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Tutorials around the Universal Robots ROS 2 ecosystem
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The workcell did not worked when launching the ROS2 driver #4

Open Sohaib-Snouber opened 4 months ago

Sohaib-Snouber commented 4 months ago

Hello, using ROS2 iron, ROS2 Universal Robots Driver binary installation.

i am trying to include the gripper on the robot description, i have done that and when running the view_robot.launch.py, everything works fine with my modification and with the original robot_cell_description.

but when starting the start_robot.launch.py then the i got only the robot in the robot_description, and only the robot is shown. the launch file give me the following output, i am not sure, but i did not see something clear, about the problem. I have only changed all the default to my robot ur5e, and the ip:=10.130.1.100:

`$ ros2 launch my_robot_cell_control start_robot.launch.py [INFO] [launch]: All log files can be found below /home/sohaib/.ros/log/2024-07-30-15-34-35-923442-sohaib-X570-AORUS-ELITE-164679 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [dashboard_client-2]: process started with pid [164686] [INFO] [controller_stopper_node-3]: process started with pid [164688] [INFO] [ur_ros2_control_node-1]: process started with pid [164684] [INFO] [urscript_interface-4]: process started with pid [164690] [INFO] [robot_state_publisher-5]: process started with pid [164692] [INFO] [rviz2-6]: process started with pid [164694] [INFO] [spawner-7]: process started with pid [164696] [INFO] [spawner-8]: process started with pid [164698] [INFO] [spawner-9]: process started with pid [164700] [controller_stopper_node-3] [INFO] [1722346476.502422926] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller [dashboard_client-2] [INFO] [1722346476.503483435] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server [dashboard_client-2] [robot_state_publisher-5] [INFO] [1722346476.510218247] [robot_state_publisher]: got segment ur5e_base [robot_state_publisher-5] [INFO] [1722346476.510286707] [robot_state_publisher]: got segment ur5e_base_link [robot_state_publisher-5] [INFO] [1722346476.510294011] [robot_state_publisher]: got segment ur5e_base_link_inertia [robot_state_publisher-5] [INFO] [1722346476.510298930] [robot_state_publisher]: got segment ur5e_flange [robot_state_publisher-5] [INFO] [1722346476.510303389] [robot_state_publisher]: got segment ur5e_forearm_link [robot_state_publisher-5] [INFO] [1722346476.510307907] [robot_state_publisher]: got segment ur5e_ft_frame [robot_state_publisher-5] [INFO] [1722346476.510312195] [robot_state_publisher]: got segment ur5e_shoulder_link [robot_state_publisher-5] [INFO] [1722346476.510316514] [robot_state_publisher]: got segment ur5e_tool0 [robot_state_publisher-5] [INFO] [1722346476.510320902] [robot_state_publisher]: got segment ur5e_upper_arm_link [robot_state_publisher-5] [INFO] [1722346476.510325230] [robot_state_publisher]: got segment ur5e_wrist_1_link [robot_state_publisher-5] [INFO] [1722346476.510329508] [robot_state_publisher]: got segment ur5e_wrist_2_link [robot_state_publisher-5] [INFO] [1722346476.510333836] [robot_state_publisher]: got segment ur5e_wrist_3_link [robot_state_publisher-5] [INFO] [1722346476.510338124] [robot_state_publisher]: got segment world [rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [ur_ros2_control_node-1] [WARN] [1722346476.516403757] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ur_ros2_control_node-1] [INFO] [1722346476.516717992] [resource_manager]: Loading hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722346476.519035684] [resource_manager]: Initialize hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722346476.519080659] [resource_manager]: Successful initialization of hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722346476.519236444] [resource_manager]: 'configure' hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722346476.519242566] [URPositionHardwareInterface]: Starting ...please wait... [ur_ros2_control_node-1] [INFO] [1722346476.519252104] [URPositionHardwareInterface]: Initializing driver... [ur_ros2_control_node-1] [WARN] [1722346476.519964103] [UR_ClientLibrary:ur5e]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details. [ur_ros2_control_node-1] [INFO] [1722346476.557841656] [UR_ClientLibrary:ur5e]: Negotiated RTDE protocol version to 2. [ur_ros2_control_node-1] [INFO] [1722346476.558106047] [UR_ClientLibrary:ur5e]: Setting up RTDE communication with frequency 500.000000 [rviz2-6] [INFO] [1722346476.881707927] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1722346476.881809359] [rviz2]: OpenGl version: 4.3 (GLSL 4.3) [rviz2-6] [INFO] [1722346476.893948581] [rviz2]: Stereo is NOT SUPPORTED [ur_ros2_control_node-1] [INFO] [1722346477.597051131] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'. [ur_ros2_control_node-1] [ERROR] [1722346478.631162103] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/README.md] for details. [ur_ros2_control_node-1] [INFO] [1722346478.631253567] [URPositionHardwareInterface]: System successfully started!

[ur_ros2_control_node-1] [INFO] [1722346478.631304543] [resource_manager]: 'activate' hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722346478.631311777] [URPositionHardwareInterface]: Activating HW interface

[controller_stopper_node-3] [INFO] [1722346478.634866834] [Controller stopper]: Service available [controller_stopper_node-3] [INFO] [1722346478.634896009] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers [controller_stopper_node-3] [INFO] [1722346478.634929994] [Controller stopper]: Service available [ur_ros2_control_node-1] [WARN] [1722346478.636199369] [controller_manager]: Could not enable FIFO RT scheduling policy [ur_ros2_control_node-1] [WARN] [1722346478.636407894] [UR_ClientLibrary:ur5e]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details. [ur_ros2_control_node-1] [INFO] [1722346478.751598811] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller' [ur_ros2_control_node-1] [WARN] [1722346478.761373041] [scaled_joint_trajectory_controller]: "allow_nonzero_velocity_at_trajectory_end" is set to false. (The default behavior changed to false, and trajectories might get discarded.) [spawner-7] [INFO] [1722346478.762907409] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller [ur_ros2_control_node-1] [INFO] [1722346478.763435109] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller' [ur_ros2_control_node-1] [INFO] [1722346478.763597437] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ur_ros2_control_node-1] [INFO] [1722346478.763622664] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ur_ros2_control_node-1] [INFO] [1722346478.763634717] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method. [ur_ros2_control_node-1] [INFO] [1722346478.766139543] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [ur_ros2_control_node-1] [INFO] [1722346478.768600827] [controller_manager]: Loading controller 'joint_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1722346478.776563915] [controller_manager]: Loading controller 'forward_position_controller' [spawner-8] [INFO] [1722346478.776952000] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ur_ros2_control_node-1] [INFO] [1722346478.784515763] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1722346478.784547884] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-9] [INFO] [1722346478.785294328] [spawner_forward_position_controller]: Loaded forward_position_controller [ur_ros2_control_node-1] [INFO] [1722346478.786478261] [controller_manager]: Configuring controller 'forward_position_controller' [ur_ros2_control_node-1] [INFO] [1722346478.786817725] [forward_position_controller]: configure successful [spawner-7] [INFO] [1722346478.793155974] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller [spawner-8] [INFO] [1722346478.796946908] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [ur_ros2_control_node-1] [INFO] [1722346478.798348975] [controller_manager]: Loading controller 'io_and_status_controller' [spawner-8] [INFO] [1722346478.803198674] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller [ur_ros2_control_node-1] [INFO] [1722346478.803741712] [controller_manager]: Configuring controller 'io_and_status_controller' [spawner-8] [INFO] [1722346478.812638702] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller [ur_ros2_control_node-1] [INFO] [1722346478.814048433] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1722346478.817114151] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tfprefix: ur5e [spawner-8] [INFO] [1722346478.819035031] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster [ur_ros2_control_node-1] [INFO] [1722346478.819381828] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1722346478.819428917] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz [spawner-8] [INFO] [1722346478.825053054] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster [ur_ros2_control_node-1] [INFO] [1722346478.826479607] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster' [spawner-8] [INFO] [1722346478.835160065] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster [ur_ros2_control_node-1] [INFO] [1722346478.835564090] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster' [spawner-8] [INFO] [1722346478.841175843] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster [INFO] [spawner-7]: process has finished cleanly [pid 164696] [INFO] [spawner-9]: process has finished cleanly [pid 164700] [INFO] [spawner-8]: process has finished cleanly [pid 164698]

` image

the below image, when running the view_robot.launch.py image

i am thinking to run the driver while the gripper is integrated, so that the motion planning include it while planning and executing. thanks for your support and help.

Sohaib-Snouber commented 3 months ago

Hello, after i have changed the launch file as in this link

when i run the test.launch.py then i got the following output:

image

sohaib@sohaib-X570-AORUS-ELITE:~/master_project_ur$ ros2 launch my_robot_cell_control test.launch.py [INFO] [launch]: All log files can be found below /home/sohaib/.ros/log/2024-07-31-19-55-29-693176-sohaib-X570-AORUS-ELITE-180206 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [dashboard_client-2]: process started with pid [180213] [INFO] [controller_stopper_node-3]: process started with pid [180215] [INFO] [ur_ros2_control_node-1]: process started with pid [180211] [INFO] [urscript_interface-4]: process started with pid [180217] [INFO] [robot_state_publisher-5]: process started with pid [180219] [INFO] [rviz2-6]: process started with pid [180221] [INFO] [spawner-7]: process started with pid [180223] [INFO] [spawner-8]: process started with pid [180225] [INFO] [spawner-9]: process started with pid [180227] [rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [dashboard_client-2] [INFO] [1722448530.339637008] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server [dashboard_client-2] [controller_stopper_node-3] [INFO] [1722448530.340480523] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller [ur_ros2_control_node-1] [WARN] [1722448530.356224262] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ur_ros2_control_node-1] [INFO] [1722448530.356870193] [resource_manager]: Loading hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722448530.359917106] [resource_manager]: Initialize hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722448530.359974083] [resource_manager]: Successful initialization of hardware 'ur5e' [ur_ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error' [ur_ros2_control_node-1] what(): Hardware name ur5e is duplicated. Please provide a unique 'name' in the URDF. [robot_state_publisher-5] [INFO] [1722448530.361335148] [robot_state_publisher]: got segment monitor [robot_state_publisher-5] [INFO] [1722448530.361425018] [robot_state_publisher]: got segment robot_mount [robot_state_publisher-5] [INFO] [1722448530.361433995] [robot_state_publisher]: got segment table [robot_state_publisher-5] [INFO] [1722448530.361439686] [robot_state_publisher]: got segment ur5e_base [robot_state_publisher-5] [INFO] [1722448530.361445006] [robot_state_publisher]: got segment ur5e_base_link [robot_state_publisher-5] [INFO] [1722448530.361450516] [robot_state_publisher]: got segment ur5e_base_link_inertia [robot_state_publisher-5] [INFO] [1722448530.361455656] [robot_state_publisher]: got segment ur5e_flange [robot_state_publisher-5] [INFO] [1722448530.361460856] [robot_state_publisher]: got segment ur5e_forearm_link [robot_state_publisher-5] [INFO] [1722448530.361465875] [robot_state_publisher]: got segment ur5e_ft_frame [robot_state_publisher-5] [INFO] [1722448530.361470754] [robot_state_publisher]: got segment ur5e_shoulder_link [robot_state_publisher-5] [INFO] [1722448530.361476095] [robot_state_publisher]: got segment ur5e_tool0 [robot_state_publisher-5] [INFO] [1722448530.361481675] [robot_state_publisher]: got segment ur5e_upper_arm_link [robot_state_publisher-5] [INFO] [1722448530.361486965] [robot_state_publisher]: got segment ur5e_wrist_1_link [robot_state_publisher-5] [INFO] [1722448530.361492205] [robot_state_publisher]: got segment ur5e_wrist_2_link [robot_state_publisher-5] [INFO] [1722448530.361497445] [robot_state_publisher]: got segment ur5e_wrist_3_link [robot_state_publisher-5] [INFO] [1722448530.361502725] [robot_state_publisher]: got segment wall [robot_state_publisher-5] [INFO] [1722448530.361507985] [robot_state_publisher]: got segment world [ERROR] [ur_ros2_control_node-1]: process has died [pid 180211, exit code -6, cmd '/home/sohaib/master_project_ur/install/ur_robot_driver/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_0jkgad2g --params-file /home/sohaib/master_project_ur/install/my_robot_cell_control/share/my_robot_cell_control/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_0fa84jcc']. [rviz2-6] [INFO] [1722448530.792664411] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1722448530.792782765] [rviz2]: OpenGl version: 4.3 (GLSL 4.3) [rviz2-6] [INFO] [1722448530.805224518] [rviz2]: Stereo is NOT SUPPORTED [spawner-7] [INFO] [1722448532.602674189] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1722448532.605379025] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1722448532.613915181] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1722448534.611973515] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1722448534.615037489] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1722448534.623034025] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1722448536.619767917] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1722448536.623826514] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1722448536.632047262] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1722448538.629260524] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1722448538.632487848] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1722448538.642405067] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [ERROR] [1722448540.639052302] [spawner_scaled_joint_trajectory_controller]: Controller manager not available [spawner-8] [ERROR] [1722448540.641215443] [spawner_joint_state_broadcaster]: Controller manager not available [spawner-9] [ERROR] [1722448540.652555492] [spawner_forward_position_controller]: Controller manager not available [ERROR] [spawner-8]: process has died [pid 180225, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster --ros-args']. [ERROR] [spawner-7]: process has died [pid 180223, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --controller-manager-timeout 10 --ros-args']. [ERROR] [spawner-9]: process has died [pid 180227, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 --inactive forward_position_controller --ros-args'].

h pid [180213] [INFO] [controller_stopper_node-3]: process started with pid [180215] [INFO] [ur_ros2_control_node-1]: process started with pid [180211] [INFO] [urscript_interface-4]: process started with pid [180217] [INFO] [robot_state_publisher-5]: process started with pid [180219] [INFO] [rviz2-6]: process started with pid [180221] [INFO] [spawner-7]: process started with pid [180223] [INFO] [spawner-8]: process started with pid [180225] [INFO] [spawner-9]: process started with pid [180227] [rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [dashboard_client-2] [INFO] [1722448530.339637008] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server [dashboard_client-2] [controller_stopper_node-3] [INFO] [1722448530.340480523] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller [ur_ros2_control_node-1] [WARN] [1722448530.356224262] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ur_ros2_control_node-1] [INFO] [1722448530.356870193] [resource_manager]: Loading hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722448530.359917106] [resource_manager]: Initialize hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722448530.359974083] [resource_manager]: Successful initialization of hardware 'ur5e' [ur_ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error' [ur_ros2_control_node-1] what(): Hardware name ur5e is duplicated. Please provide a unique 'name' in the URDF. [robot_state_publisher-5] [INFO] [1722448530.361335148] [robot_state_publisher]: got segment monitor [robot_state_publisher-5] [INFO] [1722448530.361425018] [robot_state_publisher]: got segment robot_mount [robot_state_publisher-5] [INFO] [1722448530.361433995] [robot_state_publisher]: got segment table [robot_state_publisher-5] [INFO] [1722448530.361439686] [robot_state_publisher]: got segment ur5e_base [robot_state_publisher-5] [INFO] [1722448530.361445006] [robot_state_publisher]: got segment ur5e_base_link [robot_state_publisher-5] [INFO] [1722448530.361450516] [robot_state_publisher]: got segment ur5e_base_link_inertia [robot_state_publisher-5] [INFO] [1722448530.361455656] [robot_state_publisher]: got segment ur5e_flange [robot_state_publisher-5] [INFO] [1722448530.361460856] [robot_state_publisher]: got segment ur5e_forearm_link [robot_state_publisher-5] [INFO] [1722448530.361465875] [robot_state_publisher]: got segment ur5e_ft_frame [robot_state_publisher-5] [INFO] [1722448530.361470754] [robot_state_publisher]: got segment ur5e_shoulder_link [robot_state_publisher-5] [INFO] [1722448530.361476095] [robot_state_publisher]: got segment ur5e_tool0 [robot_state_publisher-5] [INFO] [1722448530.361481675] [robot_state_publisher]: got segment ur5e_upper_arm_link [robot_state_publisher-5] [INFO] [1722448530.361486965] [robot_state_publisher]: got segment ur5e_wrist_1_link [robot_state_publisher-5] [INFO] [1722448530.361492205] [robot_state_publisher]: got segment ur5e_wrist_2_link [robot_state_publisher-5] [INFO] [1722448530.361497445] [robot_state_publisher]: got segment ur5e_wrist_3_link [robot_state_publisher-5] [INFO] [1722448530.361502725] [robot_state_publisher]: got segment wall [robot_state_publisher-5] [INFO] [1722448530.361507985] [robot_state_publisher]: got segment world [ERROR] [ur_ros2_control_node-1]: process has died [pid 180211, exit code -6, cmd '/home/sohaib/master_project_ur/install/ur_robot_driver/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_0jkgad2g --params-file /home/sohaib/master_project_ur/install/my_robot_cell_control/share/my_robot_cell_control/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_0fa84jcc']. [rviz2-6] [INFO] [1722448530.792664411] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1722448530.792782765] [rviz2]: OpenGl version: 4.3 (GLSL 4.3) [rviz2-6] [INFO] [1722448530.805224518] [rviz2]: Stereo is NOT SUPPORTED [spawner-7] [INFO] [1722448532.602674189] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1722448532.605379025] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1722448532.613915181] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1722448534.611973515] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1722448534.615037489] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1722448534.623034025] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1722448536.619767917] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1722448536.623826514] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1722448536.632047262] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1722448538.629260524] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1722448538.632487848] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1722448538.642405067] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [ERROR] [1722448540.639052302] [spawner_scaled_joint_trajectory_controller]: Controller manager not available [spawner-8] [ERROR] [1722448540.641215443] [spawner_joint_state_broadcaster]: Controller manager not available [spawner-9] [ERROR] [1722448540.652555492] [spawner_forward_position_controller]: Controller manager not available [ERROR] [spawner-8]: process has died [pid 180225, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster --ros-args']. [ERROR] [spawner-7]: process has died [pid 180223, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --controller-manager-timeout 10 --ros-args']. [ERROR] [spawner-9]: process has died [pid 180227, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 --inactive forward_position_controller --ros-args'].

Sohaib-Snouber commented 3 months ago

Hello, to get rid of the following error when running the previous launch file:

[ur_ros2_control_node-1] what(): Hardware name ur5e is duplicated. Please provide a unique 'name' in the URDF.

i have removed calling the image from the my_robot_cell_controlled.urdf.xacro. because it is already called in the ur_macro.xacro in the ur_description package.

but i still get the same rviz configuration as before, with the following output log:

$ ros2 launch my_robot_cell_control test.launch.py [INFO] [launch]: All log files can be found below /home/sohaib/.ros/log/2024-08-01-13-02-55-298269-sohaib-X570-AORUS-ELITE-18622 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [dashboard_client-2]: process started with pid [18629] [INFO] [controller_stopper_node-3]: process started with pid [18631] [INFO] [ur_ros2_control_node-1]: process started with pid [18627] [INFO] [urscript_interface-4]: process started with pid [18633] [INFO] [robot_state_publisher-5]: process started with pid [18635] [INFO] [rviz2-6]: process started with pid [18637] [INFO] [spawner-7]: process started with pid [18639] [INFO] [spawner-8]: process started with pid [18641] [INFO] [spawner-9]: process started with pid [18643] [dashboard_client-2] [INFO] [1722510175.873790624] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server [dashboard_client-2] [controller_stopper_node-3] [INFO] [1722510175.877303247] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller [rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [robot_state_publisher-5] [INFO] [1722510175.883002192] [robot_state_publisher]: got segment monitor [robot_state_publisher-5] [INFO] [1722510175.883064590] [robot_state_publisher]: got segment robot_mount [robot_state_publisher-5] [INFO] [1722510175.883070301] [robot_state_publisher]: got segment table [robot_state_publisher-5] [INFO] [1722510175.883074138] [robot_state_publisher]: got segment ur5e_base [robot_state_publisher-5] [INFO] [1722510175.883077685] [robot_state_publisher]: got segment ur5e_base_link [robot_state_publisher-5] [INFO] [1722510175.883081472] [robot_state_publisher]: got segment ur5e_base_link_inertia [robot_state_publisher-5] [INFO] [1722510175.883085760] [robot_state_publisher]: got segment ur5e_flange [robot_state_publisher-5] [INFO] [1722510175.883089367] [robot_state_publisher]: got segment ur5e_forearm_link [robot_state_publisher-5] [INFO] [1722510175.883092933] [robot_state_publisher]: got segment ur5e_ft_frame [robot_state_publisher-5] [INFO] [1722510175.883096550] [robot_state_publisher]: got segment ur5e_shoulder_link [robot_state_publisher-5] [INFO] [1722510175.883100107] [robot_state_publisher]: got segment ur5e_tool0 [robot_state_publisher-5] [INFO] [1722510175.883103543] [robot_state_publisher]: got segment ur5e_upper_arm_link [robot_state_publisher-5] [INFO] [1722510175.883107310] [robot_state_publisher]: got segment ur5e_wrist_1_link [robot_state_publisher-5] [INFO] [1722510175.883110947] [robot_state_publisher]: got segment ur5e_wrist_2_link [robot_state_publisher-5] [INFO] [1722510175.883114544] [robot_state_publisher]: got segment ur5e_wrist_3_link [robot_state_publisher-5] [INFO] [1722510175.883117961] [robot_state_publisher]: got segment wall [robot_state_publisher-5] [INFO] [1722510175.883121437] [robot_state_publisher]: got segment world [ur_ros2_control_node-1] [WARN] [1722510175.888365065] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ur_ros2_control_node-1] [INFO] [1722510175.888703092] [resource_manager]: Loading hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722510175.891103068] [resource_manager]: Initialize hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722510175.891148944] [resource_manager]: Successful initialization of hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722510175.891293427] [resource_manager]: 'configure' hardware 'ur5e' [ur_ros2_control_node-1] [INFO] [1722510175.891299869] [URPositionHardwareInterface]: Starting ...please wait... [ur_ros2_control_node-1] [INFO] [1722510175.891309698] [URPositionHardwareInterface]: Initializing driver... [ur_ros2_control_node-1] [ERROR] [1722510175.891348761] [UR_ClientLibrary:ur5e]: Opening file 'to_be_filled_by_ur_robot_driver' failed with error: No such file or directory [ur_ros2_control_node-1] [FATAL] [1722510175.891403024] [URPositionHardwareInterface]: Opening file 'to_be_filled_by_ur_robot_driver' failed with error: No such file or directory [ur_ros2_control_node-1] [INFO] [1722510175.891411620] [resource_manager]: Failed to 'configure' hardware 'ur5e' [controller_stopper_node-3] [INFO] [1722510175.894122331] [Controller stopper]: Service available [controller_stopper_node-3] [INFO] [1722510175.894146176] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers [controller_stopper_node-3] [INFO] [1722510175.894155514] [Controller stopper]: Service available [ur_ros2_control_node-1] [WARN] [1722510175.895636857] [controller_manager]: Could not enable FIFO RT scheduling policy [ur_ros2_control_node-1] [INFO] [1722510176.107825336] [controller_manager]: Loading controller 'joint_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1722510176.119925913] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller' [spawner-8] [INFO] [1722510176.135921736] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ur_ros2_control_node-1] [WARN] [1722510176.140941291] [scaled_joint_trajectory_controller]: "allow_nonzero_velocity_at_trajectory_end" is set to false. (The default behavior changed to false, and trajectories might get discarded.) [ur_ros2_control_node-1] [INFO] [1722510176.142085018] [controller_manager]: Loading controller 'forward_position_controller' [ur_ros2_control_node-1] [INFO] [1722510176.150003268] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1722510176.150067499] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-7] [INFO] [1722510176.156087460] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller [ur_ros2_control_node-1] [ERROR] [1722510176.157809437] [joint_state_broadcaster]: None of requested interfaces exist. Controller will not run. [ur_ros2_control_node-1] [WARN] [1722510176.157857378] [joint_state_broadcaster]: Error occurred while doing error handling. [ur_ros2_control_node-1] [ERROR] [1722510176.157878748] [controller_manager]: After activation, controller 'joint_state_broadcaster' is in state 'unconfigured' (1), expected 'active' (3). [ur_ros2_control_node-1] [INFO] [1722510176.160014606] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller' [ur_ros2_control_node-1] [INFO] [1722510176.160143188] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ur_ros2_control_node-1] [INFO] [1722510176.160163266] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ur_ros2_control_node-1] [INFO] [1722510176.160172443] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method. [spawner-8] [INFO] [1722510176.160385966] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [ur_ros2_control_node-1] [INFO] [1722510176.161839717] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [spawner-9] [INFO] [1722510176.164318171] [spawner_forward_position_controller]: Loaded forward_position_controller [ur_ros2_control_node-1] [INFO] [1722510176.168303937] [controller_manager]: Configuring controller 'forward_position_controller' [ur_ros2_control_node-1] [INFO] [1722510176.169265770] [forward_position_controller]: configure successful [ur_ros2_control_node-1] [INFO] [1722510176.169910306] [controller_manager]: Loading controller 'io_and_status_controller' [ur_ros2_control_node-1] [ERROR] [1722510176.177996483] [resource_manager]: Not acceptable command interfaces combination: [ur_ros2_control_node-1] Start interfaces: [ur_ros2_control_node-1] [ [ur_ros2_control_node-1] ur5e_shoulder_pan_joint/position [ur_ros2_control_node-1] ur5e_shoulder_lift_joint/position [ur_ros2_control_node-1] ur5e_elbow_joint/position [ur_ros2_control_node-1] ur5e_wrist_1_joint/position [ur_ros2_control_node-1] ur5e_wrist_2_joint/position [ur_ros2_control_node-1] ur5e_wrist_3_joint/position [ur_ros2_control_node-1] ] [ur_ros2_control_node-1] Stop interfaces: [ur_ros2_control_node-1] [ [ur_ros2_control_node-1] ] [ur_ros2_control_node-1] Not available: [ur_ros2_control_node-1] [ [ur_ros2_control_node-1] ur5e_shoulder_pan_joint/position [ur_ros2_control_node-1] ur5e_shoulder_lift_joint/position [ur_ros2_control_node-1] ur5e_elbow_joint/position [ur_ros2_control_node-1] ur5e_wrist_1_joint/position [ur_ros2_control_node-1] ur5e_wrist_2_joint/position [ur_ros2_control_node-1] ur5e_wrist_3_joint/position [ur_ros2_control_node-1] ] [ur_ros2_control_node-1] [ur_ros2_control_node-1] [ERROR] [1722510176.178029094] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected. [spawner-8] [INFO] [1722510176.178312930] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller [spawner-7] [ERROR] [1722510176.178742720] [spawner_scaled_joint_trajectory_controller]: Failed to activate controller [ur_ros2_control_node-1] [INFO] [1722510176.178868747] [controller_manager]: Configuring controller 'io_and_status_controller' [ur_ros2_control_node-1] [ERROR] [1722510176.180864781] [resource_manager]: Not acceptable command interfaces combination: [ur_ros2_control_node-1] Start interfaces: [ur_ros2_control_node-1] [ [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_0 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_1 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_2 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_3 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_4 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_5 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_6 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_7 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_8 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_9 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_10 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_11 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_12 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_13 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_14 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_15 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_16 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_17 [ur_ros2_control_node-1] ur5e_gpio/standard_analog_output_cmd_0 [ur_ros2_control_node-1] ur5e_gpio/standard_analog_output_cmd_1 [ur_ros2_control_node-1] ur5e_gpio/tool_voltage_cmd [ur_ros2_control_node-1] ur5e_gpio/io_async_success [ur_ros2_control_node-1] ur5e_speed_scaling/target_speed_fraction_cmd [ur_ros2_control_node-1] ur5e_speed_scaling/target_speed_fraction_async_success [ur_ros2_control_node-1] ur5e_resend_robot_program/resend_robot_program_cmd [ur_ros2_control_node-1] ur5e_resend_robot_program/resend_robot_program_async_success [ur_ros2_control_node-1] ur5e_payload/mass [ur_ros2_control_node-1] ur5e_payload/cog.x [ur_ros2_control_node-1] ur5e_payload/cog.y [ur_ros2_control_node-1] ur5e_payload/cog.z [ur_ros2_control_node-1] ur5e_payload/payload_async_success [ur_ros2_control_node-1] ur5e_zero_ftsensor/zero_ftsensor_cmd [ur_ros2_control_node-1] ur5e_zero_ftsensor/zero_ftsensor_async_success [ur_ros2_control_node-1] ur5e_hand_back_control/hand_back_control_cmd [ur_ros2_control_node-1] ur5e_hand_back_control/hand_back_control_async_success [ur_ros2_control_node-1] ] [ur_ros2_control_node-1] Stop interfaces: [ur_ros2_control_node-1] [ [ur_ros2_control_node-1] ] [ur_ros2_control_node-1] Not available: [ur_ros2_control_node-1] [ [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_0 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_1 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_2 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_3 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_4 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_5 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_6 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_7 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_8 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_9 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_10 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_11 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_12 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_13 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_14 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_15 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_16 [ur_ros2_control_node-1] ur5e_gpio/standard_digital_output_cmd_17 [ur_ros2_control_node-1] ur5e_gpio/standard_analog_output_cmd_0 [ur_ros2_control_node-1] ur5e_gpio/standard_analog_output_cmd_1 [ur_ros2_control_node-1] ur5e_gpio/tool_voltage_cmd [ur_ros2_control_node-1] ur5e_gpio/io_async_success [ur_ros2_control_node-1] ur5e_speed_scaling/target_speed_fraction_cmd [ur_ros2_control_node-1] ur5e_speed_scaling/target_speed_fraction_async_success [ur_ros2_control_node-1] ur5e_resend_robot_program/resend_robot_program_cmd [ur_ros2_control_node-1] ur5e_resend_robot_program/resend_robot_program_async_success [ur_ros2_control_node-1] ur5e_payload/mass [ur_ros2_control_node-1] ur5e_payload/cog.x [ur_ros2_control_node-1] ur5e_payload/cog.y [ur_ros2_control_node-1] ur5e_payload/cog.z [ur_ros2_control_node-1] ur5e_payload/payload_async_success [ur_ros2_control_node-1] ur5e_zero_ftsensor/zero_ftsensor_cmd [ur_ros2_control_node-1] ur5e_zero_ftsensor/zero_ftsensor_async_success [ur_ros2_control_node-1] ur5e_hand_back_control/hand_back_control_cmd [ur_ros2_control_node-1] ur5e_hand_back_control/hand_back_control_async_success [ur_ros2_control_node-1] ] [ur_ros2_control_node-1] [ur_ros2_control_node-1] [ERROR] [1722510176.181050992] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected. [spawner-8] [ERROR] [1722510176.181580360] [spawner_joint_state_broadcaster]: Failed to activate controller [rviz2-6] [INFO] [1722510176.266103982] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1722510176.266223327] [rviz2]: OpenGl version: 4.3 (GLSL 4.3) [rviz2-6] [INFO] [1722510176.279752006] [rviz2]: Stereo is NOT SUPPORTED [INFO] [spawner-9]: process has finished cleanly [pid 18643] [ERROR] [spawner-7]: process has died [pid 18639, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --controller-manager-timeout 10 --ros-args']. [ERROR] [spawner-8]: process has died [pid 18641, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster --ros-args'].

Sohaib-Snouber commented 3 months ago

Finally, it worked as expected, i got the following output, that connected to my real robot: worked

image

now i will start with the moveit part.

fmauch commented 2 months ago

@Sohaib-Snouber Thank you for taking the time to investigate this. As I understood things you are getting the example to run on Iron, right? Could I maybe ask you to make a PR once you have everything working? It would be awesome to also have something for ROS Humble (Which should be fairly similar to Iron, I think)

Sohaib-Snouber commented 2 months ago

Yes, I used ROS2 Iron, and here’s the final result. Screenshot from 2024-09-19 18-57-03 I’ve created the PR, and I hope it helps. Please let me know if there’s anything else I can do. Thanks for your tutorial; it was a big help!