Configuration

OS: Ubuntu 20.04
ROS noetic
Affected Robot Software Version(s): 5.5.1.82186 (Sep 05 2019)
Affected Robot Hardware Version(s): UR10e
URCaps Software version(s): 1.0.5
Using PREEMT_RT kernel, robot wired and PC wireless connected to a router (same LAN).
Issue

Hi, I'm using ur_robot_driver along with moveit! motion planning to operate ur10e robot. The procedure is:
roslaunch ur_robot_driver ur10e_bringup.launch
run the external control program on TP
roslaunch urr10e_moveit_config moveit_planning_execution.launch
run python scripts that plan and execute plans using moveit interface
The issue is that Connection to reverse interface dropped and reconnection frequently happen, which preempts the robot at the middle of an execution. Later the warning Connection attempt on port 50001 while maximum number of clients (1) is already connected. Closing connection. occurs and the driver is not able to reconnect to the robot anymore. I can reconnect them If I manually end and restart the program running on robot, however the same issue repeats very soon.
As suggested in previous related issues, I have tried setting up a realtime kernel and adding ur_driver_->setKeepaliveCount(5); in Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp after ur_driver_->registerTrajectoryDoneCallback( std::bind(&HardwareInterface::passthroughTrajectoryDoneCb, this, std::placeholders::_1));, but the problem remains and it's worth noticing that the value of the keepalive variable on TP is still 1 after adding that line and drops to -2 after the connection dropped.
Wireless connection of PC under the same LAN is preferred in the project and the network is set to be holding only communications of the robots in the lab, while the PC and the robot are the only active ones, so I guess there could be other issues affecting the connection. I'm also concerned about the clients on port 50001, what could cause the port to be occupied?
Thanks in advance for people looking at this issue!
Full log of ur10e_bringup.launch terminal

... logging to /home/ai4ce-lab/.ros/log/f2c7aa98-0ac1-11ee-bb7e-9fc1441ed0dd/roslaunch-ai4celab-Precision-3660-5095.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ai4celab-Precision-3660:45121/

SUMMARY
========

PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 500
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_cartesian_traj_controller/type: pass_through_cont...
 * /forward_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_joint_traj_controller/type: pass_through_cont...
 * /hardware_control_loop/loop_hz: 500
 * /joint_based_cartesian_traj_controller/base: base
 * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /joint_based_cartesian_traj_controller/tip: tool0
 * /joint_based_cartesian_traj_controller/type: position_controll...
 * /joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 500
 * /joint_state_controller/type: joint_state_contr...
 * /pos_joint_traj_controller/action_monitor_rate: 20
 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/goal_time: 0.6
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /pos_joint_traj_controller/state_publish_rate: 500
 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /pos_joint_traj_controller/type: position_controll...
 * /pose_based_cartesian_traj_controller/base: base
 * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /pose_based_cartesian_traj_controller/tip: tool0_controller
 * /pose_based_cartesian_traj_controller/type: pose_controllers/...
 * /robot_description: <?xml version="1....
 * /robot_status_controller/handle_name: industrial_robot_...
 * /robot_status_controller/publish_rate: 10
 * /robot_status_controller/type: industrial_robot_...
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_pos_joint_traj_controller/state_publish_rate: 500
 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_pos_joint_traj_controller/type: position_controll...
 * /scaled_vel_joint_traj_controller/action_monitor_rate: 20
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_vel_joint_traj_controller/state_publish_rate: 500
 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_vel_joint_traj_controller/type: velocity_controll...
 * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
 * /speed_scaling_state_controller/publish_rate: 500
 * /speed_scaling_state_controller/type: scaled_controller...
 * /twist_controller/frame_id: tool0_controller
 * /twist_controller/joints: ['shoulder_pan_jo...
 * /twist_controller/publish_rate: 500
 * /twist_controller/type: ros_controllers_c...
 * /ur_hardware_interface/headless_mode: False
 * /ur_hardware_interface/input_recipe_file: /home/ai4ce-lab/c...
 * /ur_hardware_interface/joints: ['shoulder_pan_jo...
 * /ur_hardware_interface/kinematics/forearm/pitch: 3.139773859813499
 * /ur_hardware_interface/kinematics/forearm/roll: 3.140726981885666
 * /ur_hardware_interface/kinematics/forearm/x: -0.6125194958024353
 * /ur_hardware_interface/kinematics/forearm/y: 0
 * /ur_hardware_interface/kinematics/forearm/yaw: -3.141591402263981
 * /ur_hardware_interface/kinematics/forearm/z: 0
 * /ur_hardware_interface/kinematics/hash: calib_34377852507...
 * /ur_hardware_interface/kinematics/shoulder/pitch: 0
 * /ur_hardware_interface/kinematics/shoulder/roll: 0
 * /ur_hardware_interface/kinematics/shoulder/x: 0
 * /ur_hardware_interface/kinematics/shoulder/y: 0
 * /ur_hardware_interface/kinematics/shoulder/yaw: 1.04467405847436e-07
 * /ur_hardware_interface/kinematics/shoulder/z: 0.1810949508145422
 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0
 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.570008587286171
 * /ur_hardware_interface/kinematics/upper_arm/x: -1.66767091567110...
 * /ur_hardware_interface/kinematics/upper_arm/y: 0
 * /ur_hardware_interface/kinematics/upper_arm/yaw: 1.084247024621907...
 * /ur_hardware_interface/kinematics/upper_arm/z: 0
 * /ur_hardware_interface/kinematics/wrist_1/pitch: -3.140676599624208
 * /ur_hardware_interface/kinematics/wrist_1/roll: 3.140346959714123
 * /ur_hardware_interface/kinematics/wrist_1/x: -0.5713063516014969
 * /ur_hardware_interface/kinematics/wrist_1/y: 0.000217402556178...
 * /ur_hardware_interface/kinematics/wrist_1/yaw: -3.141591552956058
 * /ur_hardware_interface/kinematics/wrist_1/z: 0.1745231697557756
 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0
 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.570175415778306
 * /ur_hardware_interface/kinematics/wrist_2/x: -2.39540016973863...
 * /ur_hardware_interface/kinematics/wrist_2/y: -0.1197882240806239
 * /ur_hardware_interface/kinematics/wrist_2/yaw: -3.13463769000682...
 * /ur_hardware_interface/kinematics/wrist_2/z: 7.437783754783398...
 * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.570922271006619
 * /ur_hardware_interface/kinematics/wrist_3/x: 8.408154851895589...
 * /ur_hardware_interface/kinematics/wrist_3/y: 0.1156939974082344
 * /ur_hardware_interface/kinematics/wrist_3/yaw: 3.141592566737737
 * /ur_hardware_interface/kinematics/wrist_3/z: 1.457098938162985...
 * /ur_hardware_interface/output_recipe_file: /home/ai4ce-lab/c...
 * /ur_hardware_interface/reverse_ip: 
 * /ur_hardware_interface/reverse_port: 50001
 * /ur_hardware_interface/robot_ip: 192.168.0.225
 * /ur_hardware_interface/script_command_port: 50004
 * /ur_hardware_interface/script_file: /opt/ros/noetic/s...
 * /ur_hardware_interface/script_sender_port: 50002
 * /ur_hardware_interface/servoj_gain: 2000
 * /ur_hardware_interface/servoj_lookahead_time: 0.03
 * /ur_hardware_interface/tf_prefix: 
 * /ur_hardware_interface/tool_baud_rate: 115200
 * /ur_hardware_interface/tool_parity: 0
 * /ur_hardware_interface/tool_rx_idle_chars: 1.5
 * /ur_hardware_interface/tool_stop_bits: 1
 * /ur_hardware_interface/tool_tx_idle_chars: 3.5
 * /ur_hardware_interface/tool_voltage: 0
 * /ur_hardware_interface/trajectory_port: 50003
 * /ur_hardware_interface/use_tool_communication: False
 * /vel_joint_traj_controller/action_monitor_rate: 20
 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/goal_time: 0.6
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /vel_joint_traj_controller/state_publish_rate: 500
 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /vel_joint_traj_controller/type: velocity_controll...
 * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0

NODES
  /
    controller_stopper (ur_robot_driver/controller_stopper_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)
    ros_control_stopped_spawner (controller_manager/spawner)
    ur_hardware_interface (ur_robot_driver/ur_robot_driver_node)
  /ur_hardware_interface/
    ur_robot_state_helper (ur_robot_driver/robot_state_helper)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [5110]
process[ur_hardware_interface-2]: started with pid [5111]
process[ros_control_controller_spawner-3]: started with pid [5112]
process[ros_control_stopped_spawner-4]: started with pid [5113]
process[controller_stopper-5]: started with pid [5114]
process[ur_hardware_interface/ur_robot_state_helper-6]: started with pid [5115]
[ INFO] [1686753873.562662383]: Main thread: SCHED_FIFO OK
[ INFO] [1686753873.563477290]: Main thread priority is 99
[ INFO] [1686753873.564178845]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1686753873.568425037]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1686753873.569544669]: Initializing dashboard client
[ INFO] [1686753873.570606677]: waitForService: Service [/ur_hardware_interface/dashboard/play] has not been advertised, waiting...
[ INFO] [1686753873.580267479]: Connected: Universal Robots Dashboard Server

[ INFO] [1686753873.585354378]: Initializing urdriver
[ INFO] [1686753873.589837684]: Producer thread: SCHED_FIFO OK
[ INFO] [1686753873.589850053]: Thread priority is 99
[ INFO] [1686753873.591179244]: waitForService: Service [/ur_hardware_interface/dashboard/play] is now available.
INFO: cannot create a symlink to latest log directory: [Errno 17] File exists: '/home/ai4ce-lab/.ros/log/f2c7aa98-0ac1-11ee-bb7e-9fc1441ed0dd' -> '/home/ai4ce-lab/.ros/log/latest'
[INFO] [1686753873.713309]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1686753873.813909]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1686753873.855189874]: Negotiated RTDE protocol version to 2.
[ INFO] [1686753873.857214492]: Setting up RTDE communication with frequency 500.000000
[ INFO] [1686753874.889326854]: Checking if calibration data matches connected robot.
[ INFO] [1686753874.891746863]: Producer thread: SCHED_FIFO OK
[ INFO] [1686753874.891760148]: Thread priority is 99
[ INFO] [1686753875.984252571]: Calibration checked successfully.
[ INFO] [1686753875.996472917]: Producer thread: SCHED_FIFO OK[ERROR] [1686754412.391364506]: Can't accept new action goals. Controller i
[ INFO] [1686753875.996485930]: Thread priority is 99
[ INFO] [1686753875.998595921]: Loaded ur_robot_driver hardware_interface
[ INFO] [1686753876.012390468]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1686753876.012415153]: Service available.
[ INFO] [1686753876.012429086]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1686753876.012661632]: Service available.
[INFO] [1686753876.129582]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1686753876.130646]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1686753876.131558]: Loading controller: pos_joint_traj_controller
[INFO] [1686753876.155943]: Loading controller: joint_group_vel_controller
[INFO] [1686753876.159667]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1686753876.231154]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1686753876.232102]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1686753876.232817]: Loading controller: joint_state_controller
[INFO] [1686753876.237892]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1686753876.247923]: Loading controller: speed_scaling_state_controller
[INFO] [1686753876.250144]: Loading controller: force_torque_sensor_controller
[INFO] [1686753876.254012]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1686753876.255751]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[ INFO] [1686753876.279189679]: Robot mode is now POWER_OFF
[ INFO] [1686753876.279203808]: Robot's safety mode is now NORMAL
[ INFO] [1686753940.411781031]: Robot mode is now POWER_ON
[ INFO] [1686753942.639700094]: Robot mode is now BOOTING
[ INFO] [1686753949.177333695]: Robot mode is now POWER_ON
[ INFO] [1686753949.241645045]: Robot mode is now IDLE
[ INFO] [1686753954.697679706]: Robot mode is now RUNNING
[ INFO] [1686753973.747785861]: Robot requested program
[ INFO] [1686753973.747822053]: Sent program to robot
[ INFO] [1686753973.841799685]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1686753974.003194106]: Connection to reverse interface dropped.
[ INFO] [1686753974.004517949]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1686753997.222010606]: Connection to reverse interface dropped.
[DEBUG] [1686753997.222043528]: Activity on FD 39
[ERROR] [1686753997.222060659]: Sending data through socket failed.
[ INFO] [1686753997.223817505]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1686754035.039497994]: Connection to reverse interface dropped.
[ERROR] [1686754035.039526324]: Sending data through socket failed.
[ INFO] [1686754035.041409349]: Robot connected to reverse interface. Ready to receive control commands.
[ WARN] [1686754038.445492949]: Connection attempt on port 50001 while maximum number of clients (1) is already connected. Closing connection.
[ERROR] [1686754038.453665630]: Sending data through socket failed.
[ INFO] [1686754038.453688284]: Connection to reverse interface dropped.
[ERROR] [1686754038.453703806]: Sending data through socket failed.
[ERROR] [1686754039.000039876]: Can't accept new action goals. Controller is not running.
[ERROR] [1686754040.079871401]: Can't accept new action goals. Controller is not running.
[ INFO] [1686754063.090746642]: Robot requested program
[ INFO] [1686754063.090783918]: Sent program to robot
[ INFO] [1686754063.181299925]: Robot connected to reverse interface. Ready to receive control commands.
[ERROR] [1686754095.497086949]: Sending data through socket failed.
[ INFO] [1686754095.497118733]: Connection to reverse interface dropped.
[ERROR] [1686754096.019302904]: Can't accept new action goals. Controller is not running.
[ INFO] [1686754096.478626553]: Robot connected to reverse interface. Ready to receive
[ERROR] [1686754412.391364506]: Can't accept new action goals. Controller i control commands.
[ERROR] [1686754098.029015257]: Sending data through socket failed.
[ INFO] [1686754098.029042604]: Connection to reverse interface dropped.
[ INFO] [1686754098.030979309]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1686754115.026895686]: Connection to reverse interface dropped.
[ERROR] [1686754115.026922466]: Sending data through socket failed.
[ INFO] [1686754115.028891794]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1686754118.542874254]: Connection to reverse interface dropped.
[ERROR] [1686754118.542899416]: Sending data through socket failed.
[ INFO] [1686754118.544766863]: Robot connected to reverse interface. Ready to receive control commands.
[ WARN] [1686754119.412924022]: Connection attempt on port 50001 while maximum number of clients (1) is already connected. Closing connection.
[ERROR] [1686754119.462922103]: Sending data through socket failed.
[ INFO] [1686754119.462944925]: Connection to reverse interface dropped.
[ERROR] [1686754120.545754985]: Can't accept new action goals. Controller is not running.
[ERROR] [1686754127.947466733]: Can't accept new action goals. Controller is not running.
[DEBUG] [1686754325.915675909]: Activity on self-pipe
[ INFO] [1686754328.345220781]: Robot requested program
[ INFO] [1686754328.345257919]: Sent program to robot
[ INFO] [1686754328.415676646]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1686754340.297537875]: Connection to reverse interface dropped.
[ INFO] [1686754340.299757792]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1686754340.437484644]: Connection to reverse interface dropped.
[ INFO] [1686754342.649537708]: Robot requested program
[ INFO] [1686754342.649572696]: Sent program to robot
[ INFO] [1686754342.713279433]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1686754355.067486705]: Connection to reverse interface dropped.
[ERROR] [1686754355.067516945]: Sending data through socket failed.
[ INFO] [1686754355.069351912]: Robot connected to reverse interface. Ready to receive control commands.
[ERROR] [1686754363.023654933]: Sending data through socket failed.
[ INFO] [1686754363.025435297]: Robot connected to reverse interface. Ready to receive control commands.
[ERROR] [1686754385.113368790]: Sending data through socket failed.
[ INFO] [1686754385.113407184]: Connection to reverse interface dropped.
[ INFO] [1686754385.115558491]: Robot connected to reverse interface. Ready to receive control commands.
[ERROR] [1686754386.717240783]: Sending data through socket failed.
[ INFO] [1686754386.717268209]: Connection to reverse interface dropped.
[ INFO] [1686754386.719053810]: Robot connected to reverse interface. Ready to receive control commands.
[ WARN] [1686754410.728921891]: Connection attempt on port 50001 while maximum number of clients (1) is already connected. Closing connection.
[ERROR] [1686754410.811123082]: Sending data through socket failed.
[ INFO] [1686754410.811142606]: Connection to reverse interface dropped.
[ERROR] [1686754411.301704731]: Can't accept new action goals. Controller is not running.
UniversalRobots / Universal_Robots_ROS_Driver

Frequent connection to reverse interface dropped and Connection attempt on port 50001 while maximum number of clients (1) is already connected. #638

Configuration

Issue

Full log of ur10e_bringup.launch terminal
