Universal Robots Forum

Ros - Robot communication - Pipeline producer overflowed

Hello. I want to control the ur10e robot through ROS.

In order to do that I installed the ur_robot_drive from https://github.com/UniversalRobots/Universal_Robots_ROS_Driver. I can make the connection, however it is constantly dropping, saying the following: “[ERROR] [1605033248.263108247]: Could not get fresh data package from robot” and next, " [ERROR] [1605033251.818706222]: Pipeline producer overflowed! ".

Versions:

Issues detailed:

Polyscope:

URControl: no process found
Checking Robot Root Certificate

**ERROR StatusLogger Log4j2 could not find a logging implementation. Please add log4j-core to the classpath. Using SimpleLogger to log to the console...**
Starting bundle: com.ur.polyscope.lang [107]
Starting bundle: com.ur.polyscope.license.polyscope-license-api [108]
Starting bundle: com.ur.polyscope.license.polyscope-license-driver [109]
Starting bundle: com.ur.polyscope.license.polyscope-license-impl [110]
Starting bundle: com.ur.polyscope.logging.polyscope-logging-api [111]
Starting bundle: com.ur.polyscope.logging.polyscope-logging-driver [112]
Starting bundle: com.ur.polyscope.logging.polyscope-logging-impl [113]
Starting bundle: com.ur.polyscope.monitor [114]
Starting bundle: com.ur.polyscope.move.polyscope-move-api [115]
Starting bundle: com.ur.polyscope.move.polyscope-move-driver [116]
Starting bundle: com.ur.polyscope.move.polyscope-move-impl [117]
Starting bundle: com.ur.polyscope.persistence.polyscope-persistence-api [118]
Starting bundle: com.ur.polyscope.persistence.polyscope-persistence-impl [119]
Starting bundle: com.ur.polyscope.program.polyscope-program-api [120]
Starting bundle: com.ur.polyscope.program.polyscope-program-driver [121]
Starting bundle: com.ur.polyscope.program.polyscope-program-impl [122]
Starting bundle: com.ur.polyscope.program.metrics.polyscope-program-metrics-impl [123]
Starting bundle: com.ur.polyscope.robot.configuration.polyscope-robot-configuration-api [124]
Starting bundle: com.ur.polyscope.robot.configuration.polyscope-robot-configuration-impl [125]
Starting bundle: com.ur.polyscope.safety.polyscope-safety-api [126]
Starting bundle: com.ur.polyscope.safety.polyscope-safety-driver [127]
Starting bundle: com.ur.polyscope.safety.polyscope-safety-impl [128]
Starting bundle: com.ur.polyscope.screenshot.polyscope-screenshot-builder-api [129]
Starting bundle: com.ur.polyscope.screwdriving.polyscope-screwdriving-driver [130]
Starting bundle: com.ur.polyscope.screwdriving.polyscope-screwdriving-impl [131]
Starting bundle: com.ur.polyscope.scriptwriter.polyscope-scriptwriter [132]
Starting bundle: com.ur.polyscope.security.polyscope-security-api [133]
Starting bundle: com.ur.polyscope.security.polyscope-security-driver [134]
Starting bundle: com.ur.polyscope.security.polyscope-security-impl [135]
Starting bundle: com.ur.polyscope.settings.polyscope-settings-api [136]
Starting bundle: com.ur.polyscope.settings.polyscope-settings-impl [137]
Starting bundle: com.ur.polyscope.simulation.polyscope-simulation-api [138]
Starting bundle: com.ur.polyscope.simulation.polyscope-simulation-impl [139]
Starting bundle: com.ur.polyscope.swing [140]
Starting bundle: com.ur.polyscope.system.polyscope-system-api [141]
Starting bundle: com.ur.polyscope.system.polyscope-system-diagnostics-impl [142]
Starting bundle: com.ur.polyscope.system.polyscope-system-driver [143]
Starting bundle: com.ur.polyscope.system.polyscope-system-impl [144]
Starting bundle: com.ur.polyscope.tcp.polyscope-tcp-api [145]
Starting bundle: com.ur.polyscope.tcp.polyscope-tcp-driver [146]
Starting bundle: com.ur.polyscope.tcp.polyscope-tcp-impl [147]
Starting bundle: com.ur.polyscope.tcp.polyscope-tcp-urcap-api [148]
Starting bundle: com.ur.polyscope.toolbar.polyscope-toolbar-impl [149]
Starting bundle: com.ur.polyscope.urcaps.polyscope-urcap-api [150]
Starting bundle: com.ur.polyscope.urcaps.polyscope-urcap-driver [151]
Starting bundle: com.ur.polyscope.urcaps.polyscope-urcap-impl [152]
Starting bundle: com.ur.polyscope.urcaps.polyscope-urcap-urcap-api [153]
Starting bundle: com.ur.polyscope.valueobjects.polyscope-value-objects-api [154]
Starting bundle: com.ur.polyscope.valueobjects.polyscope-value-objects-impl [155]
Starting bundle: com.ur.polyscope.valueobjects.polyscope-value-objects-urcap-api [156]
Starting bundle: com.ur.polyscope.version.polyscope-version-api [157]
Starting bundle: com.ur.polyscope.version.polyscope-version-impl [158]
Starting bundle: com.ur.urcap.profinet [159]
Starting bundle: com.ur.polyscope.screwdriving.urcap.screwdriving-urcap-api-export [164]
Starting bundle: com.ur.polyscope.toolbar.urcap.api-export [168]
Starting bundle: com.ur.polyscope.urcaps.urcap-api-export-robotmovement [169]
Starting bundle: com.ur.urscript2pojo [170]
URcap enabling external control registering!
**18:18:59.612 WARN  - Method used before correct value has been received from controller, returning default = joint_max_speed {thread: Thread-2 , loggerClass: com.ur.polyscope.robot.configuration.joint.JointConfigurationSettings}**
**18:18:59.614 WARN  - Ignoring any future reports of error {thread: Thread-2 , loggerClass: com.ur.polyscope.robot.configuration.joint.JointConfigurationSettings}**
Nov 10, 2020 6:18:59 PM com.steadystate.css.parser.CSSOMParser <init>
**WARNING: java.lang.ClassNotFoundException: com.steadystate.css.parser.SACParserCSS21 not found by org.w3c.css.sac [163]**
**Nov 10, 2020 6:18:59 PM com.steadystate.css.parser.CSSOMParser <init>**
**WARNING: using the default 'SACParserCSS21' instead**
**18:19:00.982 WARN  - Not connected to controller, trying to send string: **
**sec load_installation():**
  set_tcp(p[0.0,0.0,0.0,0.0,0.0,0.0])
  set_payload(0.0)
  step_count_077d5e52_a723_4cf3_8368_21fd799c2cdf = 0.0
  thread Step_Counter_Thread_7494b20c_fa7c_436f_81b9_72e77e692c95():
    while (True):
      step_count_077d5e52_a723_4cf3_8368_21fd799c2cdf = step_count_077d5e52_a723_4cf3_8368_21fd799c2cdf + 1.0
      sync()
    end
  end
  run Step_Counter_Thread_7494b20c_fa7c_436f_81b9_72e77e692c95()
  set_gravity([0.0, 0.0, 9.82])
  set_safety_mode_transition_hardness(1)
  set_standard_analog_input_domain(0, 1)
  set_standard_analog_input_domain(1, 1)
  set_tool_analog_input_domain(0, 1)
  set_tool_analog_input_domain(1, 1)
  set_analog_outputdomain(0, 0)
  set_analog_outputdomain(1, 0)
  set_input_actions_to_default()
  set_tool_communication(False, 115200, 0, 1, 1.5, 3.5)
  set_tool_output_mode(0)
  set_tool_digital_output_mode(0, 1)
  set_tool_digital_output_mode(1, 1)
  set_tool_voltage(0)
end
 {thread: Thread-2 , loggerClass: com.ur.polyscope.controllerinterface.internal.ControllerSocket}
**18:23:21.998 ERROR - RobotState messages are queued up: 4 {thread: RobotState - PostMan , loggerClass: com.ur.monitor.RobotState$PostMan}**
Generating node code
hostIp is: 127.0.0.1
portNr is: 50002
**18:25:36.562 ERROR - RobotState messages are queued up: 3 {thread: RobotState - PostMan , loggerClass: com.ur.monitor.RobotState$PostMan}**
Generating node code
hostIp is: 127.0.0.1
portNr is: 50002
**18:27:46.708 ERROR - RobotState messages are queued up: 4 {thread: RobotState - PostMan , loggerClass: com.ur.monitor.RobotState$PostMan}**
**18:27:47.627 ERROR - RobotState messages are queued up: 4 {thread: RobotState - PostMan , loggerClass: com.ur.monitor.RobotState$PostMan}**
**18:31:05.486 ERROR - RobotState messages are queued up: 4 {thread: RobotState - PostMan , loggerClass: com.ur.monitor.RobotState$PostMan}**

ur_robot_drive command:

  • roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=127.0.0.1

joao@joao:~/ros_ws$ roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=127.0.0.1
… logging to /home/joao/.ros/log/9c8cb72e-2386-11eb-87c2-080027e5424d/roslaunch-joao-20773.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

inconsistent namespace redefinitions for xmlns:xacro:
 old: http://ros.org/wiki/xacro
 new: http://wiki.ros.org/xacro (/home/joao/ros_ws/src/fmauch_universal_robot/ur_e_description/urdf/ur.transmission.xacro)
started roslaunch server http://127.0.0.1:33927/

SUMMARY
========

PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 500
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /hardware_control_loop/loop_hz: 500
 * /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...
 * /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: kinetic
 * /rosversion: 1.12.16
 * /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: ur_controllers/Sp...
 * /ur_hardware_interface/headless_mode: False
 * /ur_hardware_interface/input_recipe_file: /home/joao/ros_ws...
 * /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: -0.6127
 * /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_51197013707...
 * /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: 0.1807
 * /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: -0.57155
 * /ur_hardware_interface/kinematics/wrist_1/y: 0
 * /ur_hardware_interface/kinematics/wrist_1/yaw: 0
 * /ur_hardware_interface/kinematics/wrist_1/z: 0.17415
 * /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: -0.11985
 * /ur_hardware_interface/kinematics/wrist_2/yaw: 0
 * /ur_hardware_interface/kinematics/wrist_2/z: -2.45816459076e-11
 * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.14159265359
 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.57079632659
 * /ur_hardware_interface/kinematics/wrist_3/x: 0
 * /ur_hardware_interface/kinematics/wrist_3/y: 0.11655
 * /ur_hardware_interface/kinematics/wrist_3/yaw: 3.14159265359
 * /ur_hardware_interface/kinematics/wrist_3/z: -2.39048045935e-11
 * /ur_hardware_interface/output_recipe_file: /home/joao/ros_ws...
 * /ur_hardware_interface/reverse_port: 50001
 * /ur_hardware_interface/robot_ip: 127.0.0.1
 * /ur_hardware_interface/script_file: /home/joao/ros_ws...
 * /ur_hardware_interface/script_sender_port: 50002
 * /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/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 (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 [20786]
ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to 9c8cb72e-2386-11eb-87c2-080027e5424d
process[rosout-1]: started with pid [20799]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [20816]
process[ur_hardware_interface-3]: started with pid [20817]
process[ros_control_controller_spawner-4]: started with pid [20823]
[ INFO] [1605034664.917910365]: Main thread: SCHED_FIFO OK
[ INFO] [1605034664.918008842]: Main thread priority is 99
process[ros_control_stopped_spawner-5]: started with pid [20843]
process[controller_stopper-6]: started with pid [20863]
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [20869]
[ INFO] [1605034664.987408294]: Initializing dashboard client
[ INFO] [1605034665.004982875]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1605034665.013105554]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1605034665.100580141]: Initializing urdriver
[INFO] [1605034665.525418]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1605034665.535441]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1605034667.756349889]: Loaded ur_robot_driver hardware_interface
[ INFO] [1605034667.847277542]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1605034667.847352163]: Service available.
[ INFO] [1605034667.847392106]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1605034667.849014563]: Service available.
[INFO] [1605034667.950644]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1605034667.953254]: Controller Spawner: Waiting for service controller_manager/unload_controller
[ INFO] [1605034667.954361612]: Robot's safety mode is now NORMAL
[ INFO] [1605034667.954456817]: Robot mode is now RUNNING
[INFO] [1605034667.957649]: Loading controller: joint_state_controller
[INFO] [1605034667.963286]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1605034667.966845]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1605034667.972118]: Loading controller: pos_joint_traj_controller
[INFO] [1605034667.981771]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1605034668.116557]: Loading controller: joint_group_vel_controller
[INFO] [1605034668.213132]: Loading controller: speed_scaling_state_controller
[INFO] [1605034668.223550]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1605034668.229822]: Loading controller: force_torque_sensor_controller
[INFO] [1605034668.245905]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1605034668.257935]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[ERROR] [1605034671.174934821]: Could not get fresh data package from robot
[ERROR] [1605034671.275151048]: Could not get fresh data package from robot
[ERROR] [1605034671.375243457]: Could not get fresh data package from robot
[ERROR] [1605034671.475386206]: Could not get fresh data package from robot
[ERROR] [1605034672.150910518]: Could not get fresh data package from robot
[ERROR] [1605034672.251123887]: Could not get fresh data package from robot
[ INFO] [1605034672.433580813]: Robot requested program
[ INFO] [1605034672.433700061]: Sent program to robot
[ INFO] [1605034672.450214620]: Robot ready to receive control commands.
[ INFO] [1605034672.597319696]: Connection to robot dropped, waiting for new connection.
[ INFO] [1605034672.601422784]: Robot ready to receive control commands.
**[ERROR] [1605034672.670481233]: Could not get fresh data package from robot**
[ INFO] [1605034672.693182356]: Connection to robot dropped, waiting for new connection.
[ INFO] [1605034672.698042189]: Robot ready to receive control commands.
**[ERROR] [1605034672.770683008]: Could not get fresh data package from robot**
[ INFO] [1605034672.791584407]: Connection to robot dropped, waiting for new connection.
[ INFO] [1605034672.795683628]: Robot ready to receive control commands.
**[ERROR] [1605034672.870936474]: Could not get fresh data package from robot**
[ INFO] [1605034672.891357740]: Connection to robot dropped, waiting for new connection.
[ INFO] [1605034672.895624419]: Robot ready to receive control commands.
**[ERROR] [1605034672.971309808]: Could not get fresh data package from robot**
[ INFO] [1605034672.991165743]: Connection to robot dropped, waiting for new connection.
[ INFO] [1605034672.995235214]: Robot ready to receive control commands.
[ INFO] [1605034673.113212992]: Connection to robot dropped, waiting for new connection.
[ INFO] [1605034673.117369389]: Robot ready to receive control commands.
**[ERROR] [1605034673.222510518]: Pipeline producer overflowed! <RTDE Data Pipeline>**
**[ERROR] [1605034673.224520311]: Pipeline producer overflowed! <RTDE Data Pipeline>**
**[ERROR] [1605034673.226566913]: Pipeline producer overflowed! <RTDE Data Pipeline>**
**[ERROR] [1605034673.228685878]: Pipeline producer overflowed! <RTDE Data Pipeline>**
**[ERROR] [1605034673.230684420]: Pipeline producer overflowed! <RTDE Data Pipeline>**
**[ERROR] [1605034673.232733262]: Pipeline producer overflowed! <RTDE Data Pipeline>**

I’m sorry if I made this report too long, but I wanted to detail everything.

I realy appreciate your help to solve this.

Thank you.
João