ROS and robot connection

URCap Development
1

roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=172.16.35.49 \ kinematics_config:=$(rospack find example_organisation_ur_launch)/etc/ex-ur5e-1_calibration.yaml
[rospack] Error: package ‘example_organisation_ur_launch’ not found
… logging to /home/vboxuser/.ros/log/af2b9c82-e67f-11ee-914a-3d099ec2843e/roslaunch-ubuntu20-3467.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://ubuntu20:39769/

SUMMARY

PARAMETERS

  • /controller_stopper/consistent_controllers: ['joint_state_con…
  • /force_torque_sensor_controller/publish_rate: 500
  • /force_torque_sensor_controller/type: force_torque_sens…
  • /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo…
  • /forward_cartesian_traj_controller/type: pass_through_cont…
  • /forward_joint_traj_controller/joints: ['shoulder_pan_jo…
  • /forward_joint_traj_controller/type: pass_through_cont…
  • /hardware_control_loop/loop_hz: 500
  • /joint_based_cartesian_traj_controller/base: base
  • /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo…
  • /joint_based_cartesian_traj_controller/tip: tool0
  • /joint_based_cartesian_traj_controller/type: position_controll…
  • /joint_group_vel_controller/joints: ['shoulder_pan_jo…
  • /joint_group_vel_controller/type: velocity_controll…
  • /joint_state_controller/publish_rate: 500
  • /joint_state_controller/type: joint_state_contr…
  • /pos_joint_traj_controller/action_monitor_rate: 20
  • /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
  • /pos_joint_traj_controller/constraints/goal_time: 0.6
  • /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
  • /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
  • /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
  • /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
  • /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
  • /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
  • /pos_joint_traj_controller/joints: ['shoulder_pan_jo…
  • /pos_joint_traj_controller/state_publish_rate: 500
  • /pos_joint_traj_controller/stop_trajectory_duration: 0.5
  • /pos_joint_traj_controller/type: position_controll…
  • /pose_based_cartesian_traj_controller/base: base
  • /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo…
  • /pose_based_cartesian_traj_controller/tip: tool0_controller
  • /pose_based_cartesian_traj_controller/type: pose_controllers/…
  • /robot_description: <?xml version="1…
  • /robot_status_controller/handle_name: industrial_robot_…
  • /robot_status_controller/publish_rate: 10
  • /robot_status_controller/type: industrial_robot_…
  • /rosdistro: noetic
  • /rosversion: 1.16.0
  • /scaled_pos_joint_traj_controller/action_monitor_rate: 20
  • /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
  • /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
  • /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
  • /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
  • /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
  • /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
  • /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
  • /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
  • /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
  • /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
  • /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
  • /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
  • /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo…
  • /scaled_pos_joint_traj_controller/state_publish_rate: 500
  • /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
  • /scaled_pos_joint_traj_controller/type: position_controll…
  • /scaled_vel_joint_traj_controller/action_monitor_rate: 20
  • /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
  • /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
  • /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
  • /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
  • /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
  • /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
  • /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
  • /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
  • /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
  • /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
  • /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
  • /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
  • /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
  • /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
  • /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
  • /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0
  • /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
  • /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
  • /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
  • /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
  • /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
  • /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
  • /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
  • /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
  • /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
  • /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
  • /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
  • /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
  • /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
  • /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
  • /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
  • /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
  • /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
  • /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
  • /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
  • /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
  • /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo…
  • /scaled_vel_joint_traj_controller/state_publish_rate: 500
  • /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5
  • /scaled_vel_joint_traj_controller/type: velocity_controll…
  • /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
  • /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
  • /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
  • /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
  • /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
  • /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
  • /speed_scaling_state_controller/publish_rate: 500
  • /speed_scaling_state_controller/type: scaled_controller…
  • /twist_controller/frame_id: tool0_controller
  • /twist_controller/joints: ['shoulder_pan_jo…
  • /twist_controller/publish_rate: 500
  • /twist_controller/type: ros_controllers_c…
  • /ur_hardware_interface/headless_mode: False
  • /ur_hardware_interface/input_recipe_file: /opt/ros/noetic/s…
  • /ur_hardware_interface/joints: ['shoulder_pan_jo…
  • /ur_hardware_interface/kinematics/forearm/pitch: 0
  • /ur_hardware_interface/kinematics/forearm/roll: 0
  • /ur_hardware_interface/kinematics/forearm/x: -0.425
  • /ur_hardware_interface/kinematics/forearm/y: 0
  • /ur_hardware_interface/kinematics/forearm/yaw: 0
  • /ur_hardware_interface/kinematics/forearm/z: 0
  • /ur_hardware_interface/kinematics/hash: calib_12788084448…
  • /ur_hardware_interface/kinematics/shoulder/pitch: 0
  • /ur_hardware_interface/kinematics/shoulder/roll: 0
  • /ur_hardware_interface/kinematics/shoulder/x: 0
  • /ur_hardware_interface/kinematics/shoulder/y: 0
  • /ur_hardware_interface/kinematics/shoulder/yaw: 0
  • /ur_hardware_interface/kinematics/shoulder/z: 0.1625
  • /ur_hardware_interface/kinematics/upper_arm/pitch: 0
  • /ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327
  • /ur_hardware_interface/kinematics/upper_arm/x: 0
  • /ur_hardware_interface/kinematics/upper_arm/y: 0
  • /ur_hardware_interface/kinematics/upper_arm/yaw: 0
  • /ur_hardware_interface/kinematics/upper_arm/z: 0
  • /ur_hardware_interface/kinematics/wrist_1/pitch: 0
  • /ur_hardware_interface/kinematics/wrist_1/roll: 0
  • /ur_hardware_interface/kinematics/wrist_1/x: -0.3922
  • /ur_hardware_interface/kinematics/wrist_1/y: 0
  • /ur_hardware_interface/kinematics/wrist_1/yaw: 0
  • /ur_hardware_interface/kinematics/wrist_1/z: 0.1333
  • /ur_hardware_interface/kinematics/wrist_2/pitch: 0
  • /ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327
  • /ur_hardware_interface/kinematics/wrist_2/x: 0
  • /ur_hardware_interface/kinematics/wrist_2/y: -0.0997
  • /ur_hardware_interface/kinematics/wrist_2/yaw: 0
  • /ur_hardware_interface/kinematics/wrist_2/z: -2.04488118229785…
  • /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
  • /ur_hardware_interface/kinematics/wrist_3/roll: 1.570796326589793
  • /ur_hardware_interface/kinematics/wrist_3/x: 0
  • /ur_hardware_interface/kinematics/wrist_3/y: 0.0996
  • /ur_hardware_interface/kinematics/wrist_3/yaw: 3.141592653589793
  • /ur_hardware_interface/kinematics/wrist_3/z: -2.04283014801269…
  • /ur_hardware_interface/output_recipe_file: /opt/ros/noetic/s…
  • /ur_hardware_interface/reverse_ip:
  • /ur_hardware_interface/reverse_port: 50001
  • /ur_hardware_interface/robot_ip: 172.16.35.49
  • /ur_hardware_interface/script_command_port: 50004
  • /ur_hardware_interface/script_file: /opt/ros/noetic/s…
  • /ur_hardware_interface/script_sender_port: 50002
  • /ur_hardware_interface/servoj_gain: 2000
  • /ur_hardware_interface/servoj_lookahead_time: 0.03
  • /ur_hardware_interface/tf_prefix:
  • /ur_hardware_interface/tool_baud_rate: 115200
  • /ur_hardware_interface/tool_parity: 0
  • /ur_hardware_interface/tool_rx_idle_chars: 1.5
  • /ur_hardware_interface/tool_stop_bits: 1
  • /ur_hardware_interface/tool_tx_idle_chars: 3.5
  • /ur_hardware_interface/tool_voltage: 0
  • /ur_hardware_interface/trajectory_port: 50003
  • /ur_hardware_interface/use_spline_interpolation: True
  • /ur_hardware_interface/use_tool_communication: False
  • /vel_joint_traj_controller/action_monitor_rate: 20
  • /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
  • /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
  • /vel_joint_traj_controller/constraints/goal_time: 0.6
  • /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
  • /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
  • /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
  • /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
  • /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
  • /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
  • /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
  • /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
  • /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
  • /vel_joint_traj_controller/gains/elbow_joint/d: 0.1
  • /vel_joint_traj_controller/gains/elbow_joint/i: 0.05
  • /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
  • /vel_joint_traj_controller/gains/elbow_joint/p: 5.0
  • /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
  • /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
  • /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
  • /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
  • /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
  • /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
  • /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
  • /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
  • /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
  • /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
  • /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
  • /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
  • /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
  • /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
  • /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
  • /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
  • /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
  • /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
  • /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
  • /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
  • /vel_joint_traj_controller/joints: ['shoulder_pan_jo…
  • /vel_joint_traj_controller/state_publish_rate: 500
  • /vel_joint_traj_controller/stop_trajectory_duration: 0.5
  • /vel_joint_traj_controller/type: velocity_controll…
  • /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
  • /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
  • /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
  • /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
  • /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
  • /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 [3479]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to af2b9c82-e67f-11ee-914a-3d099ec2843e
process[rosout-1]: started with pid [3492]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [3499]
process[ur_hardware_interface-3]: started with pid [3500]
process[ros_control_controller_spawner-4]: started with pid [3501]
process[ros_control_stopped_spawner-5]: started with pid [3502]
process[controller_stopper-6]: started with pid [3503]
/opt/ros/noetic/lib/ur_robot_driver/ur_robot_driver_node: symbol lookup error: /opt/ros/noetic/lib/ur_robot_driver/ur_robot_driver_node: undefined symbol: _ZN4urcl8UrDriver14writeKeepaliveERKNS_19RobotReceiveTimeoutE
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [3504]
================================================================================REQUIRED process [ur_hardware_interface-3] has died!
process has died [pid 3500, exit code 127, cmd /opt/ros/noetic/lib/ur_robot_driver/ur_robot_driver_node __name:=ur_hardware_interface __log:=/home/vboxuser/.ros/log/af2b9c82-e67f-11ee-914a-3d099ec2843e/ur_hardware_interface-3.log].
log file: /home/vboxuser/.ros/log/af2b9c82-e67f-11ee-914a-3d099ec2843e/ur_hardware_interface-3*.log
Initiating shutdown!

[ INFO] [1710914657.976939129]: waitForService: Service [/ur_hardware_interface/dashboard/play] has not been advertised, waiting…
[ INFO] [1710914657.989596324]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1710914657.990159144]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting…
[ur_hardware_interface/ur_robot_state_helper-7] killing on exit
[controller_stopper-6] killing on exit
[ros_control_stopped_spawner-5] killing on exit
[ros_control_controller_spawner-4] killing on exit
[ur_hardware_interface-3] killing on exit
[robot_state_publisher-2] killing on exit
Traceback (most recent call last):
File “/opt/ros/noetic/lib/controller_manager/spawner”, line 38, in
import rospy, sys
File “/opt/ros/noetic/lib/python3/dist-packages/rospy/init.py”, line 47, in
from std_msgs.msg import Header
File “/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/init.py”, line 1, in
from ._Bool import *
File “/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py”, line 6, in
import genpy
File “/opt/ros/noetic/lib/python3/dist-packages/genpy/init.py”, line 34, in
from . message import Message, SerializationError, DeserializationError, MessageException, struct_I
File “/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py”, line 64, in
import numpy as np
File “/usr/lib/python3/dist-packages/numpy/init.py”, line 145, in
Traceback (most recent call last):
File “”, line 194, in _lock_unlock_module
from . import lib
File “/usr/lib/python3/dist-packages/numpy/lib/init.py”, line 19, in
from . import scimath as emath
File “/usr/lib/python3/dist-packages/numpy/lib/scimath.py”, line 20, in
KeyboardInterrupt
import numpy.core.numeric as nx
File “”, line 202, in _lock_unlock_module
File “”, line 88, in acquire
KeyboardInterrupt
[INFO] [1710914658.618932]: Controller Spawner: Waiting for service controller_manager/load_controller
[controller_stopper-6] escalating to SIGTERM
[ros_control_controller_spawner-4] escalating to SIGTERM
[WARN] [1710914673.760913]: Controller Spawner couldn’t find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done