Hello,
I am trying to set up UR ROS2 humble driver for two UR10e robots. I modified the ur10e and ur_control launch files to namespace the nodes and topics as well as supply the tf_prefix for each of the robot. I also specified the custom namespace within the ur_controllers.yaml and ur10e_update_rate.yaml config files. It appears that for a single robot the driver is working as expected and the controller manager is able to load all the controllers successfully. However, whenever I try to launch the driver for the second robot, the controller manager runs into issues loading some controllers. The log file is included below:
1751056613.3082011 [INFO] [launch]: Default logging verbosity is set to INFO
1751056613.6795392 [INFO] [dashboard_client-2]: process started with pid [54653]
1751056613.6797335 [INFO] [controller_stopper_node-4]: process started with pid [54657]
1751056613.6801856 [INFO] [ur_ros2_control_node-1]: process started with pid [54651]
1751056613.6802807 [INFO] [robot_state_helper-3]: process started with pid [54655]
1751056613.6803489 [INFO] [urscript_interface-5]: process started with pid [54659]
1751056613.6804068 [INFO] [robot_state_publisher-6]: process started with pid [54661]
1751056613.6804631 [INFO] [rviz2-7]: process started with pid [54663]
1751056613.6805184 [INFO] [spawner-8]: process started with pid [54665]
1751056613.6805730 [INFO] [spawner-9]: process started with pid [54667]
1751056613.7046139 [robot_state_publisher-6] [INFO] [1751056613.704233404] [sirab.ur10.robot_state_publisher]: got segment siraBbase
1751056613.7051036 [robot_state_publisher-6] [INFO] [1751056613.704322451] [sirab.ur10.robot_state_publisher]: got segment siraBbase_link
1751056613.7052042 [robot_state_publisher-6] [INFO] [1751056613.704331937] [sirab.ur10.robot_state_publisher]: got segment siraBbase_link_inertia
1751056613.7052612 [robot_state_publisher-6] [INFO] [1751056613.704338728] [sirab.ur10.robot_state_publisher]: got segment siraBflange
1751056613.7053108 [robot_state_publisher-6] [INFO] [1751056613.704343958] [sirab.ur10.robot_state_publisher]: got segment siraBforearm_link
1751056613.7053533 [robot_state_publisher-6] [INFO] [1751056613.704348675] [sirab.ur10.robot_state_publisher]: got segment siraBft_frame
1751056613.7053859 [robot_state_publisher-6] [INFO] [1751056613.704353424] [sirab.ur10.robot_state_publisher]: got segment siraBshoulder_link
1751056613.7054124 [robot_state_publisher-6] [INFO] [1751056613.704357981] [sirab.ur10.robot_state_publisher]: got segment siraBtool0
1751056613.7054453 [robot_state_publisher-6] [INFO] [1751056613.704363016] [sirab.ur10.robot_state_publisher]: got segment siraBupper_arm_link
1751056613.7054908 [robot_state_publisher-6] [INFO] [1751056613.704367853] [sirab.ur10.robot_state_publisher]: got segment siraBwrist_1_link
1751056613.7055311 [robot_state_publisher-6] [INFO] [1751056613.704372716] [sirab.ur10.robot_state_publisher]: got segment siraBwrist_2_link
1751056613.7055726 [robot_state_publisher-6] [INFO] [1751056613.704378561] [sirab.ur10.robot_state_publisher]: got segment siraBwrist_3_link
1751056613.7056081 [robot_state_publisher-6] [INFO] [1751056613.704383782] [sirab.ur10.robot_state_publisher]: got segment world
1751056613.7101624 [rviz2-7] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
1751056613.9645956 [rviz2-7] [INFO] [1751056613.964341753] [rviz2]: Stereo is NOT SUPPORTED
1751056613.9656665 [rviz2-7] [INFO] [1751056613.964420270] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
1751056614.0049789 [rviz2-7] [INFO] [1751056614.003562438] [rviz2]: Stereo is NOT SUPPORTED
1751056614.1409280 [spawner-9] [INFO] [1751056614.140684990] [sirab.ur10.spawner_joint_trajectory_controller]: waiting for service /sirab/ur10/controller_manager/list_controllers to become available...
1751056614.1814859 [spawner-8] [INFO] [1751056614.181258827] [sirab.ur10.spawner_joint_state_broadcaster]: waiting for service /sirab/ur10/controller_manager/list_controllers to become available...
1751056619.8260527 [spawner-9] [INFO] [1751056619.825980113] [sirab.ur10.spawner_joint_trajectory_controller]: e[94mLoaded e[1mjoint_trajectory_controllere[0m
1751056622.9342866 [spawner-8] [INFO] [1751056622.933995213] [sirab.ur10.spawner_joint_state_broadcaster]: e[94mLoaded e[1mjoint_state_broadcastere[0m
1751056627.8041594 [spawner-9] [INFO] [1751056627.803934496] [sirab.ur10.spawner_joint_trajectory_controller]: e[94mLoaded e[1mforward_velocity_controllere[0m
1751056627.8080990 [spawner-8] [INFO] [1751056627.808014502] [sirab.ur10.spawner_joint_state_broadcaster]: e[92mConfigured and activated e[1mjoint_state_broadcastere[0m
1751056631.9339736 [spawner-8] [INFO] [1751056631.933868939] [sirab.ur10.spawner_joint_state_broadcaster]: e[94mLoaded e[1mio_and_status_controllere[0m
1751056635.0800419 [spawner-9] [INFO] [1751056635.079921235] [sirab.ur10.spawner_joint_trajectory_controller]: e[94mLoaded e[1mforward_position_controllere[0m
1751056637.8081255 [spawner-8] [INFO] [1751056637.808035674] [sirab.ur10.spawner_joint_state_broadcaster]: e[92mConfigured and activated e[1mio_and_status_controllere[0m
1751056641.7201209 [spawner-9] [INFO] [1751056641.719949087] [sirab.ur10.spawner_joint_trajectory_controller]: e[94mLoaded e[1mforce_mode_controllere[0m
1751056645.7200794 [spawner-8] [INFO] [1751056645.719910877] [sirab.ur10.spawner_joint_state_broadcaster]: e[94mLoaded e[1mspeed_scaling_state_broadcastere[0m
1751056647.7239594 [spawner-8] [INFO] [1751056647.723799663] [sirab.ur10.spawner_joint_state_broadcaster]: e[92mConfigured and activated e[1mspeed_scaling_state_broadcastere[0m
1751056653.6161802 [spawner-9] [INFO] [1751056653.615976406] [sirab.ur10.spawner_joint_trajectory_controller]: e[94mLoaded e[1mpassthrough_trajectory_controllere[0m
1751056663.6174083 [spawner-8] [WARN] [1751056663.617203794] [sirab.ur10.spawner_joint_state_broadcaster]: Failed getting a result from calling /sirab/ur10/controller_manager/load_controller in 10.0. (Attempt 1 of 3.)
1751056665.7507350 [spawner-9] [WARN] [1751056665.750523358] [sirab.ur10.spawner_joint_trajectory_controller]: Failed getting a result from calling /sirab/ur10/controller_manager/list_controllers in 10.0. (Attempt 1 of 3.)
1751056673.6184464 [spawner-8] [WARN] [1751056673.618207859] [sirab.ur10.spawner_joint_state_broadcaster]: Failed getting a result from calling /sirab/ur10/controller_manager/load_controller in 10.0. (Attempt 2 of 3.)
1751056675.1222942 [spawner-8] [FATAL] [1751056675.122234850] [sirab.ur10.spawner_joint_state_broadcaster]: e[91mFailed loading controller e[1mforce_torque_sensor_broadcastere[0m
1751056675.2561579 [ERROR] [spawner-8]: process has died [pid 54665, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager /sirab/ur10/controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster tcp_pose_broadcaster ur_configuration_controller scaled_joint_trajectory_controller --ros-args -r __ns:=/sirab/ur10'].
1751056685.1228857 [spawner-9] [WARN] [1751056685.122615411] [sirab.ur10.spawner_joint_trajectory_controller]: Failed getting a result from calling /sirab/ur10/controller_manager/load_controller in 10.0. (Attempt 1 of 3.)
1751056695.1236837 [spawner-9] [WARN] [1751056695.123463121] [sirab.ur10.spawner_joint_trajectory_controller]: Failed getting a result from calling /sirab/ur10/controller_manager/load_controller in 10.0. (Attempt 2 of 3.)
1751056702.5161936 [spawner-9] [FATAL] [1751056702.516111896] [sirab.ur10.spawner_joint_trajectory_controller]: e[91mFailed loading controller e[1mfreedrive_mode_controllere[0m
1751056702.8911359 [ERROR] [spawner-9]: process has died [pid 54667, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager /sirab/ur10/controller_manager --controller-manager-timeout 10 --inactive joint_trajectory_controller forward_velocity_controller forward_position_controller force_mode_controller passthrough_trajectory_controller freedrive_mode_controller tool_contact_controller --ros-args -r __ns:=/sirab/ur10'].
Furthermore, I’m not sure if this is related, but the terminal output also includes a lot of error messages that says Pipeline producer overflowed! <RTDE Data Pipeline> after configuring forward_position_controller. Immediately after the error messages, robot_state_helper logs that the robot is running and in normal safety mode.
I’m wondering if anyone would know what could be causing this issue and how to resolve this. Thanks in advance.