Closed Csp0920 closed 4 years ago
gavanderhoorn
commented
4 years ago Running "roslaunch ur3_e_bringup.launch" error.
The console log you include shows you pressing ctrl+c right after the driver reports:
[ INFO] [1574245557.636817392]: Robot mode is now RUNNINGup until that point there doesn't appear to be any problem.
It would seem to make sense for the External Control on the robot controller to complain it can't connect to the PC if you've just shut everything down.
Csp0920
commented
4 years ago @gavanderhoorn I‘m sorry that I didn't get your points.
gavanderhoorn
commented
4 years ago The log you show, has this:
...
[ INFO] [1574245557.636512869]: Robot's safety mode is now NORMAL
[ INFO] [1574245557.636817392]: Robot mode is now RUNNING
^C[ur_hardware_interface/ur_robot_state_helper-6] killing on exit
[controller_stopper-5] killing on exit
[ros_control_stopped_spawner-4] killing on exit
[ros_control_controller_spawner-3] killing on exit
[ur_hardware_interface-2] killing on exit
[robot_state_publisher-1] killing on exit
Interrupt signal (2) received.
...that seems to suggest you pressed ctrl+c at some point (note the ^C).
This shuts everything down, after you press ctrl+c.
Why did you press ctrl+c?
From the output it would seem the driver was started OK, with no errors. At least on the ROS side.
Csp0920
commented
4 years ago @gavanderhoorn The program stays at: [ INFO] [1574245557.636512869]: Robot's safety mode is now NORMAL [ INFO] [1574245557.636817392]: Robot mode is now RUNNING
And then I press the run bottom in the Tech Pendant, it showed "The connection to remote PC could not be established".
So I press ctrl+c
gavanderhoorn
commented
4 years ago The External Control Host IP:192.168.56.1 UR3e IP: 192.168.56.1 My computer IP: 192.168.56.2
As mentioned in the e-series setup guide, you should enter the IP of the "external PC which will be running the ROS driver" on the External Control setup screen.
In your case that would seem to be 192.168.56.2, not 192.168.56.1 (as that would be the robot's IP address).
Csp0920
commented
4 years ago @gavanderhoorn I see what you mean. So i need to make the ip of PC and External Control same. I will try it tomorrow.
Csp0920
commented
4 years ago @gavanderhoorn Thank you for you patient reponse.
Csp0920
commented
4 years ago @gavaderhoorn @fmauch Thanks for your help. Now I can successfully connect my pc with ur3e. I change the ip from 192.168.56.x to 192.168.1.x. Then it succeed. Sorry that I didn't reply in time, and really thanks for your help.
tt2cloud
commented
4 years ago Hello, brother,I recently encountered a same problem.I am trying to connect PC with UR10e. Following the tutorials, I don't able to the UR10e.I downloaded (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver) and (https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot) two packages, when I was connecting the PC IP
termial1:roslaunch ur_robot_driver ur10e_bringup.launch
auto-starting new master
process[master]: started with pid [16046]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to f9f4466a-aaf6-11ea-87df-c8d9d21823f2
process[rosout-1]: started with pid [16063]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [16080]
process[ur_hardware_interface-3]: started with pid [16081]
process[ros_control_controller_spawner-4]: started with pid [16082]
[ INFO] [1591778833.244461464]: Main thread: SCHED_FIFO OK
[ INFO] [1591778833.244515999]: Main thread priority is 99
process[ros_control_stopped_spawner-5]: started with pid [16097]
[ INFO] [1591778833.254436740]: Initializing dashboard client
[ INFO] [1591778833.259312031]: Connected: Universal Robots Dashboard Server
process[controller_stopper-6]: started with pid [16133]
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [16151]
[ INFO] [1591778833.279400014]: Initializing urdriver
[ INFO] [1591778833.279905846]: Checking if calibration data matches connected robot.
[ INFO] [1591778833.280442042]: Producer thread: SCHED_FIFO OK
[ INFO] [1591778833.280469870]: Thread priority is 99
[ INFO] [1591778833.286314783]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1591778833.287298633]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ERROR] [1591778833.342191180]: 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 [TODO Link to documentation] for details.
[INFO] [1591778833.634791]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1591778833.691968]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1591778834.345545407]: Producer thread: SCHED_FIFO OK
[ INFO] [1591778834.345570416]: Thread priority is 99
[ INFO] [1591778834.389224845]: Setting up RTDE communication with frequency 500.000000
[FATAL] [1591778835.405016530]: Variable 'speed_slider_mask' is currently controlled by another RTDE client. The input recipe can't be used as configured
[ERROR] [1591778835.405094844]: Could not correctly initialize robot. Exiting
================================================================================REQUIRED process [ur_hardware_interface-3] has died!
process has died [pid 16081, exit code 1, cmd /home/yun/catkin_ws7/devel/lib/ur_robot_driver/ur_robot_driver_node name:=ur_hardware_interface log:=/home/yun/.ros/log/f9f4466a-aaf6-11ea-87df-c8d9d21823f2/ur_hardware_interface-3.log].
log file: /home/yun/.ros/log/f9f4466a-aaf6-11ea-87df-c8d9d21823f2/ur_hardware_interface-3*.log
Initiating shutdown!
================================================================================
[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
[WARN] [1591778835.978961]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1591778835.978991]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_stopper-6] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
terminal2:roslaunch ur10_e_moveit_config ur10_e_moveit_planning_execution.launch limited:=true
PARAMETERS
NODES / move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://localhost:11311
PARAMETERS
NODES / rviz_yun_HP_EliteDesk_800_G4_TWR_16141_4429582541512616018 (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[rviz_yun_HP_EliteDesk_800_G4_TWR_16141_4429582541512616018-1]: started with pid [16294] [ INFO] [1591778834.186943878]: rviz version 1.12.17 [ INFO] [1591778834.187022497]: compiled against Qt version 5.5.1 [ INFO] [1591778834.187047235]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1591778834.483021439]: Stereo is NOT SUPPORTED [ INFO] [1591778834.483084141]: OpenGl version: 3 (GLSL 1.3). [ERROR] [1591778835.330058916]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'? [ INFO] [1591778835.330242282]: Loading robot model 'ur10e'... [ INFO] [1591778835.330292133]: No root/virtual joint specified in SRDF. Assuming fixed joint The TP show don't connect to the remote PC establish. Could you help me ,this question has really been bothering me, thanks advance!@fmauch@Csp0920
gavanderhoorn
commented
4 years ago @tt2cloud: your issue is different (note the RTDE problem reported by the driver).
I would recommend you post it in a new issue.
@fmauch: I've seen this mentioned in PickNikRobotics/picknik_ur5_moveit_config#9 as well.
tt2cloud
commented
4 years ago @tt2cloud: your issue is different (note the RTDE problem reported by the driver).
I would recommend you post it in a new issue.
@fmauch: I've seen this mentioned in PickNikRobotics/picknik_ur5_moveit_config#9 as well.
brother, thank you reply.
gavanderhoorn
commented
4 years ago brother, thank you reply.
Please don't call me that.
tt2cloud
commented
4 years ago @tt2cloud: your issue is different (note the RTDE problem reported by the driver).
I would recommend you post it in a new issue.
@fmauch: I've seen this mentioned in PickNikRobotics/picknik_ur5_moveit_config#9 as well.
Hi,brother,Do I need to modify the code, if it needs to be modified, please tell me how to modify it,because I don’t understand it too much,thank you very much!
fmauch
commented
4 years ago @tt2cloud I'd also appreciate if you'd open a new issue and if you would kindly stop, calling anybody "brother" here. Thanks.
tt2cloud
commented
4 years ago @tt2cloud I'd also appreciate if you'd open a new issue and if you would kindly stop, calling anybody "brother" here. Thanks.
Hi,I am so glad you can answer my questions, I am a chinese student. I open a new issue that describes my operation steps and settings[(https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/191)] So, I hope you can answer my problems.Thanks
Summary
I am trying to connect PC with UR3e. Following the tutorials, I can't realize the connection. There are two problems: 1.Running "roslaunch ur3_e_bringup.launch" error. 2.When run URCaps in the Tech Pendant, it showed "The connection to the remote PC could not be established".
Versions
Issue details
I downloaded the ROS-Industrial Universal Robot meta-package and Universal_Robots_ROS_Driver. Then I followed the steps and installed URCaps, but I skipped real-time kernel.
After doing catkin_make and source...., I run "roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=192.168.56.1", the results are as follow:
[ INFO] [1574245554.735175067]: Waiting for controller manager service to come up on /controller_manager/switch_controller [ INFO] [1574245554.738353661]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting... [ INFO] [1574245554.793670178]: Initializing urdriver [ INFO] [1574245554.793960708]: Checking if calibration data matches connected robot. [ WARN] [1574245554.794206654]: No realtime capabilities found. Consider using a realtime system for better performance [INFO] [1574245554.992951]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1574245554.996650]: Controller Spawner: Waiting for service controller_manager/load_controller [ERROR] [1574245555.255396778]: 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 [TODO Link to documentation] for details. [ WARN] [1574245555.858848371]: No realtime capabilities found. Consider using a realtime system for better performance [ INFO] [1574245556.319504210]: Setting up RTDE communication with frequency 500.000000 [ WARN] [1574245557.365727189]: No realtime capabilities found. Consider using a realtime system for better performance [ INFO] [1574245557.365899298]: Loaded ur_robot_driver hardware_interface [ INFO] [1574245557.414367666]: waitForService: Service [/controller_manager/switch_controller] is now available. [ INFO] [1574245557.414430813]: Service available. [ INFO] [1574245557.414475567]: Waiting for controller list service to come up on /controller_manager/list_controllers [ INFO] [1574245557.415821403]: Service available. [INFO] [1574245557.419021]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1574245557.421578]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1574245557.422596]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1574245557.423761]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1574245557.425062]: Loading controller: joint_state_controller [INFO] [1574245557.427147]: Loading controller: pos_traj_controller [INFO] [1574245557.435428]: Loading controller: scaled_pos_traj_controller [INFO] [1574245557.479396]: Controller Spawner: Loaded controllers: pos_traj_controller [INFO] [1574245557.523175]: Loading controller: speed_scaling_state_controller [INFO] [1574245557.529331]: Loading controller: force_torque_sensor_controller [INFO] [1574245557.537934]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1574245557.541387]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [ INFO] [1574245557.636512869]: Robot's safety mode is now NORMAL [ INFO] [1574245557.636817392]: Robot mode is now RUNNING ^C[ur_hardware_interface/ur_robot_state_helper-6] killing on exit [controller_stopper-5] killing on exit [ros_control_stopped_spawner-4] killing on exit [ros_control_controller_spawner-3] killing on exit [ur_hardware_interface-2] killing on exit [robot_state_publisher-1] killing on exit Interrupt signal (2) received. [INFO] [1574245629.356163]: Shutting down spawner. Stopping and unloading controllers... [INFO] [1574245629.356365]: Shutting down spawner. Stopping and unloading controllers... [INFO] [1574245629.356777]: Stopping all controllers... [INFO] [1574245629.356897]: Stopping all controllers... [ERROR] [1574245629.361387907]: Could not stop controller 'scaled_pos_traj_controller' since it is not running [INFO] [1574245629.361688]: Unloading all loaded controllers... [ERROR] [1574245629.361949202]: Could not stop controller 'pos_traj_controller' since it is not running [INFO] [1574245629.362129]: Trying to unload force_torque_sensor_controller [INFO] [1574245629.362238]: Unloading all loaded controllers... [INFO] [1574245629.362596]: Trying to unload pos_traj_controller terminate called without an active exception [WARN] [1574245629.533725]: 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] [1574245629.533726]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender's logs for details shutting down processing monitor... ... shutting down processing monitor complete done
And I tried to press the run bottom in the Tech Pendant, it showed "The connection to the remote PC could not be established".
I didn't change any configuration in the package. If there were something that needed to modify?
The External Control Host IP:192.168.56.1 UR3e IP: 192.168.56.1 My computer IP: 192.168.56.2 I don't know if my settings are correct, so I showed them.
Hoping for your response. Sorry for disturbing you. And thank you very much.