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cambel / ur3

ROS-based UR3/UR3e controller with simulation in Gazebo. Adaptable to other UR robots
MIT License
137 stars 42 forks source link

ROS noetic error #13

Closed osumilab closed 3 years ago

osumilab commented 3 years ago

Hello When I did the following, I got an error rosdep install --from-paths src --ignore-src -r -y

`ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: ur3_gazebo: Cannot locate rosdep definition for [robotiq_gazebo] ur3_description: Cannot locate rosdep definition for [robotiq_description] Continuing to install resolvable dependencies...

All required rosdeps installed successfully

`

When I put the robotiq-packages and openrave_catkin-package according to the error, I got the following error in catkin_make CMake Error at /home/osumi/catkin_ws/devel/share/openrave_catkin/cmake/openrave_catkin-extras.cmake:1 (find_package): By not providing "FindOpenRAVE.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "OpenRAVE", but CMake did not find one. ` Could not find a package configuration file provided by "OpenRAVE" with any of the following names:

OpenRAVEConfig.cmake
openrave-config.cmake

Add the installation prefix of "OpenRAVE" to CMAKE_PREFIX_PATH or set "OpenRAVE_DIR" to a directory containing one of the above files. If "OpenRAVE" provides a separate development package or SDK, be sure it has been installed. `

In addition, is it possible to use this package with ROS noetic?

I'm Japanese, so please forgive me for my poor words

osumilab commented 3 years ago

Screenshot from 2021-09-30 15-36-56 Screenshot from 2021-09-30 15-37-30

cambel commented 3 years ago

Hi, are you trying to install from source or using Docker? If you are installing from source, I would recommend you see the steps from the Dockerfile otherwise you will face many dependencies problems that are also difficult for me to help with.

In addition, is it possible to use this package with ROS noetic?

In principle, yes, it should. I converted everything to make it compatible as far as I know, see the noetic branch. I tried once but I had some problem with Gazebo and I didn't look further into it. If you are going to try, I can give you a hand if you have any problems.

osumilab commented 3 years ago

I will also comment in English Thank you for your prompt response. Excuse me in Japanese. I downloaded ur3, robotiq, ur_ikfast and ran the program, but it comes out without the ur_ikfast module that should be as shown in the picture.

Also, I handle UR3e and Hand-e on the actual machine. Regarding UR3e, it can be operated by making full use of UR official driver etc., but Hand-e does not support it and it cannot be operated. I would like to be able to display it on Rviz and programmatically open and close hand-e with Moveit, but I would like advice if you like. I'm new to ROS. So I don't know how to incorporate it. I look forward to working with you.

cambel commented 3 years ago

ur_ikfast is a Python library, make sure you follow the instructions on how to install it. Make sure that the python binary that ROS uses is the same used for installation (either Python 2 or 3).

For the UR3e + Hand-e: there is no way, that I am aware of, to operate the gripper using MoveIt directly yet. However, this repository includes a dependency that allows programmatically calls to operate the gripper independently of the motion planner. See an example of how to use it: https://github.com/cambel/ur3/blob/bfc171daa273bb1222e8883c430c434145f02a8a/ur_control/scripts/real_controller_examples.py#L52-L71

osumilab commented 3 years ago

I successfully installed ur_ikfast and ran the script described in the README, but I got a NameError. I suspect that the error is related to the gripper. Is there any way to improve it?

Also, I would like to feed back the force and torque of the gripper in the future to control it, but is it difficult with Hand-e? Screenshot from 2021-10-03 18-02-41

Screenshot from 2021-10-03 18-02-56

cambel commented 3 years ago

It seems that you are missing this library https://github.com/pal-robotics/gazebo_ros_link_attacher , which is necessary for the gripper in simulation, to simulate grasp. I pushed a small fix to be able to ignore this error in case of not having the dependency, the rest of the robot should work except for the gripper's grasp.

Also, I would like to feed back the force and torque of the gripper in the future to control it, but is it difficult with Hand-e?

The Force/Torque is not in the gripper, is in the UR3e, this repository supports both simulation and the real robot Force/Torque sensor. The class arm has a method get_ee_wrench which returns the low-pass filtered F/T data.

osumilab commented 3 years ago

After installing some of the packages published here, the original driver no longer boots. Do you have any idea of such an erro Screenshot from 2021-10-03 20-17-47 r?

cambel commented 3 years ago

https://github.com/fmauch/universal_robot/issues/18 you need to update the universal_robot repository to its latest commit.

osumilab commented 3 years ago

I saw # 18, but I don't know which part to fix after all. Being a ROS beginner, I don't even know which is the latest repository and I don't know how to commit.

cambel commented 3 years ago

According to your screenshot (please copy-paste the text in the console next time), your universal_robot repository is in /home/osumi/catkin_ws/src/universal_robot

so, to get the latest commit, go there and update the repository using git, and then compile again

cd /home/osumi/catkin_ws/src/universal_robot
git pull
catkin build

or something similar. If you have more troubles with the driver, first ask there https://github.com/fmauch/universal_robot/issues

osumilab commented 3 years ago

I haven't solved it so I'll ask you a question. Thank you for everything.

cambel commented 3 years ago

Try to do a clean rebuild

cd /home/osumi/catkin_ws/
catkin clean
catkin build
osumilab commented 3 years ago

I can't run it when I enter the workspace. I feel that something bad is happening

$ cd /home/osumi/catkin_ws/ ~/catkin_ws$ catkin clean [clean] Error: The current or desired workspace could not be determined. Please run catkin clean from within a catkin workspace or specify the workspace explicitly with the --workspace option.

cambel commented 3 years ago

try with catkin_make clean

osumilab commented 3 years ago

I'm planning to ask https://github.com/fmauch/universal_robot/issues a question, but when I run catkin build and start the driver, I get the following error message.

[ERROR] [1633340254.086588640]: This controller requires a hardware interface of type 'scaled_controllers::ScaledPositionJointInterface'. Make sure this is registered in the hardware_interface::RobotHW class. [ERROR] [1633340254.086612383]: Initializing controller 'scaled_pos_joint_traj_controller' failed

osumilab commented 3 years ago

I don't get an answer, do you have any idea about this error?

cambel commented 3 years ago

Can you paste the whole stack trace of executing only roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=133.91.72.106 limited:=true kinematics_config:="${HOME}/my_robot_calibration.yaml"

osumilab commented 3 years ago

thank you

roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=XXX limited:=true kinematics_config:="${HOME}/my_robot_calibration.yaml"
... logging to /home/osumi/.ros/log/2aa9d1b4-25a1-11ec-bada-3b5469e2de83/roslaunch-osumi-System-Product-Name-135363.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://133.91.72.99:37675/

SUMMARY
========

PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 500
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /hardware_control_loop/loop_hz: 500
 * /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...
 * /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: 1.15.13
 * /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: ur_controllers/Sp...
 * /ur_hardware_interface/headless_mode: False
 * /ur_hardware_interface/input_recipe_file: /home/osumi/catki...
 * /ur_hardware_interface/joints: ['shoulder_pan_jo...
 * /ur_hardware_interface/kinematics/forearm/pitch: 3.140840527380342
 * /ur_hardware_interface/kinematics/forearm/roll: 3.139766464929528
 * /ur_hardware_interface/kinematics/forearm/x: -0.2436416968022764
 * /ur_hardware_interface/kinematics/forearm/y: 0
 * /ur_hardware_interface/kinematics/forearm/yaw: 3.141584152536728
 * /ur_hardware_interface/kinematics/forearm/z: 0
 * /ur_hardware_interface/kinematics/hash: calib_32672526820...
 * /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: -5.64706260533336...
 * /ur_hardware_interface/kinematics/shoulder/z: 0.1519170178118177
 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0
 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.571900393949031
 * /ur_hardware_interface/kinematics/upper_arm/x: -0.00014097951516...
 * /ur_hardware_interface/kinematics/upper_arm/y: 0
 * /ur_hardware_interface/kinematics/upper_arm/yaw: -2.42380748845701...
 * /ur_hardware_interface/kinematics/upper_arm/z: 0
 * /ur_hardware_interface/kinematics/wrist_1/pitch: 0.002359385753913827
 * /ur_hardware_interface/kinematics/wrist_1/roll: 0.001872923129987308
 * /ur_hardware_interface/kinematics/wrist_1/x: -0.2130524601062096
 * /ur_hardware_interface/kinematics/wrist_1/y: -0.00024564161724...
 * /ur_hardware_interface/kinematics/wrist_1/yaw: 6.136059830012914...
 * /ur_hardware_interface/kinematics/wrist_1/z: 0.1311539838916984
 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0
 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.572034379348679
 * /ur_hardware_interface/kinematics/wrist_2/x: 5.340578086862202...
 * /ur_hardware_interface/kinematics/wrist_2/y: -0.08532697039203986
 * /ur_hardware_interface/kinematics/wrist_2/yaw: -5.81052202928977...
 * /ur_hardware_interface/kinematics/wrist_2/z: -0.00010563932757...
 * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.568616436958168
 * /ur_hardware_interface/kinematics/wrist_3/x: -0.00016775999142...
 * /ur_hardware_interface/kinematics/wrist_3/y: 0.09229165684364232
 * /ur_hardware_interface/kinematics/wrist_3/yaw: -3.14159243681118
 * /ur_hardware_interface/kinematics/wrist_3/z: -0.00020118596344...
 * /ur_hardware_interface/output_recipe_file: /home/osumi/catki...
 * /ur_hardware_interface/reverse_port: 50001
 * /ur_hardware_interface/robot_ip: 133.91.72.106
 * /ur_hardware_interface/script_file: /home/osumi/catki...
 * /ur_hardware_interface/script_sender_port: 50002
 * /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: 24
 * /ur_hardware_interface/use_tool_communication: True
 * /ur_tool_communication_bridge/device_name: /tmp/ttyUR
 * /ur_tool_communication_bridge/reverse_port: 50001
 * /ur_tool_communication_bridge/robot_ip: 133.91.72.106
 * /ur_tool_communication_bridge/script_sender_port: 50002
 * /ur_tool_communication_bridge/tcp_port: 54321
 * /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 (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_tool_communication_bridge (ur_robot_driver/tool_communication)
  /ur_hardware_interface/
    ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master
process[master]: started with pid [135374]
ROS_MASTER_URI=http://133.91.72.99:11311

setting /run_id to 2aa9d1b4-25a1-11ec-bada-3b5469e2de83
process[rosout-1]: started with pid [135384]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [135391]
process[ur_hardware_interface-3]: started with pid [135392]
process[ur_tool_communication_bridge-4]: started with pid [135393]
process[ros_control_controller_spawner-5]: started with pid [135394]
process[ros_control_stopped_spawner-6]: started with pid [135396]
process[controller_stopper-7]: started with pid [135405]
process[ur_hardware_interface/ur_robot_state_helper-8]: started with pid [135409]
[ INFO] [1633413468.639331481]: Initializing dashboard client
[ INFO] [1633413468.646896553]: Initializing urdriver
WARN /tmp/binarydeb/ros-noetic-ur-client-library-0.3.2/include/ur_client_library/comm/pipeline.h 396: No realtime capabilities found. Consider using a realtime system for better performance 
[ INFO] [1633413468.650094198]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1633413468.651165742]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[INFO] [1633413468.788983]: Remote device is available at '/tmp/ttyUR'
[INFO] [1633413468.789533]: Starting socat with following command:
socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:133.91.72.106:54321
[INFO] [1633413468.915399]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1633413468.920684]: Controller Spawner: Waiting for service controller_manager/load_controller
WARN /tmp/binarydeb/ros-noetic-ur-client-library-0.3.2/src/ur/ur_driver.cpp 180: DEPRECATION NOTICE: Passing the calibration_checksum to the UrDriver's constructor has been deprecated. Instead, use the checkCalibration(calibration_checksum) function separately. This notice is for application developers using this library. If you are only using an application using this library, you can ignore this message. 
WARN /tmp/binarydeb/ros-noetic-ur-client-library-0.3.2/include/ur_client_library/comm/pipeline.h 396: No realtime capabilities found. Consider using a realtime system for better performance 
WARN /tmp/binarydeb/ros-noetic-ur-client-library-0.3.2/include/ur_client_library/comm/pipeline.h 396: No realtime capabilities found. Consider using a realtime system for better performance 
[ INFO] [1633413471.103118841]: Loaded ur_robot_driver hardware_interface
[ INFO] [1633413471.119954488]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1633413471.119976168]: Service available.
[ INFO] [1633413471.119984956]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1633413471.120410961]: Service available.
[ INFO] [1633413471.302252472]: Robot mode is now RUNNING
[ INFO] [1633413471.302964174]: Robot's safety mode is now NORMAL
[INFO] [1633413471.341713]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1633413471.342695]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1633413471.343178]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1633413471.344155]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1633413471.344396]: Loading controller: pos_joint_traj_controller
[INFO] [1633413471.345405]: Loading controller: joint_state_controller
[INFO] [1633413471.360780]: Loading controller: joint_group_vel_controller
[INFO] [1633413471.362741]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1633413471.366819]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[ERROR] [1633413471.367709134]: This controller requires a hardware interface of type 'scaled_controllers::ScaledPositionJointInterface'. Make sure this is registered in the hardware_interface::RobotHW class.
[ERROR] [1633413471.367731725]: Initializing controller 'scaled_pos_joint_traj_controller' failed
[ERROR] [1633413472.368853]: Failed to load scaled_pos_joint_traj_controller
[INFO] [1633413472.369707]: Loading controller: speed_scaling_state_controller
[ WARN] [1633413472.372527533]: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class position_controllers::ScaledJointTrajectoryController. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[ WARN] [1633413472.372586350]: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class velocity_controllers::ScaledJointTrajectoryController. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[INFO] [1633413472.374675]: Loading controller: force_torque_sensor_controller
[INFO] [1633413472.378691]: Controller Spawner: Loaded controllers: joint_state_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1633413472.380697]: Started controllers: joint_state_controller, speed_scaling_state_controller, force_torque_sensor_controller
cambel commented 3 years ago

I haven`t try ROS Noetic with the Universal Robot Driver, so I am not sure about your problem. However, this warning seems to indicate either a problem with your ros workspace (most likely) or a bug with the Noetic version of the driver.

[ WARN] [1633413472.372527533]: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class position_controllers::ScaledJointTrajectoryController. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [ WARN] [1633413472.372586350]: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class velocity_controllers::ScaledJointTrajectoryController. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.

I suggest you add that part or the whole stack trace to your issue over there

osumilab commented 3 years ago

https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/480 I installed the scaled controller in my workspace and it worked fine. Your advice helped me a lot. Thank you very much.