Model - UR5e
Serial no. 20245500474
Assembled in Denmark
HS 84795000
Item no. 110305
Working platform wsl2 ubuntu 22.04.4 ROS2 humble
also tried in Ubuntu machine with Ubuntu 22.04 LTS humble
also tried in Ubuntu machine with Ubuntu 24.04 LTS rolling
Network is connected.
Since 2 weeks, I am trying to execute plan on moveit, but it’s not working.
build is clean. 8 packages buid
ros2 launch ur_calibration calibration_correction.launch.py
robot_ip:=192.168.1.102 target_filename:=“${HOME}/my_robot_calibration.yaml”
calibration is also correct.
error and warn lines running
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.102
[rviz2-6] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [controller_stopper_node-3] [INFO] [1723653744.736396677] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] [WARN] [1723653744.739793032] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.
[INFO] [spawner-7]: process has finished cleanly [pid 1053] [rviz2-6] [INFO] [1723653502.837449816] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1723653502.837638218] [rviz2]: OpenGl version: 4.1 (GLSL 4.1) [rviz2-6] [INFO] [1723653502.905336838] [rviz2]: Stereo is NOT SUPPORTED [INFO] [spawner-8]: process has finished cleanly [pid 1055] [ur_ros2_control_node-1] [WARN] [1723653520.345612323] [UR_Client_Library:]: Failed to read from stream, reconnecting in 1 seconds…
[ur_ros2_control_node-1] [WARN] [1723653522.365852625] [UR_Client_Library:]: Failed to read from stream, reconnecting in 2 seconds…
[ur_ros2_control_node-1] [WARN] [1723653525.369592692] [UR_Client_Library:]: Failed to read from stream, reconnecting in 4 seconds…
The problem seems to be connected with the Kernel, but with Ubuntu pro 24.04 Noble and ros2 rolling, it has the same issue.
If I run
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.1.102 kinematics_config:=“${HOME}/my_robot_calibration.yaml”
I get additional errors:
[ur_ros2_control_node-1] [ERROR] [1723653502.158118606] [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/ur_calibration/README.md at main · UniversalRobots/Universal_Robots_ROS2_Driver · GitHub] for details.
[ur_ros2_control_node-1] [WARN] [1723653502.179572416] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-1] [WARN] [1723653502.179921928] [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 for details.
[ur_ros2_control_node-1] [INFO] [1723653502.421657172] [controller_manager]: Loading controller ‘scaled_joint_trajectory_controller’
[ur_ros2_control_node-1] [WARN] [1723653502.480625431] [scaled_joint_trajectory_controller]: [Deprecated]: “allow_nonzero_velocity_at_trajectory_end” is set to true. The default behavior will change to false.
How to proceed and which ros and ubuntu version should I use?