I am not able to start pose_based_cartesian_traj_controller and I get the following error:
[ERROR] [1683164526.534786841]: Robot control is currently inactive. Starting controllers that claim resources is currently not possible. Not starting controller 'pose_based_cartesian_traj_controller'
[ERROR] [1683164526.534861499]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.
I have taken the following steps to remedy this.
- I confirmed that my kernel supports and is running PREEMPT_RT. (Ubuntu 18 LTS, Kernel 4.19.50-rt22)
- I confirmed that the external control URCAP is running with the correct address and ports.
- I stopped all running controllers before attempting to start
pose_based_cartesian_traj_controller.
However, I still get the same message.
If it helps, here is the full printout (minus parameter values) from launch of the calibrated controller to the error:
... logging to /home/james/.ros/log/a8b0d350-ea1c-11ed-855e-54b2038121b5/roslaunch-radium-2520.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://radium:37147/
SUMMARY
========
PARAMETERS
* /controller_stopper/consistent_controllers: ['joint_state_con...'
'... many parameters ...'
* /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
NODES
/
controller_stopper (ur_robot_driver/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 [2547]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to a8b0d350-ea1c-11ed-855e-54b2038121b5
process[rosout-1]: started with pid [2561]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [2564]
process[ur_hardware_interface-3]: started with pid [2565]
process[ros_control_controller_spawner-4]: started with pid [2570]
process[ros_control_stopped_spawner-5]: started with pid [2571]
process[controller_stopper-6]: started with pid [2574]
[ INFO] [1683164435.787312924]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1683164435.788418204]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [2575]
[ INFO] [1683164435.801983316]: Main thread: SCHED_FIFO OK
[ INFO] [1683164435.802836861]: Main thread priority is 99
[ INFO] [1683164435.815419130]: Initializing dashboard client
[ INFO] [1683164435.817824975]: Connected: Universal Robots Dashboard Server
[ INFO] [1683164435.838099926]: Initializing urdriver
[ INFO] [1683164435.839584349]: Producer thread: SCHED_FIFO OK
[ INFO] [1683164435.839652780]: Thread priority is 99
[ INFO] [1683164436.214787289]: Negotiated RTDE protocol version to 2.
[ INFO] [1683164436.215445590]: Setting up RTDE communication with frequency 125.000000
[INFO] [1683164436.426989]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1683164436.702985]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1683164437.258579556]: Checking if calibration data matches connected robot.
[ INFO] [1683164437.259370403]: Producer thread: SCHED_FIFO OK
[ INFO] [1683164437.259423110]: Thread priority is 99
[ INFO] [1683164438.276189830]: Calibration checked successfully.
[ INFO] [1683164438.313304572]: Producer thread: SCHED_FIFO OK
[ INFO] [1683164438.313455175]: Thread priority is 99
[ INFO] [1683164438.313682312]: Loaded ur_robot_driver hardware_interface
[ INFO] [1683164438.408633384]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1683164438.408698646]: Service available.
[ INFO] [1683164438.408739550]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1683164438.409815687]: Service available.
[INFO] [1683164438.524937]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1683164438.532828]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1683164438.541652]: Loading controller: pos_joint_traj_controller
[ INFO] [1683164438.551339092]: Robot`s safety mode is now NORMAL
[INFO] [1683164438.551671]: Controller Spawner: Waiting for service controller_manager/switch_controller
[ INFO] [1683164438.558939387]: Robot mode is now RUNNING
[INFO] [1683164438.568858]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1683164438.580993]: Loading controller: joint_state_controller
[INFO] [1683164438.627599]: Loading controller: joint_group_vel_controller
[INFO] [1683164438.635442]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1683164438.643690]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1683164438.683381]: Loading controller: speed_scaling_state_controller
[INFO] [1683164438.691464]: Loading controller: force_torque_sensor_controller
[INFO] [1683164438.699582]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1683164438.707406]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
'I start the URCAP at this point.'
[ INFO] [1683164493.249674213]: Robot requested program
[ INFO] [1683164493.250037629]: Sent program to robot
'I run the command: rosrun controller_manager controller_manager spawn pose_based_cartesian_traj_controller'
[ERROR] [1683164526.534786841]: Robot control is currently inactive. Starting controllers that claim resources is currently not possible. Not starting controller 'pose_based_cartesian_traj_controller'
[ERROR] [1683164526.534861499]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.