Hello,
I want to use moveit control the ur5 robot, so the environment configured as follow:
- Ubuntu 2204
- ros-humble version
- use ros-humble-ur driver, Universal Robots ROS2 Driver (install
sudo apt-get install ros-humble-ur) - build source code to install moveit (note: i also do
source install/settup.bash)
Then I run command as follows, refered to UR:
- At terminal 1:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
The log:
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
[INFO] [launch]: All log files can be found below /home/shensy/.ros/log/2024-08-23-18-08-08-044124-shensy-vm-14879
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [14882]
[INFO] [urscript_interface-2]: process started with pid [14884]
[INFO] [robot_state_publisher-3]: process started with pid [14886]
[INFO] [spawner-4]: process started with pid [14888]
[INFO] [spawner-5]: process started with pid [14890]
[INFO] [spawner-6]: process started with pid [14892]
[ros2_control_node-1] [INFO] [1724407688.910917252] [resource_manager]: Loading hardware 'ur5'
[robot_state_publisher-3] [INFO] [1724407688.911286741] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1724407688.911455288] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1724407688.911471457] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1724407688.911479989] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1724407688.911487988] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1724407688.911495681] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-3] [INFO] [1724407688.911503278] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1724407688.911510739] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1724407688.911519117] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1724407688.911527122] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1724407688.911535137] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1724407688.911542953] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1724407688.911550392] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-1] [INFO] [1724407688.913856066] [resource_manager]: Initialize hardware 'ur5'
[ros2_control_node-1] [WARN] [1724407688.913910986] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-1] [WARN] [1724407688.913935467] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example:
[ros2_control_node-1] <state_interface name="velocity">
[ros2_control_node-1] <param name="initial_value">0.0</param>
[ros2_control_node-1] </state_interface>
[ros2_control_node-1] [INFO] [1724407688.914035204] [resource_manager]: Successful initialization of hardware 'ur5'
[ros2_control_node-1] [INFO] [1724407688.914249089] [resource_manager]: 'configure' hardware 'ur5'
[ros2_control_node-1] [INFO] [1724407688.914262120] [resource_manager]: Successful 'configure' of hardware 'ur5'
[ros2_control_node-1] [INFO] [1724407688.914298806] [resource_manager]: 'activate' hardware 'ur5'
[ros2_control_node-1] [INFO] [1724407688.914306047] [resource_manager]: Successful 'activate' of hardware 'ur5'
[ros2_control_node-1] [INFO] [1724407688.933862603] [controller_manager]: update rate is 125 Hz
[ros2_control_node-1] [INFO] [1724407688.935453228] [controller_manager]: RT kernel is recommended for better performance
[spawner-5] usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [-n NAMESPACE]
[spawner-5] [--load-only] [--stopped] [--inactive] [-t CONTROLLER_TYPE]
[spawner-5] [-u] [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT]
[spawner-5] controller_name
[spawner-5] spawner: error: unrecognized arguments: io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster
[ERROR] [spawner-5]: process has died [pid 14890, exit code 2, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster --ros-args'].
[ros2_control_node-1] [INFO] [1724407689.549489183] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-6] [INFO] [1724407689.568901969] [spawner_forward_position_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1724407689.570601803] [controller_manager]: Configuring controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1724407689.571748220] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1724407689.594550270] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-1] [WARN] [1724407689.609615546] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-4] [INFO] [1724407689.617029182] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1724407689.700666165] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1724407689.700832587] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1724407689.700883503] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1724407689.700906395] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1724407689.702247194] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-1] [INFO] [1724407689.704833142] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-4] [INFO] [1724407689.721077723] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[INFO] [spawner-6]: process has finished cleanly [pid 14892]
[INFO] [spawner-4]: process has finished cleanly [pid 14888]
- At terminal 2:
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 launch_rviz:=true
Then, I can plan and execute the robot on the rviz.
The log:
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/shensy/.ros/log/2024-08-23-21-41-17-623091-shensy-vm-15206
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [15213]
[INFO] [rviz2-2]: process started with pid [15215]
[INFO] [servo_node_main-3]: process started with pid [15217]
[rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[servo_node_main-3] [WARN] [1724420478.746329967] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding:
[servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-3] to the Servo composable node in the launch file
[move_group-1] [WARN] [1724420478.751070382] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1724420478.761604451] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0098239 seconds
[move_group-1] [INFO] [1724420478.764240622] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[move_group-1] [INFO] [1724420478.764255439] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [INFO] [1724420478.766358180] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00770231 seconds
[servo_node_main-3] [INFO] [1724420478.766387093] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node_main-3] [INFO] [1724420478.766392988] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [WARN] [1724420478.792560857] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[servo_node_main-3] [INFO] [1724420478.851100707] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node_main-3] [INFO] [1724420478.858157184] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-3] [INFO] [1724420478.858192869] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_node_main-3] [INFO] [1724420478.860310306] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node_main-3] [INFO] [1724420478.861142759] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[move_group-1] [INFO] [1724420478.891581518] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1724420478.891835105] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1724420478.893548158] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1724420478.894623837] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1724420478.894639871] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1724420478.895211594] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1724420478.895225313] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1724420478.897684802] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1724420478.898734964] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1724420478.898967273] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1724420478.898981111] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1724420478.903964312] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1724420478.929522627] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1724420478.934522132] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1724420478.934555073] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1724420478.934560675] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1724420478.934573367] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1724420478.934586431] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1724420478.934591521] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1724420478.934600880] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1724420478.934605290] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1724420478.934610346] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1724420478.934619890] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1724420478.934624183] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1724420478.934627671] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1724420478.934630789] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1724420478.934657379] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1724420479.000658618] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1724420479.009620377] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-1] [INFO] [1724420479.010045132] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1724420479.011028805] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1724420479.011867356] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1724420479.011882845] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1724420479.053344052] [move_group.move_group]:
[move_group-1]
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using:
[move_group-1] * - ApplyPlanningSceneService
[move_group-1] * - ClearOctomapService
[move_group-1] * - CartesianPathService
[move_group-1] * - ExecuteTrajectoryAction
[move_group-1] * - GetPlanningSceneService
[move_group-1] * - KinematicsService
[move_group-1] * - MoveAction
[move_group-1] * - MotionPlanService
[move_group-1] * - QueryPlannersService
[move_group-1] * - StateValidationService
[move_group-1] ********************************************************
[move_group-1]
[move_group-1] [INFO] [1724420479.053393237] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1724420479.053403003] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1]
[move_group-1] You can start planning now!
[move_group-1]
[servo_node_main-3] [WARN] [1724420479.075911558] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[servo_node_main-3] [WARN] [1724420479.075945153] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows
[rviz2-2] [INFO] [1724420479.253291607] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1724420479.253678513] [rviz2]: OpenGl version: 3.3 (GLSL 3.3)
[rviz2-2] [INFO] [1724420479.299991291] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1724420482.451341723] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1724420482.470148682] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1724420482.673988848] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00974004 seconds
[rviz2-2] [INFO] [1724420482.674856163] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-2] [INFO] [1724420482.674880240] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [INFO] [1724420482.808994847] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1724420482.810330420] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1724420483.002225972] [interactive_marker_display_110346521775152]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [INFO] [1724420483.012529175] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1724420483.012564988] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [INFO] [1724420483.038338245] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-2] [INFO] [1724420483.056347159] [interactive_marker_display_110346521775152]: Sending request for interactive markers
[rviz2-2] [INFO] [1724420483.091011123] [interactive_marker_display_110346521775152]: Service response received for initialization
And then I using rviz button plan&execute (or first button plan and then button execute ), plan can successed but execute can failed, and the log can be display at terminal 2 as follow:
[move_group-1] [INFO] [1724420683.223503032] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1724420683.223710147] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-2] [INFO] [1724420683.224600877] [move_group_interface]: Plan and Execute request accepted
[move_group-1] [INFO] [1724420684.224120010] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1724420683.223758, but latest received state has time 0.000000.
[move_group-1] Check clock synchronization if your are running ROS across multiple machines!
[move_group-1] [WARN] [1724420684.224172154] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state.
[move_group-1] [INFO] [1724420684.224543936] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-1] [INFO] [1724420684.224717075] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1724420684.224733579] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1724420684.226727170] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [INFO] [1724420684.347642872] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1724420684.347671816] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1724420684.347795835] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-1] [INFO] [1724420685.347895651] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1724420684.347806, but latest received state has time 0.000000.
[move_group-1] Check clock synchronization if your are running ROS across multiple machines!
[move_group-1] [WARN] [1724420685.347953213] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-1] [INFO] [1724420685.348128100] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[rviz2-2] [INFO] [1724420685.349126751] [move_group_interface]: Plan and Execute request aborted
[rviz2-2] [ERROR] [1724420685.349471628] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
And at terminal 1 can display the log as follows:
urscript_interface-2] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP yyy.yyy.yyy.yyy. Please check that the robot is booted and reachable on yyy.yyy.yyy.yyy. Retrying in 10 seconds
[urscript_interface-2] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP yyy.yyy.yyy.yyy. Please check that the robot is booted and reachable on yyy.yyy.yyy.yyy. Retrying in 10 seconds
[urscript_interface-2] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP yyy.yyy.yyy.yyy. Please check that the robot is booted and reachable on yyy.yyy.yyy.yyy. Retrying in 10 seconds
[urscript_interface-2] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP yyy.yyy.yyy.yyy. Please check that the robot is booted and reachable on yyy.yyy.yyy.yyy. Retrying in 10 seconds
[urscript_interface-2] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP yyy.yyy.yyy.yyy. Please check that the robot is booted and reachable on yyy.yyy.yyy.yyy. Retrying in 10 seconds
[urscript_interface-2] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP yyy.yyy.yyy.yyy. Please check that the robot is booted and reachable on yyy.yyy.yyy.yyy. Retrying in 10 seconds
...
I try to modify the controllers.yaml, make sure that the default field is assigned true for the joint_trajectory_controller and false for the scaled_joint_trajectory_controller, other step not change. But the result still.
So, this problem why and how to resolve.