Universal Robots Forum

URSim ROS ur_robot_driver issues

I have the URSim running in VMware

and I have a wsl2 installation of the ur_robot_driver.

I start the driver like this

roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=192.168.232.128

and it connects (somewhat)

process[robot_state_publisher-1]: started with pid [16130]
process[ur_hardware_interface-2]: started with pid [16131]
process[ros_control_controller_spawner-3]: started with pid [16132]
process[ros_control_stopped_spawner-4]: started with pid [16137]
process[controller_stopper-5]: started with pid [16143]
process[ur_hardware_interface/ur_robot_state_helper-6]: started with pid [16147]
[/ur_hardware_interface] [1637542275.891388637] [ INFO] [HardwareInterface::init():274]: Initializing dashboard client
[/ur_hardware_interface] [1637542275.895646212] [ INFO] [():50]: Connected: Universal Robots Dashboard Server

[/controller_stopper] [1637542275.897587274] [ INFO] [ControllerStopper():49]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[/controller_stopper] [1637542275.900167376] [ INFO] [service::exists():80]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[/ur_hardware_interface] [1637542275.912646412] [ INFO] [HardwareInterface::init():277]: Initializing urdriver
[/ur_hardware_interface] [1637542275.913965313] [ WARN] [():396]: No realtime capabilities found. Consider using a realtime system for better performance
[/ros_control_stopped_spawner] [1637542276.131103] [INFO] [main():121]: Controller Spawner: Waiting for service controller_manager/load_controller
[/ros_control_controller_spawner] [1637542276.131697] [INFO] [main():121]: Controller Spawner: Waiting for service controller_manager/load_controller
[/ur_hardware_interface] [1637542276.364699204] [ INFO] [():71]: Negotiated RTDE protocol version to 2.
[/ur_hardware_interface] [1637542276.365300279] [ INFO] [():177]: Setting up RTDE communication with frequency 500.000000
[/ur_hardware_interface] [1637542277.381401461] [ INFO] [():296]: Checking if calibration data matches connected robot.
[/ur_hardware_interface] [1637542277.382335402] [ WARN] [():396]: No realtime capabilities found. Consider using a realtime system for better performance
[/ur_hardware_interface] [1637542278.479456290] [ INFO] [HardwareInterface::init():299]: Calibration checked successfully.
[/ur_hardware_interface] [1637542278.486760961] [ WARN] [():396]: No realtime capabilities found. Consider using a realtime system for better performance
[/ur_hardware_interface] [1637542278.487462553] [ INFO] [HardwareInterface::init():445]: Loaded ur_robot_driver hardware_interface
[/controller_stopper] [1637542278.523029521] [ INFO] [service::waitForService():123]: waitForService: Service [/controller_manager/switch_controller] is now available.
[/controller_stopper] [1637542278.523197809] [ INFO] [ControllerStopper():52]: Service available.
[/controller_stopper] [1637542278.523350083] [ INFO] [ControllerStopper():53]: Waiting for controller list service to come up on /controller_manager/list_controllers
[/controller_stopper] [1637542278.524266227] [ INFO] [ControllerStopper():56]: Service available.
[/ros_control_stopped_spawner] [1637542278.546955] [INFO] [main():126]: Controller Spawner: Waiting for service controller_manager/switch_controller
[/ros_control_controller_spawner] [1637542278.547124] [INFO] [main():126]: Controller Spawner: Waiting for service controller_manager/switch_controller
[/ros_control_stopped_spawner] [1637542278.549695] [INFO] [main():134]: Controller Spawner: Waiting for service controller_manager/unload_controller
[/ros_control_controller_spawner] [1637542278.550178] [INFO] [main():134]: Controller Spawner: Waiting for service controller_manager/unload_controller
[/ros_control_stopped_spawner] [1637542278.551558] [INFO] [main():189]: Loading controller: pos_joint_traj_controller
[/ros_control_controller_spawner] [1637542278.553343] [INFO] [main():189]: Loading controller: joint_state_controller
[/ros_control_stopped_spawner] [1637542278.575244] [INFO] [main():189]: Loading controller: joint_group_vel_controller
[/ros_control_controller_spawner] [1637542278.579125] [INFO] [main():189]: Loading controller: scaled_pos_joint_traj_controller
[/ros_control_stopped_spawner] [1637542278.583266] [INFO] [main():197]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[/ros_control_controller_spawner] [1637542278.601660] [INFO] [main():189]: Loading controller: speed_scaling_state_controller
[/ros_control_controller_spawner] [1637542278.607920] [INFO] [main():189]: Loading controller: force_torque_sensor_controller
[/ros_control_controller_spawner] [1637542278.612033] [INFO] [main():197]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[/ros_control_controller_spawner] [1637542278.615837] [INFO] [main():206]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[/ur_hardware_interface/ur_robot_state_helper] [1637542278.732439677] [ INFO] [RobotStateHelper::robotModeCallback():71]: Robot mode is now RUNNING
[/ur_hardware_interface/ur_robot_state_helper] [1637542278.733453126] [ INFO] [RobotStateHelper::safetyModeCallback():85]: Robot's safety mode is now NORMAL

The problem is that I can’t control the robot in URSim with the drivers.

I never get this “Robot connected to reverse interface. Ready to receive control commands.”.

What am I missing?