Hi I am using ROS2 humble with Ubuntu 22.04. I have installed the Universal Robot drivers from the GitHub - UniversalRobots/Universal_Robots_ROS2_Driver at humble following to steps to build both from scratch and from sudo apt-get install ros-humble-ur. When i run ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:
I am getting an error regarding missing state interfaces. This launch was working before and suddenly this error has popped up. I have looked around for any fixes however I have found none. Any help / advice on this would be great.
I am able to ping the robot so the networking seems fine, however I am unsure where to find these command interfaces:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=10.1.0.101
[INFO] [launch]: All log files can be found below /home/lodestar/.ros/log/2025-05-09-17-19-25-188234-WINDOWS-FUQ22I2-150244
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [150248]
[INFO] [controller_stopper_node-3]: process started with pid [150250]
[INFO] [ur_ros2_control_node-1]: process started with pid [150246]
[INFO] [urscript_interface-4]: process started with pid [150252]
[INFO] [robot_state_publisher-5]: process started with pid [150254]
[INFO] [rviz2-6]: process started with pid [150256]
[INFO] [spawner-7]: process started with pid [150258]
[INFO] [spawner-8]: process started with pid [150260]
[dashboard_client-2] [INFO] [1746807565.408244466] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[controller_stopper_node-3] [INFO] [1746807565.412276230] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_publisher-5] [INFO] [1746807565.414501998] [robot_state_publisher]: got segment base
[rviz2-6] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[robot_state_publisher-5] [INFO] [1746807565.414738274] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1746807565.414774376] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1746807565.414779282] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1746807565.414781710] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1746807565.414783675] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1746807565.414785589] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1746807565.414787708] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1746807565.414789575] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1746807565.414791512] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1746807565.414793468] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1746807565.414795258] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1746807565.414797042] [robot_state_publisher]: got segment wrist_3_link
[ur_ros2_control_node-1] [WARN] [1746807565.417706492] [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] [1746807565.418059155] [resource_manager]: Loading hardware 'ur5'
[ur_ros2_control_node-1] [INFO] [1746807565.419196553] [resource_manager]: Initialize hardware 'ur5'
[ur_ros2_control_node-1] [INFO] [1746807565.419276091] [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] ' freedrive_mode/async_success ' ' freedrive_mode/enable ' ' freedrive_mode/abort ' ' force_mode/task_frame_x ' ' force_mode/task_frame_y ' ' force_mode/task_frame_z ' ' force_mode/task_frame_rx ' ' force_mode/task_frame_ry ' ' force_mode/task_frame_rz ' ' force_mode/selection_vector_x ' ' force_mode/selection_vector_y ' ' force_mode/selection_vector_z ' ' force_mode/selection_vector_rx ' ' force_mode/selection_vector_ry ' ' force_mode/selection_vector_rz ' ' force_mode/wrench_x ' ' force_mode/wrench_y ' ' force_mode/wrench_z ' ' force_mode/wrench_rx ' ' force_mode/wrench_ry ' ' force_mode/wrench_rz ' ' force_mode/limits_x ' ' force_mode/limits_y ' ' force_mode/limits_z ' ' force_mode/limits_rx ' ' force_mode/limits_ry ' ' force_mode/limits_rz ' ' force_mode/type ' ' force_mode/damping ' ' force_mode/gain_scaling ' ' force_mode/disable_cmd ' ' force_mode/force_mode_async_success '
[spawner-8] [INFO] [1746807565.580454311] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [INFO] [1746807565.648853795] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ERROR] [ur_ros2_control_node-1]: process has died [pid 150246, exit code -6, cmd '/home/lodestar/ros2_ws/install/ur_robot_driver/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_3ldnf4tt --params-file /home/lodestar/ros2_ws/install/ur_robot_driver/share/ur_robot_driver/config/ur5_update_rate.yaml --params-file /tmp/launch_params_sio9bqls'].
[rviz2-6] [INFO] [1746807566.245828510] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1746807566.246012087] [rviz2]: OpenGl version: 4.2 (GLSL 4.2)
[rviz2-6] [INFO] [1746807566.268825628] [rviz2]: Stereo is NOT SUPPORTED