# ROS2 Driver, Controller manager not available **URL:** \ **Category:** Technical Questions\ **Created:** [February 16, 2023, 6:52am UTC](https://forum.universal-robots.com/t/ros2-driver-controller-manager-not-available/26845 "2023-02-16T06:52:17Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![smarmstr](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/smarmstr/32/4896_2.png) [@smarmstr](https://forum.universal-robots.com/u/smarmstr)\ **Post date:** [February 16, 2023, 6:52am UTC](https://forum.universal-robots.com/t/ros2-driver-controller-manager-not-available/26845/1 "2023-02-16T06:52:17Z")
### 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](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) 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](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 ```Console ... [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']. ``` ---
**Author:** ![smarmstr](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/smarmstr/32/4896_2.png) [@smarmstr](https://forum.universal-robots.com/u/smarmstr)\ **Post date:** [February 22, 2023, 9:37pm UTC](https://forum.universal-robots.com/t/ros2-driver-controller-manager-not-available/26845/2 "2023-02-22T21:37:44Z")
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](https://gist.github.com/Shawn-Armstrong/2451cc2405b0577c4469c8b187e19ebb).