Hey,
i have a problem with ROS2 Driver for Ur5.
i try a lot of versions to run driver correct, but still have a problem.
(What i tried on Ubuntu 20.04: ROS foxy & galactic with main repos ( Universal_Robots_ROS2_Driver.repos) and not-released.galactic.repos & not-released-foxy.repos.
There are two types of fails, by not released repos i cannot make colcon build => but i expect it.
By main repos with ros galactic i can run clearly colcon buil, but if i start driver: ros2-control-node-1 produce overflow!
Here is my complete start:
~/workspace/ros_ur_driver$ ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.102 use_fake_hardware:=false launch_rviz:=false controllers:file:=“/home/akuautomation/my_robot_calibration.yaml”
[INFO] [launch]: All log files can be found below /home/akuautomation/.ros/log/2021-10-19-10-02-09-287208-auslix-VirtualBox-50779
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [50785]
[INFO] [ros2_control_node-1]: process started with pid [50783]
[INFO] [robot_state_publisher-3]: process started with pid [50787]
[INFO] [spawner.py-4]: process started with pid [50789]
[INFO] [spawner.py-5]: process started with pid [50799]
[INFO] [spawner.py-6]: process started with pid [50801]
[INFO] [spawner.py-7]: process started with pid [50814]
[INFO] [spawner.py-8]: process started with pid [50816]
[dashboard_client-2] [INFO] [1634630530.615996645] [UR_Client_Library]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[ros2_control_node-1] [INFO] [1634630530.686866922] [URPositionHardwareInterface]: Starting …please wait…
[robot_state_publisher-3] Link base had 0 children
[robot_state_publisher-3] Link base_link_inertia had 1 children
[robot_state_publisher-3] Link shoulder_link had 1 children
[robot_state_publisher-3] Link upper_arm_link had 1 children
[robot_state_publisher-3] Link forearm_link had 1 children
[robot_state_publisher-3] Link wrist_1_link had 1 children
[robot_state_publisher-3] Link wrist_2_link had 1 children
[robot_state_publisher-3] Link wrist_3_link had 1 children
[robot_state_publisher-3] Link flange had 1 children
[robot_state_publisher-3] Link tool0 had 0 children
[robot_state_publisher-3] [INFO] [1634630530.726400233] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1634630530.726572294] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1634630530.726588576] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1634630530.726601036] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1634630530.726613060] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1634630530.726624730] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1634630530.726636391] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1634630530.726681621] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1634630530.726693509] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1634630530.726705204] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1634630530.726729215] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-1] [INFO] [1634630532.715161670] [URPositionHardwareInterface]: Initializing driver…
[ros2_control_node-1] [WARN] [1634630532.717976242] [UR_Client_Library]: No realtime capabilities found. Consider using a realtime system for better performance
[ros2_control_node-1] [INFO] [1634630532.851859854] [UR_Client_Library]: Negotiated RTDE protocol version to 2.
[ros2_control_node-1] [INFO] [1634630532.860739897] [UR_Client_Library]: Setting up RTDE communication with frequency 125.000000
[ros2_control_node-1] [WARN] [1634630533.888688897] [UR_Client_Library]: DEPRECATION NOTICE: Passing the calibration_checksum to the UrDriver’s constructor has been deprecated. Instead, use the checkCalibration(calibration_checksum) function separately. This notice is for application developers using this library. If you are only using an application using this library, you can ignore this message.
[ros2_control_node-1] [WARN] [1634630533.890867333] [UR_Client_Library]: No realtime capabilities found. Consider using a realtime system for better performance
[ros2_control_node-1] [ERROR] [1634630534.957155377] [UR_Client_Library]: The calibration parameters of the connected robot don’t match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [GitHub - UniversalRobots/Universal_Robots_ROS_Driver: Universal Robots ROS driver supporting CB3 and e-Series] for details.
[ros2_control_node-1] [WARN] [1634630534.959021522] [UR_Client_Library]: No realtime capabilities found. Consider using a realtime system for better performance
[ros2_control_node-1] [INFO] [1634630534.959952013] [URPositionHardwareInterface]: System successfully started!
[ros2_control_node-1] [INFO] [1634630534.997731732] [controller_manager]: update rate is 600 Hz
[ros2_control_node-1] [INFO] [1634630535.102569268] [controller_manager]: Loading controller ‘speed_scaling_state_broadcaster’
[ros2_control_node-1] [INFO] [1634630535.162496913] [controller_manager]: Loading controller ‘io_and_status_controller’
[ros2_control_node-1] [INFO] [1634630535.198347195] [controller_manager]: Loading controller ‘joint_trajectory_controller’
[ros2_control_node-1] [INFO] [1634630535.256442405] [controller_manager]: Loading controller ‘force_torque_sensor_broadcaster’
[spawner.py-6] [INFO] [1634630535.287532730] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1634630535.305720797] [controller_manager]: Loading controller ‘joint_state_broadcaster’
[spawner.py-5] [INFO] [1634630535.337086914] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1634630535.369539770] [controller_manager]: Configuring controller ‘io_and_status_controller’
[spawner.py-5] [INFO] [1634630535.398567327] [spawner_io_and_status_controller]: Configured and started io_and_status_controller
[spawner.py-8] [INFO] [1634630535.401900691] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1634630535.416177217] [controller_manager]: Configuring controller ‘joint_trajectory_controller’
[ros2_control_node-1] [INFO] [1634630535.417046931] [joint_trajectory_controller]: Command interfaces are [position] and and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1634630535.424862637] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-1] [INFO] [1634630535.431600995] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner.py-7] [INFO] [1634630535.470947694] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [ERROR] [1634630535.476520629] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-8] [INFO] [1634630535.480292697] [spawner_joint_trajectory_controller]: Configured and started joint_trajectory_controller
[ros2_control_node-1] [ERROR] [1634630535.482137514] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [INFO] [1634630535.485020990] [controller_manager]: Configuring controller ‘force_torque_sensor_broadcaster’
[ros2_control_node-1] [ERROR] [1634630535.490169797] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.498280841] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [INFO] [1634630535.499570743] [controller_manager]: Configuring controller ‘speed_scaling_state_broadcaster’
[ros2_control_node-1] [INFO] [1634630535.499616094] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [ERROR] [1634630535.508166834] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.514132538] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-6] [INFO] [1634630535.516813590] [spawner_speed_scaling_state_broadcaster]: Configured and started speed_scaling_state_broadcaster
[ros2_control_node-1] [ERROR] [1634630535.523730262] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.530293752] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.539434934] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.546296058] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.554109129] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.562283745] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-4] [INFO] [1634630535.564573518] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [ERROR] [1634630535.574879512] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.578432823] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [INFO] [1634630535.579420298] [controller_manager]: Configuring controller ‘joint_state_broadcaster’
[ros2_control_node-1] [ERROR] [1634630535.586119706] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-4] [INFO] [1634630535.589804580] [spawner_joint_state_broadcaster]: Configured and started joint_state_broadcaster
[ros2_control_node-1] [ERROR] [1634630535.594138904] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.602307267] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.610253604] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.618137237] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.626451347] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.634209259] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.642092707] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.650130214] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-5] /home/akuautomation/workspace/ros_ur_driver/install/controller_manager/lib/controller_manager/spawner.py:186: DeprecationWarning: ‘spawner.py’ is deprecated, please use ‘spawner’ (without .py extension)
[spawner.py-5] warnings.warn(
[ros2_control_node-1] [ERROR] [1634630535.658128021] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.666193714] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.674926827] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.682230450] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.690481386] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.698313036] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.706489020] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.714612974] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-6] /home/akuautomation/workspace/ros_ur_driver/install/controller_manager/lib/controller_manager/spawner.py:186: DeprecationWarning: ‘spawner.py’ is deprecated, please use ‘spawner’ (without .py extension)
[spawner.py-6] warnings.warn(
[ros2_control_node-1] [ERROR] [1634630535.722360894] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.730191624] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-8] /home/akuautomation/workspace/ros_ur_driver/install/controller_manager/lib/controller_manager/spawner.py:186: DeprecationWarning: ‘spawner.py’ is deprecated, please use ‘spawner’ (without .py extension)
[spawner.py-8] warnings.warn(
[ros2_control_node-1] [ERROR] [1634630535.739654237] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.746161456] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.754156668] [UR_Client_Library]: Pipeline producer overflowed!
[INFO] [spawner.py-5]: process has finished cleanly [pid 50799]
[ros2_control_node-1] [ERROR] [1634630535.762314808] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.774301144] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.778160088] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-4] /home/akuautomation/workspace/ros_ur_driver/install/controller_manager/lib/controller_manager/spawner.py:186: DeprecationWarning: ‘spawner.py’ is deprecated, please use ‘spawner’ (without .py extension)
[spawner.py-4] warnings.warn(
[ros2_control_node-1] [ERROR] [1634630535.786147272] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-7] [INFO] [1634630535.793151377] [spawner_force_torque_sensor_broadcaster]: Configured and started force_torque_sensor_broadcaster
[ros2_control_node-1] [ERROR] [1634630535.794123224] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.806927228] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.810332825] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.819027423] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.826608345] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.834141585] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.842880288] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.851196472] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.858211282] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.866239004] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.874133384] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.883204364] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.895929683] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.898198680] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.906136435] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.914659484] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.924028293] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.930186500] [UR_Client_Library]: Pipeline producer overflowed!
[INFO] [spawner.py-6]: process has finished cleanly [pid 50801]
[ros2_control_node-1] [ERROR] [1634630535.938476364] [UR_Client_Library]: Pipeline producer overflowed!
[INFO] [spawner.py-8]: process has finished cleanly [pid 50816]
[ros2_control_node-1] [ERROR] [1634630535.946845499] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.956274200] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.963877478] [UR_Client_Library]: Pipeline producer overflowed!
[INFO] [spawner.py-4]: process has finished cleanly [pid 50789]
[ros2_control_node-1] [ERROR] [1634630535.970172513] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.978560388] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.989465619] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630535.994131544] [UR_Client_Library]: Pipeline producer overflowed!
[spawner.py-7] /home/akuautomation/workspace/ros_ur_driver/install/controller_manager/lib/controller_manager/spawner.py:186: DeprecationWarning: ‘spawner.py’ is deprecated, please use ‘spawner’ (without .py extension)
[spawner.py-7] warnings.warn(
[ros2_control_node-1] [ERROR] [1634630536.003169015] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.013863239] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.022459922] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.026107332] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.034156687] [UR_Client_Library]: Pipeline producer overflowed!
[INFO] [spawner.py-7]: process has finished cleanly [pid 50814]
[ros2_control_node-1] [ERROR] [1634630536.045790257] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.050081134] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.058106618] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.066136494] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.077312448] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.082089539] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.090126814] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.098110733] [UR_Client_Library]: Pipeline producer overflowed!
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[dashboard_client-2] [INFO] [1634630536.099664483] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-3] [INFO] [1634630536.099629622] [rclcpp]: signal_handler(signal_value=2)
[ros2_control_node-1] [INFO] [1634630536.099683882] [rclcpp]: signal_handler(signal_value=2)
[ros2_control_node-1] [ERROR] [1634630536.108350447] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.114105322] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.122646116] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.130147001] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.143460207] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.146138331] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.154114370] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.162166280] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.170237730] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.178147902] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.186985106] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.194328689] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.206986501] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.210370896] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.218146177] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.226187082] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.239282820] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.242137019] [UR_Client_Library]: Pipeline producer overflowed!
[ros2_control_node-1] [ERROR] [1634630536.250306454] [UR_Client_Library]: Pipeline producer overflowed!
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 50787]
[INFO] [dashboard_client-2]: process has finished cleanly [pid 50785]
[ERROR] [ros2_control_node-1]: process[ros2_control_node-1] failed to terminate ‘5’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’
[INFO] [ros2_control_node-1]: sending signal ‘SIGTERM’ to process[ros2_control_node-1]
[ERROR] [ros2_control_node-1]: process has died [pid 50783, exit code -15, cmd ‘/home/akuautomation/workspace/ros_ur_driver/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_qzd7mg_a --params-file /home/akuautomation/workspace/ros_ur_driver/install/ur_bringup/share/ur_bringup/config/ur_controllers.yaml’].
additionally to that, i cannot build moveit2 repos => colcon build failed. ubuntu 20.04 galactic
moveit_planners_ompl failed by conlcon build.
altogether i cannot run ur5 on ros2 =(
Thanks you in advice !!!
Hey! I was wondering if you had any update on this? I am still deciding between ROS or ROS2 for my UR5e, but not sure robust Universal_Robots_ROS2_Driver is, what did you end up doing?
Thank you!
I think that we managed to get the ROS2 driver much more stable during the last year. If you are just getting started, I’d recommend starting with ROS2 humble.