# \[ROS2\] PUBLISHER JOINT TRAJECTORY is not working

**URL:** <https://forum.universal-robots.com/t/ros2-publisher-joint-trajectory-is-not-working/33720>\
**Category:** Robot Communication\
**Created:** [April 16, 2024, 11:25am UTC](https://forum.universal-robots.com/t/ros2-publisher-joint-trajectory-is-not-working/33720 "2024-04-16T11:25:58Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![pedromoreo](https://avatars.discourse-cdn.com/v4/letter/p/ce73a5/32.png) [@pedromoreo](https://forum.universal-robots.com/u/pedromoreo)\
**Post date:** [April 16, 2024, 11:25am UTC](https://forum.universal-robots.com/t/ros2-publisher-joint-trajectory-is-not-working/33720/1 "2024-04-16T11:25:58Z")

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ros2 launch ur\_robot\_driver test\_scaled\_joint\_trajectory\_controller.launch.py

[publisher\_joint\_trajectory\_controller-1] [WARN] [1713266290.499765541] [publisher\_scaled\_joint\_trajectory\_controller]: Start configuration is not within configured limits!

the robot is not moving, we were expecting for the ur5 robot to make a move.

In addition the rviz is working and follow the movements of the robot if we manually rotate it with the polyscope with this command:  
ros2 launch ur\_robot\_driver ur\_control.launch.py ur\_type:=ur5e robot\_ip:=192.168.31.3

We cannot add trajectory with movelt.

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/1/1b73990632427940ffd7720c395cfbb65b98407e.png)

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**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\
**Post date:** [April 16, 2024, 11:47am UTC](https://forum.universal-robots.com/t/ros2-publisher-joint-trajectory-is-not-working/33720/2 "2024-04-16T11:47:08Z")

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You need to make sure that the robot

- is standing completely upright (see configuration in [Universal\_Robots\_ROS2\_Driver/ur\_robot\_driver/config/test\_goal\_publishers\_config.yaml at 2d5e315404147093a7cdd868b3f9cc95f923c58f · UniversalRobots/Universal\_Robots\_ROS2\_Driver · GitHub](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/2d5e315404147093a7cdd868b3f9cc95f923c58f/ur_robot_driver/config/test_goal_publishers_config.yaml#L26-L32))
- The controller is running (The “external\_control” program is running on the controller)

For testing MoveIt! please use its corresponding launchfile:

```auto
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

```

Please see [Usage — ur\_robot\_driver documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for further usage information.

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<div class="post-metadata">

**Author:** ![pedromoreo](https://avatars.discourse-cdn.com/v4/letter/p/ce73a5/32.png) [@pedromoreo](https://forum.universal-robots.com/u/pedromoreo)\
**Post date:** [April 17, 2024, 11:09am UTC](https://forum.universal-robots.com/t/ros2-publisher-joint-trajectory-is-not-working/33720/3 "2024-04-17T11:09:43Z")

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Thanks for your answer.  
The external\_controller is running. We checked this.  
According to the page [Usage — ur\_robot\_driver documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html)  
we tried the commands for testing the real robot UR5e (nor the mockup either simulartor).

Firstable we tried to run in separated shells the ur\_robot\_driver and the moveit, as you can see in the image below. When we move the robot manually, the interface is updating. But when we try to move the TCP inside the Rviz, the simulation is playing but the real robot is not acting. Also you can see the plan is FAILED.

ros2 launch ur\_robot\_driver ur\_control.launch.py ur\_type:=ur5e robot\_ip:=192.168.31.3 launch\_rviz:=false  
#other terminal  
ros2 launch ur\_moveit\_config ur\_moveit.launch.py ur\_type:=ur5e launch\_rviz:=true

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/5/53fa6359e963ec5dd24e0b70a6b433601747d765.png)

We are not quite sure what do you mean with upright. The first image or the second.

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/5/5f1fd4b2f0845d39a66783e7facda8a08ac8cdfb.jpeg)  
 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/b796c0b9619336ecb572f3a114596e7a69c3f02f.jpeg)

Thanks a lot, sorry for the inconveniences

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<div class="post-metadata">

**Author:** ![pedromoreo](https://avatars.discourse-cdn.com/v4/letter/p/ce73a5/32.png) [@pedromoreo](https://forum.universal-robots.com/u/pedromoreo)\
**Post date:** [April 23, 2024, 9:48am UTC](https://forum.universal-robots.com/t/ros2-publisher-joint-trajectory-is-not-working/33720/4 "2024-04-23T09:48:20Z")

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Solved.  
The problem was in the urcap external\_controller. it was not properly running.