let's break down things and address one problem at a time before starting everything.

Simply running

roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.11.0.1 kinematics_config:=$(rospack find example_organization_ur_launch)/etc/ur5e-1_calibration.yaml

should get you a running driver. The output you see should be similar to this:

[...]
[ INFO] [1659346812.935517401]: Initializing dashboard client
[ INFO] [1659346812.936541832]: Connected: Universal Robots Dashboard Server

process[ur_hardware_interface/ur_robot_state_helper-6]: started with pid [1803275]
[ INFO] [1659346812.945123332]: Initializing urdriver
[ WARN] [1659346812.945363533]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1659346812.948187312]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1659346812.948991671]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1659346812.965828736]: Negotiated RTDE protocol version to 2.
[ INFO] [1659346812.965922347]: Setting up RTDE communication with frequency 500.000000
[INFO] [1659346813.260928]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1659346813.261181]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1659346813.980314321]: Checking if calibration data matches connected robot.
[ WARN] [1659346813.980457883]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1659346815.019536920]: Calibration checked successfully.
[ WARN] [1659346815.024385206]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1659346815.024444851]: Loaded ur_robot_driver hardware_interface
[ INFO] [1659346815.055617210]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1659346815.055650464]: Service available.
[ INFO] [1659346815.055664523]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1659346815.056142042]: Service available.
[INFO] [1659346815.068633]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1659346815.068830]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1659346815.070574]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1659346815.070898]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1659346815.072137]: Loading controller: joint_state_controller
[INFO] [1659346815.072467]: Loading controller: pos_joint_traj_controller
[INFO] [1659346815.077010]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1659346815.093426]: Loading controller: joint_group_vel_controller
[INFO] [1659346815.110027]: Loading controller: speed_scaling_state_controller
[INFO] [1659346815.114151]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1659346815.116021]: Loading controller: force_torque_sensor_controller
[INFO] [1659346815.120099]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1659346815.124290]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[ INFO] [1659346815.247882945]: Robot mode is now RUNNING
[ INFO] [1659346815.248510959]: Robot's safety mode is now NORMAL

At this point you have a running driver that reads state information from the robot, but cannot control the robot, yet. (Also see this FAQ entry).

Now, press the "play" button on the TP (with a loaded program containing the External Control node). This should add Robot connected to reverse interface. Ready to receive control commands. to the driver's output. Now you can continue launching the test_move or moveit startup or the JTC slider GUI and things should hopefully work out of the box.

fmauch avatar Aug 01 '22 09:08 fmauch