haredware:
Linux slam-NUC13ANKi7 6.8.0-40-generic #40~22.04.3-Ubuntu
robot:
ur10e
command：
slam@slam-NUC13ANKi7:~/ur_ros2_ws$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.101 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller kinematics_params_file:="/home/slam/ur_ros2_ws/src/my_robot_calibration.yaml"
termianl info
[INFO] [launch]: All log files can be found below /home/slam/.ros/log/2024-09-21-12-11-27-224500-slam-NUC13ANKi7-6766
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [6771]
[INFO] [controller_stopper_node-3]: process started with pid [6773]
[INFO] [ur_ros2_control_node-1]: process started with pid [6769]
[INFO] [urscript_interface-4]: process started with pid [6775]
[INFO] [robot_state_publisher-5]: process started with pid [6777]
[INFO] [spawner-6]: process started with pid [6779]
[INFO] [spawner-7]: process started with pid [6781]
[INFO] [spawner-8]: process started with pid [6783]
[dashboard_client-2] [INFO] [1726891887.675243356] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[ur_ros2_control_node-1] [WARN] [1726891887.688017295] [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] [1726891887.688654340] [resource_manager]: Loading hardware 'ur10e'
[controller_stopper_node-3] [INFO] [1726891887.689973602] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] [INFO] [1726891887.691243986] [resource_manager]: Initialize hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1726891887.691320595] [resource_manager]: Successful initialization of hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1726891887.691550443] [resource_manager]: 'configure' hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1726891887.691565520] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1726891887.691582244] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [WARN] [1726891887.693889199] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[robot_state_publisher-5] [INFO] [1726891887.710697074] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1726891887.710798539] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1726891887.710803883] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1726891887.710806671] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1726891887.710809073] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1726891887.710811527] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1726891887.710813945] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1726891887.710816377] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1726891887.710818719] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1726891887.710821154] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1726891887.710823510] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1726891887.710825997] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1726891887.710828336] [robot_state_publisher]: got segment wrist_3_link
[ur_ros2_control_node-1] [INFO] [1726891888.245912984] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1726891888.247203213] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[ur_ros2_control_node-1] [INFO] [1726891889.299982260] [URPositionHardwareInterface]: Calibration checksum: 'calib_14719827340211409869'.
[spawner-7] [INFO] [1726891889.873926800] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1726891889.878644972] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1726891889.894149074] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [INFO] [1726891890.307684095] [URPositionHardwareInterface]: Calibration checked successfully.
[ur_ros2_control_node-1] [INFO] [1726891890.307876566] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1726891890.307915893] [resource_manager]: Successful 'configure' of hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1726891890.307999591] [resource_manager]: 'activate' hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1726891890.308012536] [URPositionHardwareInterface]: Activating HW interface
[ur_ros2_control_node-1] [INFO] [1726891890.308063246] [resource_manager]: Successful 'activate' of hardware 'ur10e'
[controller_stopper_node-3] [INFO] [1726891890.314248956] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1726891890.314297196] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1726891890.314315343] [Controller stopper]: Service available
[ur_ros2_control_node-1] [WARN] [1726891890.316461481] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-1] [WARN] [1726891890.316707427] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-1] [INFO] [1726891890.489444918] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-7] [INFO] [1726891890.500093176] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1726891890.500586179] [controller_manager]: Loading controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1726891890.513178303] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1726891890.513341676] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-8] [INFO] [1726891890.514205340] [spawner_forward_position_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1726891890.519365222] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ur_ros2_control_node-1] [WARN] [1726891890.531012712] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ur_ros2_control_node-1] [INFO] [1726891890.533037533] [controller_manager]: Configuring controller 'forward_position_controller'
[spawner-6] [INFO] [1726891890.534106101] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1726891890.534168023] [forward_position_controller]: configure successful
[ur_ros2_control_node-1] [INFO] [1726891890.538861171] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1726891890.539194968] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1726891890.539247483] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1726891890.539285890] [joint_trajectory_controller]: Using 'splines' interpolation method.
[spawner-7] [INFO] [1726891890.540134870] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1726891890.540313048] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1726891890.542847986] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] [INFO] [1726891890.556969596] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-6] [INFO] [1726891890.557532572] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[spawner-7] [INFO] [1726891890.568662769] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1726891890.570137669] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-7] [INFO] [1726891890.580786433] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1726891890.583382936] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1726891890.591193664] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[spawner-7] [INFO] [1726891890.593391788] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1726891890.594246910] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1726891890.594329704] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[spawner-7] [INFO] [1726891890.601341786] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1726891890.603034700] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-7] [INFO] [1726891890.611488623] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1726891890.612092657] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[spawner-7] [INFO] [1726891890.619458047] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[INFO] [spawner-8]: process has finished cleanly [pid 6783]
[INFO] [spawner-6]: process has finished cleanly [pid 6779]
[INFO] [spawner-7]: process has finished cleanly [pid 6781]
use moveit plan and control：
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e launch_rviz:=true
error information：
ur_ros2_control_node-1] [INFO] [1726824802.495451786] [joint_trajectory_controller]: Received new action goal [ur_ros2_control_node-1] [INFO] [1726824802.495504466] [joint_trajectory_controller]: Accepted new action goal [ur_ros2_control_node-1] [ERROR] [1726824803.392285987] [tolerances]: State tolerances failed for joint 3: [ur_ros2_control_node-1] [ERROR] [1726824803.392344144] [tolerances]: Position Error: -0.200707, Position Tolerance: 0.200000 [ur_ros2_control_node-1] [WARN] [1726824803.392371546] [joint_trajectory_controller]: Aborted due to state tolerance violation
[moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'joint_trajectory_controller' failed with error PATH_TOLERANCE_VIOLATED: Aborted due to path tolerance violation [move_group-1] [WARN] [1726824803.396471630] [moveit_ros.trajectory_execution_manager]: Controller handle joint_trajectory_controller reports status ABORTED [move_group-1] [INFO] [1726824803.396521345] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ... [move_group-1] [INFO] [1726824803.405264141] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution [rviz2-2] [INFO] [1726824803.406044052] [move_group_interface]: Plan and Execute request aborted [rviz2-2] [ERROR] [1726824803.406167073] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
ur pad config：
start remote mode，and add the urcaps program。
why i have no these three info:
[ur_ros2_control_node-1] [INFO] [1698400108.570537299] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1698400108.570601816] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1698400108.958180040] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.