humble ros2 launch is not stable

[nqduy35]

Affected ROS2 Driver version(s)

Humble branch

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel, Docker

How is the UR ROS2 Driver installed.

Build the driver from source and using the UR Client Library from binary

Which robot platform is the driver connected to.

UR E-series robot

Robot SW / URSim version(s)

5.14

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

While launching the ur3e.launch.py of the package ur_robot_driver to control my UR3e robot, I found that it is not stable. Sometimes, some topics are missing.

In one terminal I run: $ ros2 launch ur_robot_driver ur3e.launch.py robot_ip:=192.168.56.6 In another terminal I run: $ ros2 topic list | wc -l Sometimes I get only 21 topics, sometimes only 15. The good one must be 25 topics. Please check these three photos (the first is good case, the second and the third are bad cases)

In general, I have to restart the launch and my custom ROS2 node. However, sometimes the problem happens when the robot is running, and it cause serious problems. Do you have any suggestion to prevent this issue? Thank you.

Relevant log output

No response

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[nqduy35]

I think adding "respawn" to the launch can be a solution. Sorry for my inexperienced question.