Hello all,
I have installed the ROS Rolling and successfully connected to UR3e using the external control urcap (v1.0.5).
I ran the following commands:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=“ur3e” robot_ip:=192.168.1.200 launch_rviz:=true
ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py
Does anyone knows how to fix the following issues:
xxxx@roscon:~$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=“ur3e” robot_ip:=192.168.1.200 launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/jonathan/.ros/log/2023-01-15-14-08-22-580937-roscon-48566
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [48571]
[INFO] [controller_stopper_node-3]: process started with pid [48573]
[INFO] [ur_ros2_control_node-1]: process started with pid [48569]
[INFO] [robot_state_publisher-4]: process started with pid [48575]
[INFO] [rviz2-5]: process started with pid [48577]
[INFO] [spawner-6]: process started with pid [48583]
[INFO] [spawner-7]: process started with pid [48610]
[INFO] [spawner-8]: process started with pid [48614]
[INFO] [spawner-9]: process started with pid [48624]
[INFO] [spawner-10]: process started with pid [48630]
[INFO] [spawner-11]: process started with pid [48634]
[robot_state_publisher-4] [INFO] [1673791704.262477561] [kdl_parser]: Link base_link had 2 children.
[robot_state_publisher-4] [INFO] [1673791704.262752192] [kdl_parser]: Link base had 0 children.
[robot_state_publisher-4] [INFO] [1673791704.262779869] [kdl_parser]: Link base_link_inertia had 1 children.
[robot_state_publisher-4] [INFO] [1673791704.262802438] [kdl_parser]: Link shoulder_link had 1 children.
[robot_state_publisher-4] [INFO] [1673791704.262830837] [kdl_parser]: Link upper_arm_link had 1 children.
[robot_state_publisher-4] [INFO] [1673791704.262847344] [kdl_parser]: Link forearm_link had 1 children.
[robot_state_publisher-4] [INFO] [1673791704.262860364] [kdl_parser]: Link wrist_1_link had 1 children.
[robot_state_publisher-4] [INFO] [1673791704.262873791] [kdl_parser]: Link wrist_2_link had 1 children.
[robot_state_publisher-4] [INFO] [1673791704.262886927] [kdl_parser]: Link wrist_3_link had 2 children.
[robot_state_publisher-4] [INFO] [1673791704.262900627] [kdl_parser]: Link flange had 1 children.
[robot_state_publisher-4] [INFO] [1673791704.262914120] [kdl_parser]: Link tool0 had 0 children.
[robot_state_publisher-4] [INFO] [1673791704.262927690] [kdl_parser]: Link ft_frame had 0 children.
[robot_state_publisher-4] [INFO] [1673791704.262963842] [robot_state_publisher]: got segment base
[robot_state_publisher-4] [INFO] [1673791704.263091523] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1673791704.263119154] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-4] [INFO] [1673791704.263142486] [robot_state_publisher]: got segment flange
[robot_state_publisher-4] [INFO] [1673791704.263164921] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-4] [INFO] [1673791704.263187235] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-4] [INFO] [1673791704.263208841] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-4] [INFO] [1673791704.263230847] [robot_state_publisher]: got segment tool0
[robot_state_publisher-4] [INFO] [1673791704.263253761] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-4] [INFO] [1673791704.263275771] [robot_state_publisher]: got segment world
[robot_state_publisher-4] [INFO] [1673791704.263297468] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-4] [INFO] [1673791704.263371162] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-4] [INFO] [1673791704.263397858] [robot_state_publisher]: got segment wrist_3_link
[dashboard_client-2] [INFO] [1673791704.269594016] [UR_Client_Library]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[controller_stopper_node-3] [INFO] [1673791704.241835347] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[rviz2-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[ur_ros2_control_node-1] [INFO] [1673791704.456649604] [resource_manager]: Loading hardware ‘ur3e’
[ur_ros2_control_node-1] [INFO] [1673791704.493156006] [resource_manager]: Initialize hardware ‘ur3e’
[ur_ros2_control_node-1] [INFO] [1673791704.507320011] [resource_manager]: Successful initialization of hardware ‘ur3e’
[ur_ros2_control_node-1] [INFO] [1673791704.509242271] [resource_manager]: ‘configure’ hardware ‘ur3e’
[ur_ros2_control_node-1] [INFO] [1673791704.509333057] [resource_manager]: Successful ‘configure’ of hardware ‘ur3e’
[ur_ros2_control_node-1] [INFO] [1673791704.509733447] [resource_manager]: ‘activate’ hardware ‘ur3e’
[ur_ros2_control_node-1] [INFO] [1673791704.509768522] [URPositionHardwareInterface]: Starting …please wait…
[ur_ros2_control_node-1] [INFO] [1673791704.509826197] [URPositionHardwareInterface]: Initializing driver…
[ur_ros2_control_node-1] [WARN] [1673791704.532736942] [UR_Client_Library]: No realtime capabilities found. Consider using a realtime system for better performance
[ur_ros2_control_node-1] [INFO] [1673791704.996728191] [UR_Client_Library]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1673791704.998736583] [UR_Client_Library]: Setting up RTDE communication with frequency 500.000000
[spawner-6] [INFO] [1673791705.422075586] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[rviz2-5] [INFO] [1673791705.613436716] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1673791705.613818677] [rviz2]: OpenGl version: 3.3 (GLSL 3.3)
[rviz2-5] [INFO] [1673791705.979201301] [rviz2]: Stereo is NOT SUPPORTED
[ur_ros2_control_node-1] [INFO] [1673791706.023598036] [URPositionHardwareInterface]: Calibration checksum: ‘calib_16756443741236045476’.
[ur_ros2_control_node-1] [WARN] [1673791706.036186299] [UR_Client_Library]: No realtime capabilities found. Consider using a realtime system for better performance
[spawner-7] [INFO] [1673791706.241848395] [spawner_io_and_status_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [INFO] [1673791706.320573420] [spawner_speed_scaling_state_broadcaster]: Waiting for ‘/controller_manager’ services to be available
[spawner-11] [INFO] [1673791706.332326650] [spawner_scaled_joint_trajectory_controller]: Waiting for ‘/controller_manager’ services to be available
[spawner-9] [INFO] [1673791706.354332107] [spawner_force_torque_sensor_broadcaster]: Waiting for ‘/controller_manager’ services to be available
[spawner-10] [INFO] [1673791706.356314574] [spawner_forward_position_controller]: Waiting for ‘/controller_manager’ services to be available
[ur_ros2_control_node-1] [ERROR] [1673791707.118079103] [URPositionHardwareInterface]: The calibration parameters of the connected robot don’t match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [Universal_Robots_ROS2_Driver/README.md at main · UniversalRobots/Universal_Robots_ROS2_Driver · GitHub] for details.
[ur_ros2_control_node-1] [WARN] [1673791707.118407231] [UR_Client_Library]: No realtime capabilities found. Consider using a realtime system for better performance
[ur_ros2_control_node-1] [INFO] [1673791707.119790107] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1673791707.119854680] [resource_manager]: Successful ‘activate’ of hardware ‘ur3e’
[controller_stopper_node-3] [INFO] [1673791707.161366825] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1673791707.161428367] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1673791707.161479914] [Controller stopper]: Service available
[ur_ros2_control_node-1] [INFO] [1673791707.277381651] [controller_manager]: Loading controller ‘joint_state_broadcaster’
[spawner-6] [INFO] [1673791707.362420679] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1673791707.378503277] [controller_manager]: Configuring controller ‘joint_state_broadcaster’
[ur_ros2_control_node-1] [INFO] [1673791707.378933949] [joint_state_broadcaster]: ‘joints’ or ‘interfaces’ parameter is empty. All available state interfaces will be published
[ur_ros2_control_node-1] [WARN] [1673791707.379103944] [rclcpp]: A zero depth with KEEP_LAST doesn’t make sense; no data could be stored.This will be interpreted as SYSTEM_DEFAULT
[ur_ros2_control_node-1] [WARN] [1673791707.379124477] [rclcpp]: A zero depth with KEEP_LAST doesn’t make sense; no data could be stored.This will be interpreted as SYSTEM_DEFAULT
[ur_ros2_control_node-1] [INFO] [1673791707.425544406] [controller_manager]: Loading controller ‘force_torque_sensor_broadcaster’
[spawner-6] [INFO] [1673791707.433918616] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1673791707.517238019] [controller_manager]: Loading controller ‘speed_scaling_state_broadcaster’
[spawner-9] [INFO] [1673791707.518138299] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[spawner-8] [INFO] [1673791707.677957289] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1673791707.694817082] [controller_manager]: Loading controller ‘scaled_joint_trajectory_controller’
[INFO] [spawner-6]: process has finished cleanly [pid 48583]
[ur_ros2_control_node-1] [INFO] [1673791707.857699914] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[ur_ros2_control_node-1] [INFO] [1673791707.869794870] [controller_manager]: Loading controller ‘forward_position_controller’
[spawner-11] [INFO] [1673791707.870648729] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1673791707.923135459] [controller_manager]: Configuring controller ‘force_torque_sensor_broadcaster’
[spawner-10] [INFO] [1673791707.926475575] [spawner_forward_position_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1673791707.935118301] [controller_manager]: Configuring controller ‘speed_scaling_state_broadcaster’
[ur_ros2_control_node-1] [INFO] [1673791707.936306055] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ur_ros2_control_node-1] [INFO] [1673791707.943248922] [controller_manager]: Configuring controller ‘scaled_joint_trajectory_controller’
[ur_ros2_control_node-1] [INFO] [1673791707.944033643] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using ‘joints’ parameter.
[ur_ros2_control_node-1] [INFO] [1673791707.944402514] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1673791707.945206371] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[ur_ros2_control_node-1] [INFO] [1673791707.945235862] [scaled_joint_trajectory_controller]: Using ‘splines’ interpolation method.
[ur_ros2_control_node-1] [INFO] [1673791707.953821917] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1673791707.961765543] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] [INFO] [1673791707.984821361] [controller_manager]: Configuring controller ‘forward_position_controller’
[ur_ros2_control_node-1] [INFO] [1673791707.996047007] [forward_position_controller]: configure successful
[spawner-9] [INFO] [1673791708.014781619] [spawner_force_torque_sensor_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[spawner-8] [INFO] [1673791708.024309791] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[spawner-11] [INFO] [1673791708.040552821] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1673791708.139166286] [controller_manager]: Loading controller ‘io_and_status_controller’
[spawner-7] [INFO] [1673791708.325003936] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1673791708.332779423] [controller_manager]: Configuring controller ‘io_and_status_controller’
[spawner-7] [INFO] [1673791708.457361066] [spawner_io_and_status_controller]: Configured and activated io_and_status_controller
[INFO] [spawner-11]: process has finished cleanly [pid 48634]
[INFO] [spawner-10]: process has finished cleanly [pid 48630]
[INFO] [spawner-8]: process has finished cleanly [pid 48614]
[INFO] [spawner-9]: process has finished cleanly [pid 48624]
[INFO] [spawner-7]: process has finished cleanly [pid 48610]
[ur_ros2_control_node-1] [INFO] [1673791805.852998228] [UR_Client_Library]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1673791805.853115811] [UR_Client_Library]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1673791805.916015986] [UR_Client_Library]: Robot connected to reverse interface. Ready to receive control commands.
[ur_ros2_control_node-1] [INFO] [1673791806.111805269] [UR_Client_Library]: Connection to reverse interface dropped.
[ur_ros2_control_node-1] [INFO] [1673791806.114363914] [UR_Client_Library]: Robot connected to reverse interface. Ready to receive control commands.
[ur_ros2_control_node-1] [INFO] [1673791808.825847500] [UR_Client_Library]: Connection to reverse interface dropped.
[ur_ros2_control_node-1] [INFO] [1673791808.831022779] [UR_Client_Library]: Robot connected to reverse interface. Ready to receive control commands.
[ur_ros2_control_node-1] [INFO] [1673791810.163593054] [UR_Client_Library]: Connection to reverse interface dropped.
[ur_ros2_control_node-1] [INFO] [1673791810.177247811] [UR_Client_Library]: Robot connected to reverse interface. Ready to receive control commands.
[ur_ros2_control_node-1] [INFO] [1673791812.004943728] [UR_Client_Library]: Connection to reverse interface dropped.