Waiting for '/controller_manager' node to exist

[ravijo]

Affected ROS2 Driver version(s)

2.2.8-1jammy.20230920.011431

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

UR E-series robot

Robot SW / URSim version(s)

N/A

How is the ROS driver used.

Others

Issue details

Summary

I am trying to use UR5e robot in simulation with MoveIt package. However, I am getting the following error upon invoking ur_robot_driver: Waiting for '/controller_manager' node to exist

Issue details

ravi@dell:~/moveit_ws_humble$ ros2 launch ur_robot_driver ur5e.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true initial_joint_controller:=joint_trajectory_controller launch_rviz:=false
[INFO] [launch]: All log files can be found below /home/ravi/.ros/log/2023-09-26-21-04-28-563130-dell-54645
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [54648]
[INFO] [robot_state_publisher-2]: process started with pid [54650]
[INFO] [spawner-3]: process started with pid [54652]
[INFO] [spawner-4]: process started with pid [54654]
[INFO] [spawner-5]: process started with pid [54656]
[INFO] [spawner-6]: process started with pid [54658]
[INFO] [spawner-7]: process started with pid [54660]
[INFO] [spawner-8]: process started with pid [54662]
[robot_state_publisher-2] [INFO] [1695729868.881985946] [robot_state_publisher]: got segment base
[robot_state_publisher-2] [INFO] [1695729868.882022555] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1695729868.882026571] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-2] [INFO] [1695729868.882029125] [robot_state_publisher]: got segment flange
[robot_state_publisher-2] [INFO] [1695729868.882031542] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-2] [INFO] [1695729868.882033776] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-2] [INFO] [1695729868.882035965] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-2] [INFO] [1695729868.882038181] [robot_state_publisher]: got segment tool0
[robot_state_publisher-2] [INFO] [1695729868.882040484] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-2] [INFO] [1695729868.882042781] [robot_state_publisher]: got segment world
[robot_state_publisher-2] [INFO] [1695729868.882044921] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-2] [INFO] [1695729868.882047119] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-2] [INFO] [1695729868.882049292] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-1] [INFO] [1695729868.886599962] [resource_manager]: Loading hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1695729868.886845052] [resource_manager]: Initialize hardware 'ur5e' 
[ros2_control_node-1] [WARN] [1695729868.886858260] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-1] [WARN] [1695729868.886865384] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example: 
[ros2_control_node-1] <state_interface name="velocity"> 
[ros2_control_node-1]   <param name="initial_value">0.0</param> 
[ros2_control_node-1] </state_interface>
[ros2_control_node-1] [INFO] [1695729868.886891692] [resource_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1695729868.886961153] [resource_manager]: 'configure' hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1695729868.886963879] [resource_manager]: Successful 'configure' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1695729868.886976560] [resource_manager]: 'activate' hardware 'ur5e' 
[ros2_control_node-1] [INFO] [1695729868.886978786] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1695729868.887706763] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1695729868.887833335] [controller_manager]: RT kernel is recommended for better performance
[spawner-7] [INFO] [1695729871.101916718] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1695729871.102032243] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1695729871.105224853] [spawner_io_and_status_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1695729871.118154070] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1695729871.120449365] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1695729871.126219358] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1695729873.113261603] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1695729873.114233200] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1695729873.122779362] [spawner_io_and_status_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1695729873.130581032] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1695729873.132446282] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1695729873.137217201] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1695729875.126422869] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1695729875.126821062] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1695729875.134703770] [spawner_io_and_status_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1695729875.142291238] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1695729875.143345806] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1695729875.149365702] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1695729877.138539819] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1695729877.138570453] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1695729877.147110484] [spawner_io_and_status_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1695729877.154552363] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1695729877.155756134] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1695729877.161136004] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [ERROR] [1695729879.150882900] [spawner_joint_trajectory_controller]: Controller manager not available
[spawner-7] [ERROR] [1695729879.151388413] [spawner_force_torque_sensor_broadcaster]: Controller manager not available
[spawner-5] [ERROR] [1695729879.159142295] [spawner_io_and_status_controller]: Controller manager not available
[spawner-6] [ERROR] [1695729879.167091908] [spawner_speed_scaling_state_broadcaster]: Controller manager not available
[spawner-4] [ERROR] [1695729879.169221686] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner-8] [ERROR] [1695729879.172614731] [spawner_forward_position_controller]: Controller manager not available
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2_control_node-1] [INFO] [1695729885.930441175] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1695729885.930568431] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[robot_state_publisher-2] [INFO] [1695729886.522478273] [rclcpp]: signal_handler(signum=2)
[ERROR] [ros2_control_node-1]: process has died [pid 54648, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_3kkmvc2p --params-file /opt/ros/humble/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /opt/ros/humble/share/ur_robot_driver/config/ur_controllers.yaml'].
[ERROR] [spawner-8]: process[spawner-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [spawner-7]: process[spawner-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [spawner-6]: process[spawner-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [spawner-5]: process[spawner-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [spawner-4]: process[spawner-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [spawner-3]: process[spawner-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [robot_state_publisher-2]: process[robot_state_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [spawner-8]: sending signal 'SIGTERM' to process[spawner-8]
[INFO] [spawner-7]: sending signal 'SIGTERM' to process[spawner-7]
[INFO] [spawner-6]: sending signal 'SIGTERM' to process[spawner-6]
[INFO] [spawner-5]: sending signal 'SIGTERM' to process[spawner-5]
[INFO] [spawner-4]: sending signal 'SIGTERM' to process[spawner-4]
[INFO] [spawner-3]: sending signal 'SIGTERM' to process[spawner-3]
[INFO] [robot_state_publisher-2]: sending signal 'SIGTERM' to process[robot_state_publisher-2]
[ERROR] [spawner-8]: process has died [pid 54662, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner forward_position_controller --controller-manager /controller_manager --controller-manager-timeout 10 --inactive --ros-args'].
[ERROR] [spawner-7]: process has died [pid 54660, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager /controller_manager --controller-manager-timeout 10 --ros-args'].
[ERROR] [spawner-6]: process has died [pid 54658, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner speed_scaling_state_broadcaster --controller-manager /controller_manager --controller-manager-timeout 10 --ros-args'].
[ERROR] [spawner-5]: process has died [pid 54656, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller --controller-manager /controller_manager --controller-manager-timeout 10 --ros-args'].
[ERROR] [spawner-4]: process has died [pid 54654, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --controller-manager-timeout 10 --ros-args'].
[robot_state_publisher-2] [INFO] [1695729890.955293713] [rclcpp]: signal_handler(signum=15)
[ERROR] [spawner-3]: process has died [pid 54652, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --controller-manager-timeout 10 --ros-args'].
[ERROR] [robot_state_publisher-2]: process[robot_state_publisher-2] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [robot_state_publisher-2]: sending signal 'SIGKILL' to process[robot_state_publisher-2]
[ERROR] [robot_state_publisher-2]: process has died [pid 54650, exit code -9, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params___muhxef'].

Additional Info

During this error I noticed that ros2 control list_controllers does not return anything and stays alive forever.

Relevant log output

No response

Accept Public visibility

• I agree to make this context public

[fmauch]

We'll have to check that. Looking at your log output I cannot immediately spot something wrong.

[francescosemeraro]

Did you manage to solve this? I am experiencing a very similar issue after having updated my laptop to a configuration very similar to yours.

[ShahhhVihaan]

Hey, Running into the same issue. Does anyone know how to fix this problem?

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3 robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true initial_joint_controller:=joint_trajectory_controller launch_rviz:=false
[INFO] [launch]: All log files can be found below /home/rtc2/.ros/log/2024-02-02-15-40-24-824311-rtc2-715303
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [715306]
[INFO] [urscript_interface-2]: process started with pid [715308]
[INFO] [robot_state_publisher-3]: process started with pid [715310]
[INFO] [spawner-4]: process started with pid [715312]
[INFO] [spawner-5]: process started with pid [715314]
[INFO] [spawner-6]: process started with pid [715316]
[INFO] [spawner-7]: process started with pid [715318]
[INFO] [spawner-8]: process started with pid [715320]
[INFO] [spawner-9]: process started with pid [715333]
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1706906425.535028220] [resource_manager]: Loading hardware 'ur3' 
[ros2_control_node-1] [INFO] [1706906425.537200950] [resource_manager]: Initialize hardware 'ur3' 
[ros2_control_node-1] [INFO] [1706906425.537726822] [resource_manager]: Successful initialization of hardware 'ur3'
[ros2_control_node-1] [INFO] [1706906425.538160434] [resource_manager]: 'configure' hardware 'ur3' 
[ros2_control_node-1] [INFO] [1706906425.538465117] [resource_manager]: Successful 'configure' of hardware 'ur3'
[ros2_control_node-1] [INFO] [1706906425.538744264] [resource_manager]: 'activate' hardware 'ur3' 
[ros2_control_node-1] [INFO] [1706906425.539007880] [URPositionHardwareInterface]: Starting ...please wait...
[ros2_control_node-1] [INFO] [1706906425.539265621] [URPositionHardwareInterface]: Initializing driver...
[robot_state_publisher-3] [INFO] [1706906425.541136097] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1706906425.541264056] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1706906425.541275136] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1706906425.541279244] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1706906425.541282796] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1706906425.541286038] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-3] [INFO] [1706906425.541289443] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1706906425.541292687] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1706906425.541295862] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1706906425.541299084] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1706906425.541302353] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1706906425.541305544] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1706906425.541308652] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-1] [ERROR] [1706906425.554576341] [UR_Client_Library:]: Failed to get address for yyy.yyy.yyy.yyy:30002
[ros2_control_node-1] [ERROR] [1706906425.564421706] [UR_Client_Library:]: Failed to get address for yyy.yyy.yyy.yyy:30004
[ros2_control_node-1] [ERROR] [1706906425.564926189] [UR_Client_Library:]: Attempt to write on a non-connected socket
[ros2_control_node-1] [ERROR] [1706906425.565219455] [UR_Client_Library:]: Sending RTDE pause command failed!
[ros2_control_node-1] [FATAL] [1706906425.565489885] [URPositionHardwareInterface]: Failed to connect to robot. Please check if the robot is booted and connected.
[ros2_control_node-1] [INFO] [1706906425.565749437] [resource_manager]: Failed to 'activate' hardware 'ur3'
[ros2_control_node-1] [INFO] [1706906425.578735163] [controller_manager]: update rate is 125 Hz
[ros2_control_node-1] [INFO] [1706906425.582436167] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-1] [INFO] [1706906426.221011929] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-1] [WARN] [1706906426.231276927] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-4] [INFO] [1706906426.250350965] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1706906426.251610351] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1706906426.251757213] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1706906426.251782064] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1706906426.251796175] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1706906426.253023385] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-1] [INFO] [1706906426.255108052] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-4] [INFO] [1706906426.271808978] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[INFO] [spawner-4]: process has finished cleanly [pid 715312]
[ros2_control_node-1] [INFO] [1706906426.411305228] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-6] [INFO] [1706906427.137736754] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1706906427.141101002] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1706906427.167567769] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[ros2_control_node-1] [INFO] [1706906427.175412013] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-7] [INFO] [1706906427.176480254] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1706906427.178482699] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ros2_control_node-1] [INFO] [1706906427.178608226] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ros2_control_node-1] [INFO] [1706906427.183068087] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 
[ros2_control_node-1] [INFO] [1706906427.183292831] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.233391079] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.283589340] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.333781622] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.383984036] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.434218946] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.484433451] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.534540609] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.584670336] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.634863129] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.685015317] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.735202242] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.785384527] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.835574461] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.885735319] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.935982005] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906427.986236780] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.036456890] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.086720046] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.136925965] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.187056170] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.237196010] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.287371549] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.337539805] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.387681253] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.437795259] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.487926659] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.538053473] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.588141403] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.638276627] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.688455973] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.738627224] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.788794204] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.839022163] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.889242401] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.939472269] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906428.989698364] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.039878357] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.090109748] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.140311410] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.190518069] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.240732717] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.290908621] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.341093918] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.391334814] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.441538159] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.491751209] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.541994951] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.592228520] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.642541382] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.692763994] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.743008576] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.793179751] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.843329316] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.893461427] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.943548908] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906429.993704733] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906430.043853393] [io_and_status_controller]: Waiting for system interface to initialize...
[ros2_control_node-1] [INFO] [1706906430.094085304] [io_and_status_controller]: Waiting for system interface to initialize...

I am able to successfully run it when I use a real robot, but when I want to work on it in simulation with the use_fake_hardware flag and a fake IP, I run into the above issue.

I'd appreciate help on the same.

[fmauch]

@ShahhhVihaan Do you run Humble or Iron / Rolling? use_fake_hardware has been renamed to use_mock_hardware. The output you've posted seems to be trying to start a real driver instance, which obviously cannot connect to a robot with the IP yyy.yyy.yyy.yyy

@francescosemeraro Depending on what your problem exactly looks like, this could be related to #869 and its "improvement" in #919 if that only happens sporadically.

[ShahhhVihaan]

@fmauch Sorry, for not responding. Yes I am using Humble.

I have the same issue when I use use_mock_hardware.

rtc2@rtc2:~/Projects/cram_ws$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3 robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true initial_joint_controller:=joint_trajectory_controller launch_rviz:=false
[INFO] [launch]: All log files can be found below /home/rtc2/.ros/log/2024-02-23-13-40-05-649441-rtc2-460909
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [460914]
[INFO] [controller_stopper_node-3]: process started with pid [460916]
[INFO] [ur_ros2_control_node-1]: process started with pid [460912]
[INFO] [urscript_interface-4]: process started with pid [460918]
[INFO] [robot_state_publisher-5]: process started with pid [460920]
[INFO] [spawner-6]: process started with pid [460922]
[INFO] [spawner-7]: process started with pid [460924]
[INFO] [spawner-8]: process started with pid [460926]
[INFO] [spawner-9]: process started with pid [460956]
[INFO] [spawner-10]: process started with pid [460975]
[INFO] [spawner-11]: process started with pid [460978]
[controller_stopper_node-3] [INFO] [1708713606.540112600] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_publisher-5] [INFO] [1708713606.546995577] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1708713606.547100077] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1708713606.547107622] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1708713606.547111340] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1708713606.547114758] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1708713606.547118067] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1708713606.547121243] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1708713606.547124501] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1708713606.547127631] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1708713606.547130849] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1708713606.547133969] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1708713606.547137118] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1708713606.547140353] [robot_state_publisher]: got segment wrist_3_link
[ur_ros2_control_node-1] [WARN] [1708713606.554768154] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ur_ros2_control_node-1] text not specified in the tf_prefix tag
[ur_ros2_control_node-1] [INFO] [1708713606.555180194] [resource_manager]: Loading hardware 'ur3' 
[ur_ros2_control_node-1] [INFO] [1708713606.556714142] [resource_manager]: Initialize hardware 'ur3' 
[ur_ros2_control_node-1] [INFO] [1708713606.556768086] [resource_manager]: Successful initialization of hardware 'ur3'
[ur_ros2_control_node-1] [WARN] [1708713606.556895607] [controller_manager]: [Deprecated]: Automatic activation of all hardware components will not be supported in the future anymore. Use hardware_spawner instead.
[ur_ros2_control_node-1] [INFO] [1708713606.556925444] [resource_manager]: 'configure' hardware 'ur3' 
[ur_ros2_control_node-1] [INFO] [1708713606.556930686] [resource_manager]: Successful 'configure' of hardware 'ur3'
[ur_ros2_control_node-1] [INFO] [1708713606.556950722] [resource_manager]: 'activate' hardware 'ur3' 
[ur_ros2_control_node-1] [INFO] [1708713606.556956771] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1708713606.556966587] [URPositionHardwareInterface]: Initializing driver...
[dashboard_client-2] [ERROR] [1708713606.560844972] [UR_Client_Library:]: Failed to get address for yyy.yyy.yyy.yyy:29999
[ur_ros2_control_node-1] [ERROR] [1708713606.570352206] [UR_Client_Library:]: Failed to get address for yyy.yyy.yyy.yyy:30002
[ur_ros2_control_node-1] [ERROR] [1708713606.584159461] [UR_Client_Library:]: Failed to get address for yyy.yyy.yyy.yyy:30004
[ur_ros2_control_node-1] [ERROR] [1708713606.584220401] [UR_Client_Library:]: Attempt to write on a non-connected socket
[ur_ros2_control_node-1] [ERROR] [1708713606.584224969] [UR_Client_Library:]: Sending RTDE pause command failed!
[ur_ros2_control_node-1] [FATAL] [1708713606.584248613] [URPositionHardwareInterface]: Failed to connect to robot. Please check if the robot is booted and connected.
[ur_ros2_control_node-1] [INFO] [1708713606.584262912] [resource_manager]: Failed to 'activate' hardware 'ur3'
[controller_stopper_node-3] [INFO] [1708713606.587695947] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1708713606.587737346] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1708713606.587752153] [Controller stopper]: Service available
[ur_ros2_control_node-1] [WARN] [1708713606.590110232] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-1] [INFO] [1708713607.391877874] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1708713607.400164024] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-7] [INFO] [1708713607.414244749] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1708713607.415173604] [controller_manager]: Loading controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1708713607.423027611] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1708713607.427618187] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1708713607.431441800] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-8] [INFO] [1708713607.431944268] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[spawner-11] [INFO] [1708713607.436009567] [spawner_forward_position_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1708713607.439141174] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ur_ros2_control_node-1] [WARN] [1708713607.445574804] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-9] [INFO] [1708713607.446571746] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1708713607.447921275] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1708713607.447998492] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-10] [INFO] [1708713607.451563479] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1708713607.455683833] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-6] [INFO] [1708713607.460536916] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1708713607.462994398] [controller_manager]: Configuring controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1708713607.463629734] [forward_position_controller]: configure successful
[ur_ros2_control_node-1] [INFO] [1708713607.471423509] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1708713607.471508424] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ur_ros2_control_node-1] [INFO] [1708713607.479071560] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[ur_ros2_control_node-1] [INFO] [1708713607.487432126] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1708713607.487599917] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1708713607.487620529] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1708713607.487630297] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ur_ros2_control_node-1] [INFO] [1708713607.488490901] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1708713607.489594536] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1708713607.511410447] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1708713607.518871422] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713607.568963256] [io_and_status_controller]: Waiting for system interface to initialize...
[INFO] [spawner-11]: process has finished cleanly [pid 460978]
[ur_ros2_control_node-1] [INFO] [1708713607.619123012] [io_and_status_controller]: Waiting for system interface to initialize...
[INFO] [spawner-7]: process has finished cleanly [pid 460924]
[ur_ros2_control_node-1] [INFO] [1708713607.669278126] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713607.719417728] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713607.769587961] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713607.819820356] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713607.870062637] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713607.920325050] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713607.970551835] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.020793474] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.071041034] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.121250417] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.171474011] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.221583715] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.271692186] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.321873376] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.372107681] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.422284456] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.472483974] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.522743798] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.572974625] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.623196084] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.673428605] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.723650997] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.773804198] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.823942797] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.874175923] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.924393946] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713608.974542213] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713609.024727727] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713609.074977390] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713609.125194590] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713609.175447149] [io_and_status_controller]: Waiting for system interface to initialize...
[ur_ros2_control_node-1] [INFO] [1708713609.225652919] [io_and_status_controller]: Waiting for system interface to initialize...

I'd appreciate your help. I've been working directly on the real robot but it would be incredibly helpful if I can validate things in simulation.

[fmauch]

Closing this. The OP's problem should have been fixed in #920 and the issue by @ShahhhVihaan is not reproducible. I assume that the description is being used from the wrong branch?