# ROS and robot connection

**URL:** <https://forum.universal-robots.com/t/ros-and-robot-connection/33291>\
**Category:** URCap Development\
**Created:** [March 20, 2024, 6:06am UTC](https://forum.universal-robots.com/t/ros-and-robot-connection/33291 "2024-03-20T06:06:31Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![shilpa\_pusuluri](https://avatars.discourse-cdn.com/v4/letter/s/3bc359/32.png) [@shilpa\_pusuluri](https://forum.universal-robots.com/u/shilpa_pusuluri)\
**Post date:** [March 20, 2024, 6:06am UTC](https://forum.universal-robots.com/t/ros-and-robot-connection/33291/1 "2024-03-20T06:06:31Z")

</div>

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/](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](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