search

UniversalRobots / Universal_Robots_ROS_Driver

Universal Robots ROS driver supporting CB3 and e-Series
Apache License 2.0
726 stars 392 forks source link

'speed_slider_mask' is currently controller by other RTDE client [SW 5.16.1 not supported ?] #706

Open niomate opened 2 weeks ago

niomate commented 2 weeks ago

Affected ROS Driver version(s)

2.1.4

Used ROS distribution.

Noetic

Which combination of platform is the ROS driver running on.

Windows using WSL2

How is the UR ROS 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)

5.16.1

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

I recently updated the software on the teach pendant of our UR10e to version 5.16.1. The connection to the robot worked before that.

Issue details

Upon starting the driver node/launch file I get the error that " Variable 'speed_slider_mask' is currently controlled by another RTDE client. The input recipe can't be used as configured". When I searched through the issues, I noticed the Ethernet/IP/Fieldbus issue and checked whether it is somehow related to that, but all Fieldbus options are disabled. There are other URCaps installed (that should however not impact the speed slider) and we used to have a distance sensor controlling the robot speed, but a) that was removed a few weeks ago and b) it worked with that setup on SW version 5.16.1.

Additionally, the error reads "Please note that the minimum software version required is 3.12.0 for CB3 robots and 5.5.1 for e-Series robots. The error above could be related to a non-supported polyscope version. Please update your robot's software accordingly", which is different from the error mentioned in #204

Steps to Reproduce

I don't know whether this is actually reproducable. But steps would be to start the driver with polyscope version 5.16.1 (?).

Relevant log output

auto-starting new master
process[master]: started with pid [8254]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7f39edcc-2e31-11ef-ac60-00155dfccfd6
process[rosout-1]: started with pid [8275]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [8282]
process[ur_hardware_interface-3]: started with pid [8283]
process[ros_control_controller_spawner-4]: started with pid [8284]
process[ros_control_stopped_spawner-5]: started with pid [8285]
process[controller_stopper-6]: started with pid [8292]
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [8299]
process[move_group-8]: started with pid [8302]
[ INFO] [1718797560.520274838]: Waiting for controller manager service to come up on /controller_manager/switch_controller
process[gripper_control_service-9]: started with pid [8307]
[ INFO] [1718797560.521956744]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1718797560.523514950]: Initializing dashboard client
process[math_service_provider-10]: started with pid [8309]
[ INFO] [1718797560.527342864]: Connected: Universal Robots Dashboard Server

process[unity_debug_output-11]: started with pid [8314]
[ INFO] [1718797560.530811377]: waitForService: Service [/ur_hardware_interface/dashboard/play] has not been advertised, waiting...
[ INFO] [1718797560.544015127]: Initializing urdriver
[ WARN] [1718797560.545970434]: 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.
[ INFO] [1718797560.552514558]: waitForService: Service [/ur_hardware_interface/dashboard/play] is now available.
[ INFO] [1718797560.610024874]: Loading robot model 'ur10e_gripper'...
[ INFO] [1718797560.869839847]: Negotiated RTDE protocol version to 2.
[ INFO] [1718797560.870815151]: Setting up RTDE communication with frequency 500.000000
[INFO] [1718797560.906082]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1718797560.950331]: Controller Spawner: Waiting for service controller_manager/load_controller
[ WARN] [1718797560.960844588]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ WARN] [1718797560.967691013]: IK plugin for group 'manipulator' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1718797560.969724321]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1718797560.969784721]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1718797560.969816121]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1718797560.969826721]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1718797560.969833921]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1718797560.969840621]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1718797560.969851721]: Looking in common namespaces for param name: manipulator/position_only_ik
[ INFO] [1718797560.971090126]: Looking in common namespaces for param name: manipulator/solve_type
[ INFO] [1718797560.973754736]: Using solve type Distance
[ WARN] [1718797560.973869737]: IK plugin for group 'flange_manipulator' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1718797560.976229245]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1718797560.976292546]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1718797560.976306246]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1718797560.976336846]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1718797560.976348946]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1718797560.976356146]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1718797560.976396846]: Looking in common namespaces for param name: flange_manipulator/position_only_ik
[ INFO] [1718797560.977663651]: Looking in common namespaces for param name: flange_manipulator/solve_type
[ INFO] [1718797560.979190856]: Using solve type Distance
[ INFO] [1718797561.171029475]: Loading robot model 'ur10e_gripper'...
[ INFO] [1718797561.282355892]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1718797561.284339099]: Listening to 'joint_states' for joint states
[ INFO] [1718797561.288447215]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1718797561.288506215]: Starting planning scene monitor
[ INFO] [1718797561.290333022]: Listening to '/planning_scene'
[ INFO] [1718797561.290389222]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1718797561.292125629]: Listening to '/collision_object'
[ INFO] [1718797561.293700134]: Listening to '/planning_scene_world' for planning scene world geometry
[ WARN] [1718797561.376931146]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ WARN] [1718797561.384987876]: IK plugin for group 'manipulator' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1718797561.387348885]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1718797561.387408185]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1718797561.387419485]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1718797561.387427185]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1718797561.387434386]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1718797561.387441586]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1718797561.387452786]: Looking in common namespaces for param name: manipulator/position_only_ik
[ INFO] [1718797561.388535390]: Looking in common namespaces for param name: manipulator/solve_type
[ INFO] [1718797561.390318396]: Using solve type Distance
[ WARN] [1718797561.390403897]: IK plugin for group 'flange_manipulator' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1718797561.392640405]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1718797561.392694305]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1718797561.392726305]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1718797561.392758305]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1718797561.392808906]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1718797561.392846906]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1718797561.392910306]: Looking in common namespaces for param name: flange_manipulator/position_only_ik
[ INFO] [1718797561.394142011]: Looking in common namespaces for param name: flange_manipulator/solve_type
[ INFO] [1718797561.395958417]: Using solve type Distance
[FATAL] [1718797561.934870936]: Variable 'speed_slider_mask' is currently controlled by another RTDE client. The input recipe can't be used as configured
Please note that the minimum software version required is 3.12.0 for CB3 robots and 5.5.1 for e-Series robots. The error above could be related to a non-supported polyscope version. Please update your robot's software accordingly.
[ERROR] [1718797561.934961936]: Could not correctly initialize robot. Exiting
================================================================================REQUIRED process [ur_hardware_interface-3] has died!
process has died [pid 8283, exit code 1, cmd /home/ros/catkin_ws/devel/lib/ur_robot_driver/ur_robot_driver_node __name:=ur_hardware_interface __log:=/home/ros/.ros/log/7f39edcc-2e31-11ef-ac60-00155dfccfd6/ur_hardware_interface-3.log].
log file: /home/ros/.ros/log/7f39edcc-2e31-11ef-ac60-00155dfccfd6/ur_hardware_interface-3*.log
Initiating shutdown!
================================================================================
[unity_debug_output-11] killing on exit
[math_service_provider-10] killing on exit
[gripper_control_service-9] killing on exit
[controller_stopper-6] killing on exit
[ur_hardware_interface/ur_robot_state_helper-7] 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
[move_group-8] killing on exit
[robot_state_publisher-2] killing on exit

Accept Public visibility

fmauch commented 2 weeks ago

Did you check fieldbusses as suggested in https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/204?

niomate commented 2 weeks ago

If I didn't miss anything, all Fieldbusses (MODBUS, Profinet, Ethernet/IP) are disabled (at least in the teach pendant UI).