# Cannot obtain control resources for Cartesian pose control on UR5 from ROS Melodic on Ubuntu 18 RT **URL:** \ **Category:** ROS\ **Created:** [May 4, 2023, 2:06am UTC](https://forum.universal-robots.com/t/cannot-obtain-control-resources-for-cartesian-pose-control-on-ur5-from-ros-melodic-on-ubuntu-18-rt/28230 "2023-05-04T02:06:39Z")\ **Posts on this page:** 1\ **Page:** 1

**Author:** ![anon33187103](https://avatars.discourse-cdn.com/v4/letter/a/b782af/32.png) [@anon33187103](https://forum.universal-robots.com/u/anon33187103)\ **Post date:** [May 4, 2023, 2:06am UTC](https://forum.universal-robots.com/t/cannot-obtain-control-resources-for-cartesian-pose-control-on-ur5-from-ros-melodic-on-ubuntu-18-rt/28230/1 "2023-05-04T02:06:39Z")

I am not able to start `pose_based_cartesian_traj_controller` and I get the following error: ```bash [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. 1. I confirmed that my kernel supports and is running PREEMPT\_RT. (Ubuntu 18 LTS, Kernel 4.19.50-rt22) 2. I confirmed that the external control URCAP is running with the correct address and ports. 3. 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: ```bash ... 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. ```