ROS2 Humble- UR5 connection throws an error

Technical Questions Robot Communication
1

Trying to run:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=192.168.1.102 launch_rviz:=false

gets an error:

[INFO] [launch]: All log files can be found below /home/kurikkal/.ros/log/2023-05-05-14-24-43-201813-Kurikkal-26857
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [26869]
[INFO] [controller_stopper_node-3]: process started with pid [26871]
[INFO] [ur_ros2_control_node-1]: process started with pid [26867]
[INFO] [robot_state_publisher-4]: process started with pid [26873]
[INFO] [spawner-5]: process started with pid [26875]
[INFO] [spawner-6]: process started with pid [26877]
[INFO] [spawner-7]: process started with pid [26879]
[INFO] [spawner-8]: process started with pid [26881]
[INFO] [spawner-9]: process started with pid [26883]
[INFO] [spawner-10]: process started with pid [26885]
[ur_ros2_control_node-1] [INFO] [1683289483.723651259] [resource_manager]: Loading hardware ‘ur5’
[ur_ros2_control_node-1] [INFO] [1683289483.724859145] [resource_manager]: Initialize hardware ‘ur5’
[ur_ros2_control_node-1] [INFO] [1683289483.724921331] [resource_manager]: Successful initialization of hardware ‘ur5’
[ur_ros2_control_node-1] terminate called after throwing an instance of ‘std::runtime_error’
[ur_ros2_control_node-1] what(): Wrong state or command interface configuration.
[ur_ros2_control_node-1] missing state interfaces:
[ur_ros2_control_node-1]
[ur_ros2_control_node-1] missing command interfaces:
[ur_ros2_control_node-1] ’ gpio/tool_voltage_cmd ’ ’ zero_ftsensor/zero_ftsensor_cmd ’ ’ zero_ftsensor/zero_ftsensor_async_success ’
[robot_state_publisher-4] [INFO] [1683289483.726515602] [robot_state_publisher]: got segment base
[robot_state_publisher-4] [INFO] [1683289483.726633874] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1683289483.726645335] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-4] [INFO] [1683289483.726652369] [robot_state_publisher]: got segment flange
[robot_state_publisher-4] [INFO] [1683289483.726659512] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-4] [INFO] [1683289483.726666054] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-4] [INFO] [1683289483.726673017] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-4] [INFO] [1683289483.726679640] [robot_state_publisher]: got segment tool0
[robot_state_publisher-4] [INFO] [1683289483.726686693] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-4] [INFO] [1683289483.726693025] [robot_state_publisher]: got segment world
[robot_state_publisher-4] [INFO] [1683289483.726699747] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-4] [INFO] [1683289483.726706771] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-4] [INFO] [1683289483.726713353] [robot_state_publisher]: got segment wrist_3_link
[dashboard_client-2] [INFO] [1683289483.723613368] [UR_Client_Library]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[controller_stopper_node-3] [INFO] [1683289483.721502027] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ERROR] [ur_ros2_control_node-1]: process has died [pid 26867, exit code -6, cmd ‘/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_1g4oq1w9 --params-file /opt/ros/humble/share/ur_robot_driver/config/ur5_update_rate.yaml --params-file /opt/ros/humble/share/ur_robot_driver/config/ur_controllers.yaml’].
[spawner-7] [INFO] [1683289485.957590475] [spawner_speed_scaling_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-6] [INFO] [1683289485.961164159] [spawner_io_and_status_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-9] [INFO] [1683289485.967538828] [spawner_forward_position_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [INFO] [1683289485.967551262] [spawner_force_torque_sensor_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-5] [INFO] [1683289485.972157042] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-10] [INFO] [1683289485.972672308] [spawner_scaled_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-7] [INFO] [1683289487.972736269] [spawner_speed_scaling_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-6] [INFO] [1683289487.975979864] [spawner_io_and_status_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-9] [INFO] [1683289487.983840620] [spawner_forward_position_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [INFO] [1683289487.983851360] [spawner_force_torque_sensor_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-10] [INFO] [1683289487.987154347] [spawner_scaled_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-5] [INFO] [1683289487.987187269] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-7] [INFO] [1683289489.986216299] [spawner_speed_scaling_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-6] [INFO] [1683289489.989203513] [spawner_io_and_status_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [INFO] [1683289489.997951644] [spawner_force_torque_sensor_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-9] [INFO] [1683289489.997957716] [spawner_forward_position_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-10] [INFO] [1683289490.000680043] [spawner_scaled_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-5] [INFO] [1683289490.001160364] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-7] [INFO] [1683289492.001437292] [spawner_speed_scaling_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-6] [INFO] [1683289492.004377347] [spawner_io_and_status_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-9] [INFO] [1683289492.012859059] [spawner_forward_position_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [INFO] [1683289492.012866583] [spawner_force_torque_sensor_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-5] [INFO] [1683289492.015123106] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-10] [INFO] [1683289492.015123527] [spawner_scaled_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-7] [ERROR] [1683289494.016109646] [spawner_speed_scaling_state_broadcaster]: Controller manager not available
[spawner-6] [ERROR] [1683289494.017966850] [spawner_io_and_status_controller]: Controller manager not available
[spawner-9] [ERROR] [1683289494.027029592] [spawner_forward_position_controller]: Controller manager not available
[spawner-8] [ERROR] [1683289494.027172551] [spawner_force_torque_sensor_broadcaster]: Controller manager not available
[spawner-10] [ERROR] [1683289494.029869400] [spawner_scaled_joint_trajectory_controller]: Controller manager not available
[spawner-5] [ERROR] [1683289494.029865843] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-7]: process has died [pid 26879, 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 26877, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller -c /controller_manager --ros-args’].
[ERROR] [spawner-9]: process has died [pid 26883, 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 26881, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager /controller_manager --ros-args’].
[ERROR] [spawner-5]: process has died [pid 26875, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args’].
[ERROR] [spawner-10]: process has died [pid 26885, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --ros-args’].

Worked till last week with same system and same commands. Suddenly gets this error. Please help

2

Can anyone please help?

3

I’m experiencing the same issue. The problem seems to be with

[ur_ros2_control_node-1] terminate called after throwing an instance of ‘std::runtime_error’
[ur_ros2_control_node-1] what(): Wrong state or command interface configuration.
[ur_ros2_control_node-1] missing state interfaces:
[ur_ros2_control_node-1]
[ur_ros2_control_node-1] missing command interfaces:
[ur_ros2_control_node-1] ’ gpio/tool_voltage_cmd ’ ’ zero_ftsensor/zero_ftsensor_cmd ’ ’ zero_ftsensor/zero_ftsensor_async_success ’

After which ur_ros2_control dies. I’m investigating myself, and I’ll let you know if I find a solution.

I rebuilt my dev container with updated deps today, and got this issue. I’ve tried building the driver from source (the humble branch). Rolling back to some commit branch would probably work.

4

Yeah, I got an ROS2 update few days back. This started after that. Let me know. Thanks

5

On my path to setting up a debugger to figure out the issue, I stumbled upon a setup that works. It’s a highly temporary solution, but it might get you going again:

I checked out this commit of the humble branch This commits adds additional configuration parameters needed for mult… · UniversalRobots/Universal_Robots_ROS2_Driver@657c035 · GitHub

Then did a semi binary build of these repos:

Universal_Robots_Client_Library (master branch head)
Universal_Robots_ROS2_Description (ros2 branch head)
Universal_Robots_ROS2_Driver (657c035)
ur_msgs (foxy-devel branch head)

You might not need all of them, but that’s the setup that worked for me.

6

I had the same problem. Building from source according to the instructions here seems to have resolved the issue (I was using the humble branch since that’s the ROS distro I’m using): GitHub - UniversalRobots/Universal_Robots_ROS2_Driver: Universal Robots ROS2 driver supporting CB3 and e-Series

7

Good evening everyone,

the same issue is happening to me, as well. It was a bit sudden, it showed up after the related launch file has been working well for months.

I have the last updated version of ROS2 Humble and the related UR ROS2 drivers in Humble branch, but nothing changed. The whole workspace was built correctly by colcon build with no issues.

I do not know how to solve this issue and I need to be able to continue with my testing as I have a user study to perform soon. Can you please help me out?

Thanks!

8

Hi there, I have suffered the same error like yours, have you solved it?