Delayed trajectory execution for more than 3 minutes

[shuobh]

Summary

An trajectory was sent but was not executed immediately reporting error Sending data through socket failed. Unexpected error: No trajectory defined at current time. Please contact the package maintainer.. It resumed trajectory execution after 3min.

Versions

• ROS Driver version: 2.0.0
• Affected Robot Software Version(s): 5.11.1
• Affected Robot Hardware Version(s): UR3e

Impact

It heavily impacts synchronized trajectory execution.

Issue details

The robot first reported Sending data through socket failed. and continuously reported Unexpected error: No trajectory defined at current time. Please contact the package maintainer. for 3min 10s. Then it resumed execution afterwards with no other message from the driver logged.

Use Case and Setup

Two arm was synced up and suppose to start execution at the same time.

Project status at point of discovered

• In normal use

[github-actions[bot]]

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[fmauch]

This issue needs an answer, sorry for missing this.

I don't know why this should happen.

• Can you elaborate a bit on your setup?
• Is the trajectory being sent to the robots corret?
• Are you running the two robots in a combined hardware interface? If so, did you specify non_blocking_read=true?