ROS2 Driver, Controller manager not available

Technical Questions
1

Overview

I’m attempting to use the ROS2 Humble UR driver with a URSim container running on Windows 11, WSL2 Ubuntu 22.04.

  • I used the official repo instructions to install ROS2 Humble Desktop and the UR driver using the binary packages.
  • I’m able to launch the simulator with ros2 run ur_robot_driver start_ursim.sh -m ur3e, access PolyScope via browser at http://172.25.208.1:6080/vnc_auto.html and turn on the cobot.

Problem:

  • When I run ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=172.25.208.1 launch_rviz:=true it fails to connect with the controller.
  • The same results occur with robot_ip:=192.168.56.101.

Output

...
[controller_stopper_node-3] [INFO] [1676529372.435627526] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[spawner-7] [INFO] [1676529372.975880602] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1676529373.002446651] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1676529373.024326283] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1676529373.032714184] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1676529373.044377696] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1676529373.052128771] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1676529374.985842406] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1676529375.013043795] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1676529375.034632108] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1676529375.041883232] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1676529375.053579737] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1676529375.062230115] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1676529376.994662745] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1676529377.023157782] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1676529377.044315603] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1676529377.051625488] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1676529377.064470148] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1676529377.071293709] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1676529379.003693177] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1676529379.033450382] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1676529379.053922074] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1676529379.060406793] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1676529379.074343964] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1676529379.082212047] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1676529381.013921261] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1676529381.044154817] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1676529381.062593425] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1676529381.069708592] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1676529381.084131326] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1676529381.091840264] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-7] [ERROR] [1676529383.023316875] [spawner_speed_scaling_state_broadcaster]: Controller manager not available
[spawner-6] [ERROR] [1676529383.054560837] [spawner_io_and_status_controller]: Controller manager not available
[spawner-5] [ERROR] [1676529383.072088489] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner-9] [ERROR] [1676529383.079730873] [spawner_forward_position_controller]: Controller manager not available
[spawner-8] [ERROR] [1676529383.093878475] [spawner_force_torque_sensor_broadcaster]: Controller manager not available
[spawner-10] [ERROR] [1676529383.101159075] [spawner_scaled_joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner-7]: process has died [pid 2063, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner speed_scaling_state_broadcaster --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-6]: process has died [pid 2060, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller -c /controller_manager --ros-args'].
[ERROR] [spawner-5]: process has died [pid 2057, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-9]: process has died [pid 2089, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner forward_position_controller -c /controller_manager --inactive --ros-args'].
[ERROR] [spawner-8]: process has died [pid 2066, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-10]: process has died [pid 2100, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --ros-args'].
2

This problem was resolved.

I was able to connect the UR simulator with the UR driver and rViz on Windows using containers and an X Server.

The details can be found here.