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lbr-stack / lbr_fri_ros2_stack

ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.html
Apache License 2.0
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Controller Manager not available #206

Open jclinton830 opened 2 days ago

jclinton830 commented 2 days ago

Hi,

I am currently running hardware.launch from the humble branch to bring up a real robot. I made sure to setup the robot's client as described in the doc. However, there seems to be a problem between the lbr_system_interface and ros2_control because even though the controller_manger node appears in the ros2 node list, the controller_manager is not available for the joint_state_broadcaster and the joint_trajectroy_controller to spawn properly.

See the below log. 

~/lbr_ws$ ros2 launch lbr_bringup hardware.launch.py  model:=med14
[INFO] [launch]: All log files can be found below /home/jetsonadmin/.ros/log/2024-09-20-12-16-23-899873-jetsonadmin-desktop-87821
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [87830]
[INFO] [ros2_control_node-2]: process started with pid [87833]
[INFO] [spawner-3]: process started with pid [87837]
[INFO] [spawner-4]: process started with pid [87839]
[ros2_control_node-2] [INFO] [1726798584.504025510] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-2] [INFO] [1726798584.508064372] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-2] [INFO] [1726798584.509668172] [controller_manager]: Successful set up FIFO RT scheduling policy with priority 50.
[robot_state_publisher-1] [INFO] [1726798584.558961863] [robot_state_publisher]: got segment link_0
[robot_state_publisher-1] [INFO] [1726798584.559213734] [robot_state_publisher]: got segment link_1
[robot_state_publisher-1] [INFO] [1726798584.559235653] [robot_state_publisher]: got segment link_2
[robot_state_publisher-1] [INFO] [1726798584.559246181] [robot_state_publisher]: got segment link_3
[robot_state_publisher-1] [INFO] [1726798584.559255109] [robot_state_publisher]: got segment link_4
[robot_state_publisher-1] [INFO] [1726798584.559262949] [robot_state_publisher]: got segment link_5
[robot_state_publisher-1] [INFO] [1726798584.559270181] [robot_state_publisher]: got segment link_6
[robot_state_publisher-1] [INFO] [1726798584.559277349] [robot_state_publisher]: got segment link_7
[robot_state_publisher-1] [INFO] [1726798584.559284293] [robot_state_publisher]: got segment link_ee
[robot_state_publisher-1] [INFO] [1726798584.559291301] [robot_state_publisher]: got segment mount
[robot_state_publisher-1] [INFO] [1726798584.559298245] [robot_state_publisher]: got segment world
[robot_state_publisher-1] [INFO] [1726798584.559305029] [robot_state_publisher]: got segment zedm_camera_center
[robot_state_publisher-1] [INFO] [1726798584.559312485] [robot_state_publisher]: got segment zedm_camera_link
[robot_state_publisher-1] [INFO] [1726798584.559319205] [robot_state_publisher]: got segment zedm_left_camera_frame
[robot_state_publisher-1] [INFO] [1726798584.559326245] [robot_state_publisher]: got segment zedm_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1726798584.559333509] [robot_state_publisher]: got segment zedm_right_camera_frame
[robot_state_publisher-1] [INFO] [1726798584.559340517] [robot_state_publisher]: got segment zedm_right_camera_optical_frame
[ros2_control_node-2] [INFO] [1726798584.642479074] [controller_manager]: Received robot description file.
[ros2_control_node-2] [INFO] [1726798584.643544605] [resource_manager]: Loading hardware 'lbr_system_interface' 
[ros2_control_node-2] [INFO] [1726798584.650571708] [resource_manager]: Initialize hardware 'lbr_system_interface' 
[ros2_control_node-2] [INFO] [1726798584.650825947] [lbr_fri_ros2::AsyncClient]: Configuring client
[ros2_control_node-2] [INFO] [1726798584.650861051] [lbr_fri_ros2::AsyncClient]: Client command mode: 'POSITION'
[ros2_control_node-2] [INFO] [1726798584.650868923] [lbr_fri_ros2::AsyncClient]: Command guard variant 'default'
[ros2_control_node-2] [INFO] [1726798584.650943707] [lbr_fri_ros2::CommandGuard]: *** Parameters:
[ros2_control_node-2] [INFO] [1726798584.650955995] [lbr_fri_ros2::CommandGuard]: *   Joint A1 limits: Position: [-170.0, 170.0] deg, velocity: 85.0 deg/s, torque: 200.0 Nm
[ros2_control_node-2] [INFO] [1726798584.650970651] [lbr_fri_ros2::CommandGuard]: *   Joint A2 limits: Position: [-120.0, 120.0] deg, velocity: 85.0 deg/s, torque: 200.0 Nm
[ros2_control_node-2] [INFO] [1726798584.650978587] [lbr_fri_ros2::CommandGuard]: *   Joint A3 limits: Position: [-170.0, 170.0] deg, velocity: 100.0 deg/s, torque: 200.0 Nm
[ros2_control_node-2] [INFO] [1726798584.650985435] [lbr_fri_ros2::CommandGuard]: *   Joint A4 limits: Position: [-120.0, 120.0] deg, velocity: 75.0 deg/s, torque: 200.0 Nm
[ros2_control_node-2] [INFO] [1726798584.650992315] [lbr_fri_ros2::CommandGuard]: *   Joint A5 limits: Position: [-170.0, 170.0] deg, velocity: 130.0 deg/s, torque: 200.0 Nm
[ros2_control_node-2] [INFO] [1726798584.650999034] [lbr_fri_ros2::CommandGuard]: *   Joint A6 limits: Position: [-120.0, 120.0] deg, velocity: 135.0 deg/s, torque: 200.0 Nm
[ros2_control_node-2] [INFO] [1726798584.651006330] [lbr_fri_ros2::CommandGuard]: *   Joint A7 limits: Position: [-175.0, 175.0] deg, velocity: 135.0 deg/s, torque: 200.0 Nm
[ros2_control_node-2] [INFO] [1726798584.651017626] [lbr_fri_ros2::JointPIDArray]: *** Parameters:
[ros2_control_node-2] [INFO] [1726798584.651023002] [lbr_fri_ros2::JointPIDArray]: *   p: 0.1
[ros2_control_node-2] [INFO] [1726798584.651029658] [lbr_fri_ros2::JointPIDArray]: *   i: 0.0
[ros2_control_node-2] [INFO] [1726798584.651034778] [lbr_fri_ros2::JointPIDArray]: *   d: 0.0
[ros2_control_node-2] [INFO] [1726798584.651039706] [lbr_fri_ros2::JointPIDArray]: *   i_max: 0.0
[ros2_control_node-2] [INFO] [1726798584.651044538] [lbr_fri_ros2::JointPIDArray]: *   i_min: 0.0
[ros2_control_node-2] [INFO] [1726798584.651049210] [lbr_fri_ros2::JointPIDArray]: *   antiwindup: false
[ros2_control_node-2] [INFO] [1726798584.651082778] [lbr_fri_ros2::StateInterface]: *** Parameters:
[ros2_control_node-2] [INFO] [1726798584.651088794] [lbr_fri_ros2::StateInterface]: *   external_torque_cutoff_frequency: 10.0 Hz
[ros2_control_node-2] [INFO] [1726798584.651095162] [lbr_fri_ros2::StateInterface]: *   measured_torque_cutoff_frequency: 10.0 Hz
[ros2_control_node-2] [INFO] [1726798584.651102970] [lbr_fri_ros2::AsyncClient]: Open loop 'true'
[ros2_control_node-2] [INFO] [1726798584.651109370] [lbr_fri_ros2::AsyncClient]: Client configured
[ros2_control_node-2] [INFO] [1726798584.716336906] [resource_manager]: Successful initialization of hardware 'lbr_system_interface'
[ros2_control_node-2] [INFO] [1726798584.716718057] [resource_manager]: 'configure' hardware 'lbr_system_interface' 
[ros2_control_node-2] [INFO] [1726798584.716748489] [resource_manager]: Successful 'configure' of hardware 'lbr_system_interface'
[ros2_control_node-2] [INFO] [1726798584.716777960] [resource_manager]: 'activate' hardware 'lbr_system_interface' 
[ros2_control_node-2] [INFO] [1726798584.716819880] [lbr_fri_ros2::App]: Opening UDP socket with port_id '30200'
[ros2_control_node-2] [INFO] [1726798584.716903336] [lbr_fri_ros2::App]: Socket opened successfully
[ros2_control_node-2] [INFO] [1726798584.717133991] [lbr_ros2_control::SystemInterface]: Awaiting robot heartbeat. Attempt 1, remote_host 'INADDR_ANY', port_id '30200'
[ros2_control_node-2] [INFO] [1726798584.717278790] [lbr_fri_ros2::App]: Realtime kernel recommended but not required
[ros2_control_node-2] [INFO] [1726798584.717298182] [lbr_fri_ros2::App]: Starting run thread
[ros2_control_node-2] [INFO] [1726798584.727023673] [lbr_fri_ros2::AsyncClient]: LBR switched from 'IDLE' to 'MONITORING_WAIT'
[spawner-4] [INFO] [1726798585.048554112] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1726798585.089320290] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-2] [INFO] [1726798585.717280690] [lbr_ros2_control::SystemInterface]: Robot connected
[ros2_control_node-2] [INFO] [1726798585.717529425] [lbr_ros2_control::SystemInterface]: Control mode 'POSITION_CONTROL_MODE'
[ros2_control_node-2] [INFO] [1726798585.717558193] [lbr_ros2_control::SystemInterface]: Sample time 0.010 s / 100.0 Hz
[ros2_control_node-2] [INFO] [1726798585.717588721] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_WAIT'.
[ros2_control_node-2] [INFO] [1726798586.204893007] [lbr_fri_ros2::AsyncClient]: LBR switched from 'MONITORING_WAIT' to 'MONITORING_READY'
[ros2_control_node-2] [INFO] [1726798586.717735539] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798587.717958571] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798588.718200345] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798589.718420318] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798590.718752729] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798591.719026635] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798592.719331187] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798593.719607826] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798594.719830536] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[spawner-4] [WARN] [1726798595.070440935] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1726798595.071335331] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1726798595.115693392] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [INFO] [1726798595.117622503] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-2] [INFO] [1726798595.720059253] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798596.720285752] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798597.720502706] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798598.720820258] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798599.721044617] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798600.721315207] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798601.721577244] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798602.721798055] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798603.722029994] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[ros2_control_node-2] [INFO] [1726798604.722381730] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
[spawner-4] [WARN] [1726798605.094114042] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1726798605.095798514] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1726798605.139529150] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [INFO] [1726798605.140469689] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-2] [INFO] [1726798605.722598962] [lbr_ros2_control::SystemInterface]: Awaiting 'COMMANDING_WAIT' state. Current state 'MONITORING_READY'.
mhubii commented 2 days ago

hi @jclinton830. So the connection is established well. The driver awaits COMMANDING_WAIT state.

To achieve this, simply press the green play button whilst holding one of the gray enabling switches on the KUKA smartPAD.

In automatic mode, the robot will connect immediately.

jclinton830 commented 1 day ago

hi @jclinton830. So the connection is established well. The driver awaits COMMANDING_WAIT state.

To achieve this, simply press the green play button whilst holding one of the gray enabling switches on the KUKA smartPAD.

In automatic mode, the robot will connect immediately.

Hi @mhubii I am running the robot in automatic mode. My question is not about the awaiting 'COMMANDING WAIT'

I want to know why the controller manager is not available for the joint state broadcaster and the joint trajectory controller to spawn?

mhubii commented 1 day ago

the controller manager is stuck loading the lbr_ros2_control::SystemInterface since the robot never enters COMMANDING_WAIT state. This likely happens because the robot is in test mode T1.

When you engage the robot, the robot can switch to COMMANDING_WAIT state. This happens automatically in automatic mode, but you need to engage the robot manually in test mode.