# URSim ROS ur\_robot\_driver issues **URL:** \ **Category:** ROS\ **Created:** [November 22, 2021, 1:06am UTC](https://forum.universal-robots.com/t/ursim-ros-ur-robot-driver-issues/17732 "2021-11-22T01:06:23Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![eriksen](https://avatars.discourse-cdn.com/v4/letter/e/bbce88/32.png) [@eriksen](https://forum.universal-robots.com/u/eriksen)\ **Post date:** [November 22, 2021, 1:06am UTC](https://forum.universal-robots.com/t/ursim-ros-ur-robot-driver-issues/17732/1 "2021-11-22T01:06:23Z")
I have the URSim running in VMware ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/e/ec622ef27a90791288913ebb78e0085eac0ae6b2.png) and I have a wsl2 installation of the ur\_robot\_driver. I start the driver like this ```auto roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=192.168.232.128 ``` and it connects (somewhat) ```auto 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? ---
**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\ **Post date:** [December 1, 2021, 1:05pm UTC](https://forum.universal-robots.com/t/ursim-ros-ur-robot-driver-issues/17732/2 "2021-12-01T13:05:37Z")
Have you checked [this issue](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/issues/24)? Also, I guess, you setup the external\_control URCap in URSim to connect to your machine (WSL2) as described [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md)?