# UR5 communication issue with pc using ur ros driver **URL:** \ **Category:** ROS\ **Created:** [July 6, 2021, 10:04am UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310 "2021-07-06T10:04:25Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![anon81261137](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@anon81261137](https://forum.universal-robots.com/u/anon81261137)\ **Post date:** [July 6, 2021, 10:04am UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310/1 "2021-07-06T10:04:25Z")
Hi, we are using ROS ur\_modern\_driver to communicate with ur5 controller. We ran following commnad to initiate > roslaunch ur\_calibration calibration\_correction.launch robot\_ip:=192.168.0.100 target\_filename:=$HOME/my\_robot\_calibration.yaml > roslaunch ur\_robot\_driver ur5\_bringup.launch robot\_ip:=192.168.0.100 [reverse\_port:=REVERSE\_PORT] kinematics\_config:=$HOME/my\_robot\_calibration.yaml the above commnad is throwing an error > [WARN] [1625585361.809884396]: Messge on ReverseInterface received. The reverse interface currently does not support any message handling. This message will be ignored. > [dh\_gripper\_driver\_test-9] killing on exit > [dh\_gripper\_driver-8] killing on exit > [ur\_hardware\_interface/ur\_robot\_state\_helper-7] killing on exit > [controller\_stopper-6] killing on exit > [ros\_control\_stopped\_spawner-5] killing on exit > [ros\_control\_controller\_spawner-4] killing on exit > [ur\_hardware\_interface-3] killing on exit > [robot\_state\_publisher-2] killing on exit > [INFO] [1625585361.816247]: Shutting down spawner. Stopping and unloading controllers… > Interrupt signal (2) received. > [INFO] [1625585361.816572]: Shutting down spawner. Stopping and unloading controllers… > [WARN] [1625585361.817863228]: Messge on ReverseInterface received. The reverse interface currently does not support any message handling. This message will be ignored. > [INFO] [1625585361.818512]: Stopping all controllers… > [INFO] [1625585361.818900]: Stopping all controllers… > [ERROR] [1625585361.823546096]: Could not stop controller ‘pos\_joint\_traj\_controller’ since it is not running > [INFO] [1625585361.823883]: Unloading all loaded controllers… > [INFO] [1625585361.825292]: Trying to unload joint\_group\_vel\_controller > Debug: class\_loader::ClassLoader: Calling onPluginDeletion() for obj ptr = 0x7f65180141a0. > > [INFO] [1625585366.937714]: Unloading all loaded controllers… > [INFO] [1625585366.939111]: Trying to unload force\_torque\_sensor\_controller > [WARN] [1625585367.008429]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender’s logs for details > [WARN] [1625585367.008823]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer > [rosout-1] killing on exit > [master] killing on exit > shutting down processing monitor… > … shutting down processing monitor complete > done Previously we where working on this, able to communicate the robot. But don’t know suddenly the error is appearing Please help us ---
**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\ **Post date:** [July 6, 2021, 10:21am UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310/2 "2021-07-06T10:21:55Z")
> the above commnad is throwing an error Which one? I assume the latter. However, your output contains nodes which usually are not inside the bringup launchfule (e.g. the `dh_gripper_driver`) This doesn’t look like the full log output. As far as I can see, a bunch of nodes are being taken down, because that was requested. May it be that abort was requested by the user or that a required node crashed. ---
**Author:** ![anon81261137](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@anon81261137](https://forum.universal-robots.com/u/anon81261137)\ **Post date:** [July 6, 2021, 10:30am UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310/3 "2021-07-06T10:30:44Z")
I ran below command > roslaunch ur\_robot\_driver ur5\_bringup.launch robot\_ip:=192.168.0.100 [reverse\_port:=REVERSE\_PORT] kinematics\_config:=$HOME/my\_robot\_calibration.yaml Getting an warning as > [WARN] [1625585361.809884396]: Messge on ReverseInterface received. The reverse interface currently does not support any message handling. This message will be ignored. i aborted and pasted the error log, the dh\_gripper\_driver is the launch file for gripper(no issues with this) When i ran Moveit\_planning\_execusion.launch file, getting following error > process[move\_group-1]: started with pid [13587] > /opt/ros/melodic/lib/moveit\_ros\_move\_group/move\_group: error while loading shared libraries: libmoveit\_robot\_state.so.1.0.8: cannot open shared object file: No such file or directory > [move\_group-1] process has died [pid 13587, exit code 127, cmd /opt/ros/melodic/lib/moveit\_ros\_move\_group/move\_group \_\_name:=move\_group \_\_log:=/home/ril/.ros/log/042c621a-de73-11eb-af4b-f02f74552278/move\_group-1.log]. > log file: /home/ril/.ros/log/042c621a-de73-11eb-af4b-f02f74552278/move\_group-1\*.log > all processes on machine have died, roslaunch will exit > shutting down processing monitor… > … shutting down processing monitor complete > done ---
**Author:** ![anon81261137](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@anon81261137](https://forum.universal-robots.com/u/anon81261137)\ **Post date:** [July 6, 2021, 12:28pm UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310/4 "2021-07-06T12:28:00Z")
I ran below command > roslaunch ur\_robot\_driver ur5\_bringup.launch robot\_ip:=192.168.0.100 [reverse\_port:=REVERSE\_PORT] kinematics\_config:=$HOME/my\_robot\_calibration.yaml getting output of > [INFO] [1625594280.843813568]: Connection to reverse interface dropped. ---
**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\ **Post date:** [July 6, 2021, 4:14pm UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310/5 "2021-07-06T16:14:20Z")
> [@anon81261137](#): > > [WARN] [1625585361.809884396]: Messge on ReverseInterface received. The reverse interface currently does not support any message handling. This message will be ignored. This is not an error, but only a warning. Updating the driver should make that go away. > … > /opt/ros/melodic/lib/moveit\_ros\_move\_group/move\_group: error while loading shared libraries: > … There seems to be a issue with your moveit installation. Maybe a `sudo apt update && sudo apt dist-upgrade` to update all your packages might help there. > [INFO] [1625594280.843813568]: Connection to reverse interface dropped. That happens every time when - `external_control` running on the robot’s teach panel gets interrupted (e.g. by stopping the Polyscope program containing the External Control node, or by moving the robot around using the teach panel when the driver is used in headless mode). Simply restart `external_control` on the teach panel to reconnect. - Connection is lost due to network issues, e.g. a non-stable network connection between the ROS pc and the robot controller - In case URSim is used instead of a real robot I’ve seen it happen there,as well without a noticable cause. ---
**Author:** ![anon81261137](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@anon81261137](https://forum.universal-robots.com/u/anon81261137)\ **Post date:** [July 8, 2021, 4:26am UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310/6 "2021-07-08T04:26:42Z")
Hi @mauch Thanks for your guidelines, i have updated the ROS driver the warning is gone. Did `sudo apt update && sudo apt dist-upgrade` Moveit is working fine. Thank you ---
**Author:** ![anon81261137](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@anon81261137](https://forum.universal-robots.com/u/anon81261137)\ **Post date:** [July 8, 2021, 4:35am UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310/7 "2021-07-08T04:35:25Z")
We are doing camera and ur5 integration (As discussed in this [topic](https://forum.universal-robots.com/t/ur5-vision-base-pick-and-place/15017/9)) . we are using following transformation method to pass camera coordinate to robot base coordinate. Following codes are used to transform camera coordinate to base coordinate, here point1 is the object coordinates from camera ```auto def callback(point1): print("camera_coordinate",point1) result_1 = [] trans = 0 rot = 0 listener = tf.TransformListener() while not rospy.is_shutdown(): try: (trans,rot) = listener.lookupTransform('/tool0', '/camera_link', rospy.Time(0)) break except : continue matrix2=np.dot(translation_matrix(trans), quaternion_matrix(rot)) point1[0][0] = -point1[0][0] point1[1][0] = -point1[1][0] point1[2][0] = point1[2][0] result_1 = np.matmul(np.array(matrix2),point1) result_1[0][0]=-result_1[0][0] result_1[1][0]=-result_1[1][0] print("object coordinates",result_1) move_to_pos_1(result_1) return result_1 ``` And the robot move function to feed coordinate to robot ```auto def move_to_pos(Goal_x,Goal_y,Goal_z): """ This function shows an example of how to move the UR5 to a position with MoveIt""" pose_goal = group.get_current_pose().pose print("Current location:") print(pose_goal) pose_goal.position.x = Goal_x pose_goal.position.y = Goal_y pose_goal.position.z = Goal_z pose_goal.orientation.x = 0.923274429142 pose_goal.orientation.y = -0.383710458579 pose_goal.orientation.z = -0.00432136844868 pose_goal.orientation.w = 0.0176617735317 print("Pose Goal:") print(pose_goal) group.set_pose_target(pose_goal) plan= group.plan() rospy.sleep(5) group.go(wait=True) group.clear_pose_targets() ``` The values from the camera for object detection is proper. The robot is not moving to exact object coordinate. for every object position the position error is varying. Please let me know whether we are doing with right way