whether urscript and twist_controller CANNOT be used in one python program

[Luminary-S]

Prepare: I start the UR3 use ur_robot_driver nice and well in the terminal, and start the TP as fmauch told us in many previous answers.

Target: I have a program for controlling the UR3 first go to an init cartesian position and then use twist_controller to fulfill a twist control in the cartesian space.

Problem: The whole function used in one program, but when I publish urscript movel through topic "/ur_hardware_interface/script_command", the ur_robor_driver terminal shows [ERROR] [1685584458.273543300]: Sending data through socket failed. and the twist control published to "/twist_controller/command" CANNOT be impemented.

Then in TP, I find the external control stop, after restart the external control again by press the button, the resend "/twist_controller/command" CAN be impemented. However, the program can not be running well if no manual TP pressing the button.

Trial: I try to use switch_on_controller which gives us as an example in Integration_test.py and test_move, and try to change the controller through using 'switch_on_controller(TWIST_CONTROLLER,JOINT_VEL_CONTROLLER)' after the urscript publish finished, then erro msg shows: [ERROR] [1685584418.743013293]: Robot control is currently inactive. Starting controllers that claim resources is currently not possible. Not starting controller 'twist_controller' [ERROR] [1685584418.743218564]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.

Doubt: the urscript and twist_controller can not be used in one python program?

[MCR100]

Hi @Luminary-S I am facing the same issue. I want to use the ROS controllers first and then want to switch to urscript without manually changing it through reach pendant. Did you find any solutions?