# Unable to activate the controllers **URL:** \ **Category:** Technical Questions\ **Created:** [October 29, 2024, 1:13pm UTC](https://forum.universal-robots.com/t/unable-to-activate-the-controllers/36746 "2024-10-29T13:13:31Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![vaishd](https://avatars.discourse-cdn.com/v4/letter/v/b19c9b/32.png) [@vaishd](https://forum.universal-robots.com/u/vaishd)\ **Post date:** [October 29, 2024, 1:13pm UTC](https://forum.universal-robots.com/t/unable-to-activate-the-controllers/36746/1 "2024-10-29T13:13:31Z")
I am getting this errosr as I try to launch the launch\_control file mentioned in the tutorial: [https://docs.ros.org/en/ros2\_packages/humble/api/ur\_robot\_driver/usage.html#usage-with-official-ur-simulator](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator) =================================================================================================== Terminal Error: [[INFO] [launch]: All log files can be found below /home/devesh/.ros/log/2024-10-30-13-21-38-675288-devesh-ThinkPad-P14s-Gen-2a-61470 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [dashboard\_client-2]: process started with pid [61474] [INFO] [controller\_stopper\_node-3]: process started with pid [61476] [INFO] [ur\_ros2\_control\_node-1]: process started with pid [61472] [INFO] [urscript\_interface-4]: process started with pid [61478] [INFO] [robot\_state\_publisher-5]: process started with pid [61480] [INFO] [rviz2-6]: process started with pid [61482] [INFO] [spawner-7]: process started with pid [61484] [INFO] [spawner-8]: process started with pid [61486] [INFO] [spawner-9]: process started with pid [61488] [rviz2-6] Warning: Ignoring XDG\_SESSION\_TYPE=wayland on Gnome. Use QT\_QPA\_PLATFORM=wayland to run on Wayland anyway. [dashboard\_client-2] [INFO] [1730290899.123904674] [UR\_Client\_Library:]: Connected: Universal Robots Dashboard Server [dashboard\_client-2] [controller\_stopper\_node-3] [INFO] [1730290899.125921382] [Controller stopper]: Waiting for switch controller service to come up on controller\_manager/switch\_controller [ur\_ros2\_control\_node-1] [WARN] [1730290899.126736893] [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] [1730290899.127341398] [resource\_manager]: Loading hardware ‘ur20’ [ur\_ros2\_control\_node-1] [INFO] [1730290899.131035315] [resource\_manager]: Initialize hardware ‘ur20’ [ur\_ros2\_control\_node-1] [INFO] [1730290899.131234299] [resource\_manager]: Successful initialization of hardware ‘ur20’ [ur\_ros2\_control\_node-1] [INFO] [1730290899.131517410] [resource\_manager]: ‘configure’ hardware ‘ur20’ [ur\_ros2\_control\_node-1] [INFO] [1730290899.131537648] [URPositionHardwareInterface]: Starting …please wait… [ur\_ros2\_control\_node-1] [INFO] [1730290899.131560381] [URPositionHardwareInterface]: Initializing driver… [ur\_ros2\_control\_node-1] [WARN] [1730290899.132731771] [UR\_Client\_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See [Universal\_Robots\_ROS\_Driver/ur\_robot\_driver/doc/real\_time.md at master · UniversalRobots/Universal\_Robots\_ROS\_Driver · GitHub](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md) for details. [robot\_state\_publisher-5] [INFO] [1730290899.137623647] [robot\_state\_publisher]: got segment base [robot\_state\_publisher-5] [INFO] [1730290899.137798455] [robot\_state\_publisher]: got segment base\_link [robot\_state\_publisher-5] [INFO] [1730290899.137810979] [robot\_state\_publisher]: got segment base\_link\_inertia [robot\_state\_publisher-5] [INFO] [1730290899.137819475] [robot\_state\_publisher]: got segment flange [robot\_state\_publisher-5] [INFO] [1730290899.137827700] [robot\_state\_publisher]: got segment forearm\_link [robot\_state\_publisher-5] [INFO] [1730290899.137835415] [robot\_state\_publisher]: got segment ft\_frame [robot\_state\_publisher-5] [INFO] [1730290899.137842568] [robot\_state\_publisher]: got segment shoulder\_link [robot\_state\_publisher-5] [INFO] [1730290899.137850443] [robot\_state\_publisher]: got segment tool0 [robot\_state\_publisher-5] [INFO] [1730290899.137857987] [robot\_state\_publisher]: got segment upper\_arm\_link [robot\_state\_publisher-5] [INFO] [1730290899.137865391] [robot\_state\_publisher]: got segment world [robot\_state\_publisher-5] [INFO] [1730290899.137873246] [robot\_state\_publisher]: got segment wrist\_1\_link [robot\_state\_publisher-5] [INFO] [1730290899.137880610] [robot\_state\_publisher]: got segment wrist\_2\_link [robot\_state\_publisher-5] [INFO] [1730290899.137888094] [robot\_state\_publisher]: got segment wrist\_3\_link [spawner-9] [INFO] [1730290899.474835953] [spawner\_forward\_position\_controller]: waiting for service /controller\_manager/list\_controllers to become available… [spawner-7] [INFO] [1730290899.480560022] [spawner\_scaled\_joint\_trajectory\_controller]: waiting for service /controller\_manager/list\_controllers to become available… [spawner-8] [INFO] [1730290899.483543645] [spawner\_joint\_state\_broadcaster]: waiting for service /controller\_manager/list\_controllers to become available… [rviz2-6] [INFO] [1730290899.532323217] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1730290899.532471546] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-6] [INFO] [1730290899.545815915] [rviz2]: Stereo is NOT SUPPORTED [ur\_ros2\_control\_node-1] [INFO] [1730290899.656503694] [UR\_Client\_Library:]: Negotiated RTDE protocol version to 2. [ur\_ros2\_control\_node-1] [INFO] [1730290899.656748945] [UR\_Client\_Library:]: Setting up RTDE communication with frequency 500.000000 [ur\_ros2\_control\_node-1] [FATAL] [1730290900.713492256] [URPositionHardwareInterface]: Variable ‘speed\_slider\_mask’ is currently controlled by another RTDE client. The input recipe can’t be used as configured [ur\_ros2\_control\_node-1] [INFO] [1730290900.713548793] [resource\_manager]: Failed to ‘configure’ hardware ‘ur20’ [controller\_stopper\_node-3] [INFO] [1730290900.717225768] [Controller stopper]: Service available [controller\_stopper\_node-3] [INFO] [1730290900.717247408] [Controller stopper]: Waiting for list controllers service to come up on controller\_manager/list\_controllers [controller\_stopper\_node-3] [INFO] [1730290900.717258008] [Controller stopper]: Service available [ur\_ros2\_control\_node-1] [WARN] [1730290900.718995301] [controller\_manager]: Could not enable FIFO RT scheduling policy [ur\_ros2\_control\_node-1] [INFO] [1730290900.730116315] [controller\_manager]: Loading controller ‘forward\_position\_controller’ [spawner-9] [INFO] [1730290900.738230873] [spawner\_forward\_position\_controller]: Loaded forward\_position\_controller [ur\_ros2\_control\_node-1] [INFO] [1730290900.739586869] [controller\_manager]: Loading controller ‘scaled\_joint\_trajectory\_controller’ [ur\_ros2\_control\_node-1] [WARN] [1730290900.757964500] [scaled\_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] [1730290900.759342849] [controller\_manager]: Loading controller ‘joint\_state\_broadcaster’ [spawner-7] [INFO] [1730290900.760109899] [spawner\_scaled\_joint\_trajectory\_controller]: Loaded scaled\_joint\_trajectory\_controller [ur\_ros2\_control\_node-1] [INFO] [1730290900.767354303] [controller\_manager]: Configuring controller ‘forward\_position\_controller’ [spawner-8] [INFO] [1730290900.768399636] [spawner\_joint\_state\_broadcaster]: Loaded joint\_state\_broadcaster [ur\_ros2\_control\_node-1] [INFO] [1730290900.768782165] [forward\_position\_controller]: configure successful [ur\_ros2\_control\_node-1] [INFO] [1730290900.769300528] [controller\_manager]: Configuring controller ‘scaled\_joint\_trajectory\_controller’ [ur\_ros2\_control\_node-1] [INFO] [1730290900.769537363] [scaled\_joint\_trajectory\_controller]: No specific joint names are used for command interfaces. Using ‘joints’ parameter. [ur\_ros2\_control\_node-1] [INFO] [1730290900.769581105] [scaled\_joint\_trajectory\_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ur\_ros2\_control\_node-1] [INFO] [1730290900.769641108] [scaled\_joint\_trajectory\_controller]: Using ‘splines’ interpolation method. [ur\_ros2\_control\_node-1] [INFO] [1730290900.771578205] [scaled\_joint\_trajectory\_controller]: Controller state will be published at 100.00 Hz. [ur\_ros2\_control\_node-1] [INFO] [1730290900.774783264] [scaled\_joint\_trajectory\_controller]: Action status changes will be monitored at 20.00 Hz. [ur\_ros2\_control\_node-1] [INFO] [1730290900.781385703] [controller\_manager]: Configuring controller ‘joint\_state\_broadcaster’ [ur\_ros2\_control\_node-1] [INFO] [1730290900.781589736] [joint\_state\_broadcaster]: ‘joints’ or ‘interfaces’ parameter is empty. All available state interfaces will be published [ur\_ros2\_control\_node-1] [ERROR] [1730290900.785323487] [resource\_manager]: Not acceptable command interfaces combination: [ur\_ros2\_control\_node-1] Start interfaces: [ur\_ros2\_control\_node-1] [ [ur\_ros2\_control\_node-1] shoulder\_pan\_joint/position [ur\_ros2\_control\_node-1] shoulder\_lift\_joint/position [ur\_ros2\_control\_node-1] elbow\_joint/position [ur\_ros2\_control\_node-1] wrist\_1\_joint/position [ur\_ros2\_control\_node-1] wrist\_2\_joint/position [ur\_ros2\_control\_node-1] wrist\_3\_joint/position [ur\_ros2\_control\_node-1] ] [ur\_ros2\_control\_node-1] Stop interfaces: [ur\_ros2\_control\_node-1] [ [ur\_ros2\_control\_node-1] ] [ur\_ros2\_control\_node-1] Not available: [ur\_ros2\_control\_node-1] [ [ur\_ros2\_control\_node-1] shoulder\_pan\_joint/position [ur\_ros2\_control\_node-1] shoulder\_lift\_joint/position [ur\_ros2\_control\_node-1] elbow\_joint/position [ur\_ros2\_control\_node-1] wrist\_1\_joint/position [ur\_ros2\_control\_node-1] wrist\_2\_joint/position [ur\_ros2\_control\_node-1] wrist\_3\_joint/position [ur\_ros2\_control\_node-1] ] [ur\_ros2\_control\_node-1] [ur\_ros2\_control\_node-1] [ERROR] [1730290900.785353343] [controller\_manager]: Could not switch controllers since prepare command mode switch was rejected. [spawner-7] [ERROR] [1730290900.786156021] [spawner\_scaled\_joint\_trajectory\_controller]: Failed to activate controller [ur\_ros2\_control\_node-1] [ERROR] [1730290900.787137434] [joint\_state\_broadcaster]: None of requested interfaces exist. Controller will not run. [ur\_ros2\_control\_node-1] [WARN] [1730290900.787173471] [joint\_state\_broadcaster]: Error occurred while doing error handling. [ur\_ros2\_control\_node-1] [ERROR] [1730290900.787208587] [controller\_manager]: After activation, controller ‘joint\_state\_broadcaster’ is in state ‘unconfigured’ (1), expected ‘active’ (3). [spawner-8] [INFO] [1730290900.790312276] [spawner\_joint\_state\_broadcaster]: Configured and activated joint\_state\_broadcaster [ur\_ros2\_control\_node-1] [INFO] [1730290900.792667989] [controller\_manager]: Loading controller ‘io\_and\_status\_controller’ [spawner-8] [INFO] [1730290900.802358607] [spawner\_joint\_state\_broadcaster]: Loaded io\_and\_status\_controller [ur\_ros2\_control\_node-1] [INFO] [1730290900.804350137] [controller\_manager]: Configuring controller ‘io\_and\_status\_controller’ [ur\_ros2\_control\_node-1] [ERROR] [1730290900.807658750] [resource\_manager]: Not acceptable command interfaces combination: [ur\_ros2\_control\_node-1] Start interfaces: [ur\_ros2\_control\_node-1] [ [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_0 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_1 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_2 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_3 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_4 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_5 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_6 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_7 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_8 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_9 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_10 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_11 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_12 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_13 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_14 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_15 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_16 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_17 [ur\_ros2\_control\_node-1] gpio/standard\_analog\_output\_cmd\_0 [ur\_ros2\_control\_node-1] gpio/standard\_analog\_output\_cmd\_1 [ur\_ros2\_control\_node-1] gpio/tool\_voltage\_cmd [ur\_ros2\_control\_node-1] gpio/io\_async\_success [ur\_ros2\_control\_node-1] speed\_scaling/target\_speed\_fraction\_cmd [ur\_ros2\_control\_node-1] speed\_scaling/target\_speed\_fraction\_async\_success [ur\_ros2\_control\_node-1] resend\_robot\_program/resend\_robot\_program\_cmd [ur\_ros2\_control\_node-1] resend\_robot\_program/resend\_robot\_program\_async\_success [ur\_ros2\_control\_node-1] payload/mass [ur\_ros2\_control\_node-1] payload/cog.x [ur\_ros2\_control\_node-1] payload/cog.y [ur\_ros2\_control\_node-1] payload/cog.z [ur\_ros2\_control\_node-1] payload/payload\_async\_success [ur\_ros2\_control\_node-1] zero\_ftsensor/zero\_ftsensor\_cmd [ur\_ros2\_control\_node-1] zero\_ftsensor/zero\_ftsensor\_async\_success [ur\_ros2\_control\_node-1] hand\_back\_control/hand\_back\_control\_cmd [ur\_ros2\_control\_node-1] hand\_back\_control/hand\_back\_control\_async\_success [ur\_ros2\_control\_node-1] ] [ur\_ros2\_control\_node-1] Stop interfaces: [ur\_ros2\_control\_node-1] [ [ur\_ros2\_control\_node-1] ] [ur\_ros2\_control\_node-1] Not available: [ur\_ros2\_control\_node-1] [ [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_0 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_1 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_2 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_3 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_4 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_5 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_6 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_7 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_8 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_9 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_10 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_11 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_12 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_13 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_14 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_15 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_16 [ur\_ros2\_control\_node-1] gpio/standard\_digital\_output\_cmd\_17 [ur\_ros2\_control\_node-1] gpio/standard\_analog\_output\_cmd\_0 [ur\_ros2\_control\_node-1] gpio/standard\_analog\_output\_cmd\_1 [ur\_ros2\_control\_node-1] gpio/tool\_voltage\_cmd [ur\_ros2\_control\_node-1] gpio/io\_async\_success [ur\_ros2\_control\_node-1] speed\_scaling/target\_speed\_fraction\_cmd [ur\_ros2\_control\_node-1] speed\_scaling/target\_speed\_fraction\_async\_success [ur\_ros2\_control\_node-1] resend\_robot\_program/resend\_robot\_program\_cmd [ur\_ros2\_control\_node-1] resend\_robot\_program/resend\_robot\_program\_async\_success [ur\_ros2\_control\_node-1] payload/mass [ur\_ros2\_control\_node-1] payload/cog.x [ur\_ros2\_control\_node-1] payload/cog.y [ur\_ros2\_control\_node-1] payload/cog.z [ur\_ros2\_control\_node-1] payload/payload\_async\_success [ur\_ros2\_control\_node-1] zero\_ftsensor/zero\_ftsensor\_cmd [ur\_ros2\_control\_node-1] zero\_ftsensor/zero\_ftsensor\_async\_success [ur\_ros2\_control\_node-1] hand\_back\_control/hand\_back\_control\_cmd [ur\_ros2\_control\_node-1] hand\_back\_control/hand\_back\_control\_async\_success [ur\_ros2\_control\_node-1] ] [ur\_ros2\_control\_node-1] [ur\_ros2\_control\_node-1] [ERROR] [1730290900.807784667] [controller\_manager]: Could not switch controllers since prepare command mode switch was rejected. [spawner-8] [ERROR] [1730290900.808898338] [spawner\_joint\_state\_broadcaster]: Failed to activate controller [INFO] [spawner-9]: process has finished cleanly [pid 61488] [ERROR] [spawner-7]: process has died [pid 61484, exit code 1, cmd ‘/opt/ros/humble/lib/controller\_manager/spawner scaled\_joint\_trajectory\_controller -c /controller\_manager --controller-manager-timeout 10 --ros-args’]. [ERROR] [spawner-8]: process has died [pid 61486, exit code 1, cmd ‘/opt/ros/humble/lib/controller\_manager/spawner --controller-manager /controller\_manager --controller-manager-timeout 10 joint\_state\_broadcaster io\_and\_status\_controller speed\_scaling\_state\_broadcaster force\_torque\_sensor\_broadcaster ur\_configuration\_controller --ros-args’]. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [dashboard\_client-2] [INFO] [1730290908.115758479] [rclcpp]: signal\_handler(signum=2) [controller\_stopper\_node-3] [INFO] [1730290908.115758860] [rclcpp]: signal\_handler(signum=2) [rviz2-6] [INFO] [1730290908.115758489] [rclcpp]: signal\_handler(signum=2) [robot\_state\_publisher-5] [INFO] [1730290908.115757908] [rclcpp]: signal\_handler(signum=2) [ur\_ros2\_control\_node-1] [INFO] [1730290908.115763759] [rclcpp]: signal\_handler(signum=2) [urscript\_interface-4] [INFO] [1730290908.115760082] [rclcpp]: signal\_handler(signum=2) [controller\_stopper\_node-3] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’ [controller\_stopper\_node-3] what(): failed to create guard condition: the given context is not valid, either rcl\_init() was not called or rcl\_shutdown() was called., at ./src/rcl/guard\_condition.c:67 [ur\_ros2\_control\_node-1] [INFO] [1730290908.140462460] [URPositionHardwareInterface]: Stopping …please wait… [ur\_ros2\_control\_node-1] [INFO] [1730290908.140482528] [URPositionHardwareInterface]: System successfully stopped! [ERROR] [controller\_stopper\_node-3]: process has died [pid 61476, exit code -6, cmd ‘/home/devesh/ur\_moveit\_ws/install/ur\_robot\_driver/lib/ur\_robot\_driver/controller\_stopper\_node --ros-args -r \_\_node:=controller\_stopper --params-file /tmp/launch\_params\_3jgarl91 --params-file /tmp/launch\_params\_oy7qk7xt --params-file /tmp/launch\_params\_9tlgmfbe’]. [INFO] [urscript\_interface-4]: process has finished cleanly [pid 61478] [INFO] [robot\_state\_publisher-5]: process has finished cleanly [pid 61480] [INFO] [dashboard\_client-2]: process has finished cleanly [pid 61474] [INFO] [ur\_ros2\_control\_node-1]: process has finished cleanly [pid 61472] [INFO] [rviz2-6]: process has finished cleanly [pid 61482] =============================================================================================== I checked with the command: ros2 control list\_controllers forward\_position\_controller position\_controllers/JointGroupPositionController inactive scaled\_joint\_trajectory\_controller ur\_controllers/ScaledJointTrajectoryController inactive io\_and\_status\_controller ur\_controllers/GPIOController inactive joint\_state\_broadcaster joint\_state\_broadcaster/JointStateBroadcaster unconfigured and tried to activate the controllers using: ros2 control set\_controller\_state scaled\_joint\_trajectory\_controller active but I get the error: Error activating controller, check controller\_manager logs How do I solve this problem? I want to control the UR20 from my PC using ROS ---
**Author:** ![francesco.semeraro](https://avatars.discourse-cdn.com/v4/letter/f/da6949/32.png) [@francesco.semeraro](https://forum.universal-robots.com/u/francesco.semeraro)\ **Post date:** [February 10, 2025, 8:24pm UTC](https://forum.universal-robots.com/t/unable-to-activate-the-controllers/36746/2 "2025-02-10T20:24:54Z")
Has anyone found the solution? I am getting the same error, but only relatively to the io\_and\_status\_controller. The only interface not existing for me is gpio/analog\_output\_domain\_cmd.