When i try to run ros2 humble driver for my UR5 real manipulator, I get this out:
mohawk@mohawk:~/mohawk_ws$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=10.0.1.21 kinematics_params_file:=“${HOME}/mohawk_ws/src/ur5_manipulator/mohawk_manipulator_calibration.yaml” headless_mode:=true launch_rviz:=false
[INFO] [launch]: All log files can be found below /home/mohawk/.ros/log/2025-02-12-14-38-26-163700-mohawk-72676
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [72680]
[INFO] [controller_stopper_node-3]: process started with pid [72682]
[INFO] [ur_ros2_control_node-1]: process started with pid [72678]
[INFO] [urscript_interface-4]: process started with pid [72684]
[INFO] [robot_state_publisher-5]: process started with pid [72686]
[INFO] [spawner-6]: process started with pid [72688]
[INFO] [spawner-7]: process started with pid [72690]
[dashboard_client-2] [INFO] [1739389106.767646544] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[robot_state_publisher-5] [INFO] [1739389106.771155223] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1739389106.771289034] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1739389106.771306970] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1739389106.771332340] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1739389106.771342869] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1739389106.771352714] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1739389106.771375686] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1739389106.771385231] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1739389106.771394756] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1739389106.771404964] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1739389106.771415018] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1739389106.771425303] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1739389106.771434853] [robot_state_publisher]: got segment wrist_3_link
[controller_stopper_node-3] [INFO] [1739389106.771683544] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] [WARN] [1739389106.781552554] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.
[ur_ros2_control_node-1] text not specified in the tf_prefix tag
[ur_ros2_control_node-1] [INFO] [1739389106.782276620] [resource_manager]: Loading hardware ‘ur5’
[ur_ros2_control_node-1] [INFO] [1739389106.785296347] [resource_manager]: Initialize hardware ‘ur5’
[ur_ros2_control_node-1] [INFO] [1739389106.785447383] [resource_manager]: Successful initialization of hardware ‘ur5’
[ur_ros2_control_node-1] [INFO] [1739389106.785919589] [resource_manager]: ‘configure’ hardware ‘ur5’
[ur_ros2_control_node-1] [INFO] [1739389106.785944886] [URPositionHardwareInterface]: Starting …please wait…
[ur_ros2_control_node-1] [INFO] [1739389106.785969864] [URPositionHardwareInterface]: Initializing driver…
[ur_ros2_control_node-1] [INFO] [1739389106.786664804] [UR_Client_Library:]: SCHED_FIFO OK, priority 99
[ur_ros2_control_node-1] [INFO] [1739389106.787976197] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1739389106.788251212] [UR_Client_Library:]: Setting up RTDE communication with frequency 125.000000
[spawner-7] [INFO] [1739389107.094654223] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available…
[spawner-6] [INFO] [1739389107.115639026] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available…
[ur_ros2_control_node-1] [INFO] [1739389107.820993788] [URPositionHardwareInterface]: Calibration checksum: ‘calib_12324075077114914003’.
[ur_ros2_control_node-1] [INFO] [1739389107.937834178] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.
[ur_ros2_control_node-1] [INFO] [1739389108.876200922] [URPositionHardwareInterface]: Calibration checked successfully.
[ur_ros2_control_node-1] [INFO] [1739389108.876371450] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1739389108.876455297] [resource_manager]: Successful ‘configure’ of hardware ‘ur5’
[ur_ros2_control_node-1] [INFO] [1739389108.876619170] [resource_manager]: ‘activate’ hardware ‘ur5’
[ur_ros2_control_node-1] [INFO] [1739389108.876646209] [URPositionHardwareInterface]: Activating HW interface
[ur_ros2_control_node-1] [INFO] [1739389108.876670462] [resource_manager]: Successful ‘activate’ of hardware ‘ur5’
[controller_stopper_node-3] [INFO] [1739389108.890745187] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1739389108.890867245] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1739389108.890964020] [Controller stopper]: Service available
[ur_ros2_control_node-1] [INFO] [1739389108.900636790] [UR_Client_Library:]: SCHED_FIFO OK, priority 99
[ur_ros2_control_node-1] [INFO] [1739389109.109716036] [controller_manager]: Loading controller ‘joint_trajectory_controller’
[ur_ros2_control_node-1] [WARN] [1739389109.128634979] [joint_trajectory_controller]: [Deprecated]: “allow_nonzero_velocity_at_trajectory_end” is set to true. The default behavior will change to false.
[spawner-7] [INFO] [1739389109.133781191] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1739389109.134834984] [controller_manager]: Loading controller ‘joint_state_broadcaster’
[ur_ros2_control_node-1] [INFO] [1739389109.148790779] [controller_manager]: Configuring controller ‘joint_trajectory_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.149215475] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using ‘joints’ parameter.
[ur_ros2_control_node-1] [INFO] [1739389109.149274537] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1739389109.149323152] [joint_trajectory_controller]: Using ‘splines’ interpolation method.
[spawner-6] [INFO] [1739389109.150018160] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1739389109.152066069] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1739389109.155956737] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] [INFO] [1739389109.164818478] [controller_manager]: Configuring controller ‘joint_state_broadcaster’
[ur_ros2_control_node-1] [INFO] [1739389109.164897875] [joint_state_broadcaster]: ‘joints’ or ‘interfaces’ parameter is empty. All available state interfaces will be published
[ur_ros2_control_node-1] [INFO] [1739389109.188943172] [controller_manager]: Loading controller ‘forward_velocity_controller’
[spawner-6] [INFO] [1739389109.189938779] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-7] [INFO] [1739389109.205573719] [spawner_joint_trajectory_controller]: Loaded forward_velocity_controller
[ur_ros2_control_node-1] [INFO] [1739389109.209113040] [controller_manager]: Loading controller ‘io_and_status_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.228664607] [controller_manager]: Configuring controller ‘forward_velocity_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.229781788] [forward_velocity_controller]: configure successful
[spawner-6] [INFO] [1739389109.229825923] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1739389109.236822179] [controller_manager]: Configuring controller ‘io_and_status_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.264547067] [controller_manager]: Loading controller ‘forward_position_controller’
[spawner-6] [INFO] [1739389109.265379413] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[spawner-7] [INFO] [1739389109.285711281] [spawner_joint_trajectory_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1739389109.289261311] [controller_manager]: Configuring controller ‘forward_position_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.292077217] [forward_position_controller]: configure successful
[ur_ros2_control_node-1] [INFO] [1739389109.301101354] [controller_manager]: Loading controller ‘speed_scaling_state_broadcaster’
[ur_ros2_control_node-1] [INFO] [1739389109.311796702] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[spawner-6] [INFO] [1739389109.317926585] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1739389109.319416028] [controller_manager]: Loading controller ‘force_mode_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.343220148] [controller_manager]: Configuring controller ‘speed_scaling_state_broadcaster’
[ur_ros2_control_node-1] [INFO] [1739389109.343320762] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[spawner-7] [INFO] [1739389109.346522725] [spawner_joint_trajectory_controller]: Loaded force_mode_controller
[ur_ros2_control_node-1] [INFO] [1739389109.348644314] [controller_manager]: Configuring controller ‘force_mode_controller’
[spawner-6] [INFO] [1739389109.381710365] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1739389109.383871295] [controller_manager]: Loading controller ‘passthrough_trajectory_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.404930782] [controller_manager]: Loading controller ‘force_torque_sensor_broadcaster’
[spawner-7] [INFO] [1739389109.406290043] [spawner_joint_trajectory_controller]: Loaded passthrough_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1739389109.420827415] [controller_manager]: Configuring controller ‘passthrough_trajectory_controller’
[spawner-6] [INFO] [1739389109.422193640] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1739389109.428868314] [controller_manager]: Configuring controller ‘force_torque_sensor_broadcaster’
[ur_ros2_control_node-1] [INFO] [1739389109.452828120] [controller_manager]: Loading controller ‘freedrive_mode_controller’
[spawner-6] [INFO] [1739389109.453715782] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[spawner-7] [INFO] [1739389109.477705769] [spawner_joint_trajectory_controller]: Loaded freedrive_mode_controller
[ur_ros2_control_node-1] [INFO] [1739389109.479050834] [controller_manager]: Configuring controller ‘freedrive_mode_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.484981675] [controller_manager]: Loading controller ‘tcp_pose_broadcaster’
[spawner-6] [INFO] [1739389109.502292760] [spawner_joint_state_broadcaster]: Loaded tcp_pose_broadcaster
[ur_ros2_control_node-1] [INFO] [1739389109.503766809] [controller_manager]: Configuring controller ‘tcp_pose_broadcaster’
[spawner-6] [INFO] [1739389109.526057476] [spawner_joint_state_broadcaster]: Configured and activated tcp_pose_broadcaster
[ur_ros2_control_node-1] [INFO] [1739389109.531864768] [controller_manager]: Loading controller ‘ur_configuration_controller’
[spawner-6] [INFO] [1739389109.549819791] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ur_ros2_control_node-1] [INFO] [1739389109.551236129] [controller_manager]: Configuring controller ‘ur_configuration_controller’
[spawner-6] [INFO] [1739389109.578157603] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ur_ros2_control_node-1] [INFO] [1739389109.582193704] [controller_manager]: Loading controller ‘scaled_joint_trajectory_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.595377492] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[ur_ros2_control_node-1] [WARN] [1739389109.602631712] [scaled_joint_trajectory_controller]: [Deprecated]: “allow_nonzero_velocity_at_trajectory_end” is set to true. The default behavior will change to false.
[spawner-6] [INFO] [1739389109.605966379] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1739389109.607281229] [controller_manager]: Configuring controller ‘scaled_joint_trajectory_controller’
[ur_ros2_control_node-1] [INFO] [1739389109.607533570] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using ‘joints’ parameter.
[ur_ros2_control_node-1] [INFO] [1739389109.607565809] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1739389109.607592727] [scaled_joint_trajectory_controller]: Using ‘splines’ interpolation method.
[ur_ros2_control_node-1] [INFO] [1739389109.608287667] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1739389109.609718518] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] terminate called after throwing an instance of ‘std::runtime_error’
[ur_ros2_control_node-1] what(): can’t compare times with different time sources
[ur_ros2_control_node-1] Stack trace (most recent call last) in thread 72764:
[spawner-6] [INFO] [1739389109.639964367] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[ur_ros2_control_node-1] #15 Object “”, at 0xffffffffffffffff, in
[INFO] [spawner-7]: process has finished cleanly [pid 72690]
[ur_ros2_control_node-1] [INFO] [1739389109.665121430] [UR_Client_Library:]: Connection to reverse interface dropped.
[ur_ros2_control_node-1] #14 Source “…/sysdeps/unix/sysv/linux/x86_64/clone3.S”, line 81, in __clone3 [0x7ec48a52684f]
[ur_ros2_control_node-1] #13 Source “./nptl/pthread_create.c”, line 442, in start_thread [0x7ec48a494ac2]
[ur_ros2_control_node-1] #12 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x7ec48a8dc252, in
[ur_ros2_control_node-1] #11 Object “/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node”, at 0x631d8d384673, in
[ur_ros2_control_node-1] #10 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0x7ec48ad9eb5c, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&)
[ur_ros2_control_node-1] #9 Object “/opt/ros/humble/lib/libur_controllers.so”, at 0x7ec484cd14ce, in ur_controllers::ScaledJointTrajectoryController::update(rclcpp::Time const&, rclcpp::Duration const&)
[ur_ros2_control_node-1] #8 Object “/opt/ros/humble/lib/librclcpp.so”, at 0x7ec48ac56c0c, in rclcpp::Time::operator!=(rclcpp::Time const&) const
[ur_ros2_control_node-1] #7 Object “/opt/ros/humble/lib/librclcpp.so”, at 0x7ec48abc4395, in
[ur_ros2_control_node-1] #6 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x7ec48a8ae4d7, in __cxa_throw
[ur_ros2_control_node-1] #5 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x7ec48a8ae276, in std::terminate()
[ur_ros2_control_node-1] #4 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x7ec48a8ae20b, in
[ur_ros2_control_node-1] #3 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x7ec48a8a2b9d, in
[ur_ros2_control_node-1] #2 Source “./stdlib/abort.c”, line 79, in abort [0x7ec48a4287f2]
[ur_ros2_control_node-1] #1 Source “…/sysdeps/posix/raise.c”, line 26, in raise [0x7ec48a442475]
[ur_ros2_control_node-1] #0 | Source “./nptl/pthread_kill.c”, line 89, in __pthread_kill_internal
[ur_ros2_control_node-1] | Source “./nptl/pthread_kill.c”, line 78, in __pthread_kill_implementation
[ur_ros2_control_node-1] Source “./nptl/pthread_kill.c”, line 44, in __pthread_kill [0x7ec48a4969fc]
[ur_ros2_control_node-1] Aborted (Signal sent by tkill() 72678 1000)
[INFO] [spawner-6]: process has finished cleanly [pid 72688]
[ERROR] [ur_ros2_control_node-1]: process has died [pid 72678, exit code -6, cmd ‘/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_3p2ytvt9 --params-file /tmp/launch_params_2n9msa3d --params-file /opt/ros/humble/share/ur_robot_driver/config/ur5_update_rate.yaml --params-file /tmp/launch_params_pggmye0l’].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[dashboard_client-2] [INFO] [1739389594.489906116] [rclcpp]: signal_handler(signum=2)
[controller_stopper_node-3] [INFO] [1739389594.489938537] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-5] [INFO] [1739389594.489901969] [rclcpp]: signal_handler(signum=2)
[urscript_interface-4] [INFO] [1739389594.489945490] [rclcpp]: signal_handler(signum=2)
[INFO] [controller_stopper_node-3]: process has finished cleanly [pid 72682]
[INFO] [urscript_interface-4]: process has finished cleanly [pid 72684]
[INFO] [robot_state_publisher-5]: process has finished cleanly [pid 72686]
[INFO] [dashboard_client-2]: process has finished cleanly [pid 72680]
The seems to be with different time formats in the nodes. I tried to add use_sim_time=False in ur_control_node and control_node in the launch file and to export USE_SIM_TIME=False. Both didn’t resolve the issue.