controller manager crashes when controller is stopped

[christian-rauch]

After loading the joint_state_broadcaster and panda_arm_controller via ros2 run controller_manager spawner.py into the controller manager, I am unable to unload panda_arm_controller again.

An attempt to unload via:

ros2 run controller_manager unspawner.py panda_arm_controller

or simply stop via:

ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{stop_controllers: ['panda_arm_controller'], strictness: 1}"

crashes the controller manager:

[ERROR] [ros2_control_node-6]: process has died [pid 3810693, exit code -11, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_a2hvyo1e --params-file [...]/install/franka_moveit_config/share/franka_moveit_config/config/panda_ros_controllers.yaml -r joint_states:=franka/joint_states'].
[INFO] [launch]: process[ros2_control_node-6] was required: shutting down launched system

[BarisYazici]

Can you tell me how you spawn the controller?

can you also try this with the ros2_control cli commands?

so for example

first load the controller

ros2 control load_controller joint_impedance_example_controller

ros2 control unload_controller joint_impedance_example_controller

[christian-rauch]

I am launching the node via ros2 launch franka_moveit_config moveit.launch.py robot_ip:=172.16.0.2. Looking at the loaded controllers via ros2 control list_controllers I can see that only the joint_state_broadcaster and panda_arm_controller are loaded by default:

panda_arm_controller[joint_effort_trajectory_controller/JointTrajectoryController] active
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active

An additional ros2 control load_controller joint_impedance_example_controller will give me [controller_manager]: The 'type' param not defined for 'joint_impedance_example_controller'..

Unloading the panda_arm_controller via ros2 control unload_controller panda_arm_controller does not work as it is running:

[controller_manager]: Could not unload controller with name 'panda_arm_controller' because it is still running

and there is no direct CLI command to stop the controller (ros2 control -h does not list an command to stop the controller only to start via configure_start_controller).

In any case, doing a ros2 run controller_manager unspawner.py panda_arm_controller still gives me:

[ERROR] [ros2_control_node-4]: process has died [pid 764118, exit code -11, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_8_crup7w --params-file [workspace]/install/franka_moveit_config/share/franka_moveit_config/config/panda_ros_controllers.yaml -r joint_states:=franka/joint_states'].

[BarisYazici]

set the controller state to inactive first before unloading. I think this issue is more related to the controller_manager.

ros2 control set_controller_state panda_arm_controller inactive

then

ros2 control unload_controller panda_arm_controller

[christian-rauch]

ros2 control set_controller_state panda_arm_controller inactive

Is inactive a humble feature? I tried this before on foxy and got:

$ ros2 control set_controller_state panda_arm_controller inactive
usage: ros2 control set_controller_state [-h] [--spin-time SPIN_TIME]
                                         [-c CONTROLLER_MANAGER]
                                         [--include-hidden-nodes]
                                         controller_name
                                         {configure,start,stop}
ros2 control set_controller_state: error: argument state: invalid choice: 'inactive' (choose from 'configure', 'start', 'stop')