Error starting the trajectory controller.

[tonypg39]

I get the following error while running:
Command:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true

Error:

[ur_ros2_control_node-1] [INFO] [1710949399.473507842] [URPositionHardwareInterface]: Calibration checksum: 'calib_5119701370761913513'.
[ur_ros2_control_node-1] [ERROR] [1710949400.482764365] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/README.md] for details.

I generated the calibration.yaml file according to the docs, do I need to follow additional steps to copy it into the UR description. If so, how can I do so?
And then, the controllers do not show when running ros2 control list_controllers or does the Moveit interface work...
Any help appreciated,
Thanks

[RobertWilbrandt]

Typical usage would be to create a custom package that contains all the configuration for your specific robot arm(s) in one place. This is described in the ur_calibration README.

The incorrect checksum should however not lead to you not being able to control the robot. My first guess would be that the urcap is not running on the robot (you should see a line Robot connected to reverse interface. Ready to receive control commands. in the driver log output as soon as external control starts), but for further debugging please provide the exact sequence of commands and actions you perform and the complete driver log output.

[tonypg39]

Hello, many thanks for the quick answer! So, I provide here more detail about the problem that I am facing.
I am working with a real UR10e with a ROS2 Humble distribution in my PC.
I followed the steps in the documentation and installed the URCap for the external control and added it in a program to connect to the PC running ROS.
[Usage Part]
To start, I run the command:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=false

When I run the command I get the following output log:

[INFO] [launch]: All log files can be found below /home/tony/.ros/log/2024-03-21-15-28-35-003644-tony-vivobook-13887
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [13895]
[INFO] [controller_stopper_node-3]: process started with pid [13897]
[INFO] [ur_ros2_control_node-1]: process started with pid [13893]
[INFO] [urscript_interface-4]: process started with pid [13899]
[INFO] [robot_state_publisher-5]: process started with pid [13901]
[INFO] [spawner-6]: process started with pid [13903]
[INFO] [spawner-7]: process started with pid [13905]
[INFO] [spawner-8]: process started with pid [13907]
[INFO] [spawner-9]: process started with pid [13909]
[INFO] [spawner-10]: process started with pid [13955]
[INFO] [spawner-11]: process started with pid [13957]
[robot_state_publisher-5] [INFO] [1711031315.880217138] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1711031315.880390813] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1711031315.880408727] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1711031315.880420699] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1711031315.880431673] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1711031315.880442689] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1711031315.880453322] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1711031315.880463978] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1711031315.880474728] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1711031315.880485848] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1711031315.880496216] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1711031315.880518711] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1711031315.880529561] [robot_state_publisher]: got segment wrist_3_link
[ur_ros2_control_node-1] text not specified in the tf_prefix tag
[ur_ros2_control_node-1] [INFO] [1711031315.885464686] [resource_manager]: Loading hardware 'ur10e' 
[ur_ros2_control_node-1] [INFO] [1711031315.888453968] [resource_manager]: Initialize hardware 'ur10e' 
[ur_ros2_control_node-1] [INFO] [1711031315.888816905] [resource_manager]: Successful initialization of hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1711031315.889138238] [resource_manager]: 'configure' hardware 'ur10e' 
[ur_ros2_control_node-1] [INFO] [1711031315.889157316] [resource_manager]: Successful 'configure' of hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1711031315.889201599] [resource_manager]: 'activate' hardware 'ur10e' 
[ur_ros2_control_node-1] [INFO] [1711031315.889221122] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1711031315.889241693] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [WARN] [1711031315.893439037] [UR_Client_Library:]: 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.
[dashboard_client-2] [INFO] [1711031315.895362468] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[ur_ros2_control_node-1] [INFO] [1711031315.914704440] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1711031315.917994180] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[controller_stopper_node-3] [INFO] [1711031315.937012870] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] [WARN] [1711031315.939841132] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead use the RobotReceiveTimeout, to set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-1] [WARN] [1711031315.939870828] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead you should set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-1] [INFO] [1711031315.939877553] [URPositionHardwareInterface]: Calibration checksum: 'calib_5119701370761913513'.
[ur_ros2_control_node-1] [ERROR] [1711031316.999139832] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/README.md] for details.
[ur_ros2_control_node-1] [INFO] [1711031316.999266408] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1711031316.999298465] [resource_manager]: Successful 'activate' of hardware 'ur10e'
[controller_stopper_node-3] [INFO] [1711031317.008477608] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1711031317.008576566] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1711031317.008607656] [Controller stopper]: Service available
[ur_ros2_control_node-1] [WARN] [1711031317.014556635] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-1] [WARN] [1711031317.014899412] [UR_Client_Library:]: 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.
[ur_ros2_control_node-1] [INFO] [1711031317.052788302] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1711031317.075996315] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[spawner-9] [INFO] [1711031317.078894867] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1711031317.090320725] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1711031317.090739384] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[spawner-9] [INFO] [1711031317.100297160] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1711031317.164664268] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [WARN] [1711031317.181645236] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-6] [INFO] [1711031317.188349937] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1711031317.202734344] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1711031317.203682420] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1711031317.203721315] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [ERROR] [1711031317.203875853] []: Caught exception in callback for transition 10
[ur_ros2_control_node-1] [ERROR] [1711031317.203889847] []: Original error: map::at
[ur_ros2_control_node-1] [WARN] [1711031317.203909990] []: Error occurred while doing error handling.
[ur_ros2_control_node-1] [ERROR] [1711031317.203925717] [controller_manager]: After configuring, controller 'scaled_joint_trajectory_controller' is in state 'unconfigured' , expected inactive.
[spawner-6] [ERROR] [1711031317.204838187] [spawner_scaled_joint_trajectory_controller]: Failed to configure controller
[ur_ros2_control_node-1] [INFO] [1711031317.246801775] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-10] [INFO] [1711031317.274366145] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1711031317.289946681] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[spawner-10] [INFO] [1711031317.307853776] [spawner_force_torque_sensor_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1711031317.317879523] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-7] [INFO] [1711031317.341144052] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1711031317.353786110] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1711031317.353882605] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-7] [INFO] [1711031317.388923040] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-9]: process has finished cleanly [pid 13909]
[ERROR] [spawner-6]: process has died [pid 13903, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --controller-manager-timeout 10 --ros-args'].
[INFO] [spawner-10]: process has finished cleanly [pid 13955]
[INFO] [spawner-7]: process has finished cleanly [pid 13905]
[ur_ros2_control_node-1] [INFO] [1711031334.034811187] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1711031334.034868677] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1711031334.243064263] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.

In the log I can see, for example, that the scaled_joint_trajectory_controller failed to load for some reason. It's after running this command that I run the program for the external control on the UR tablet, since before running the launch file, it says "Connection refused".

When I run in a separate terminal ros2 control list_controllers, I get no output on this 2nd terminal and the following error log in the main terminal:

[ur_ros2_control_node-1] [INFO] [1711031334.034811187] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1711031334.034868677] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1711031334.243064263] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.
[ur_ros2_control_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[ur_ros2_control_node-1]   what():  failed to send response: cannot publish data, at ./src/rmw_response.cpp:161, at ./src/rcl/service.c:314
[ur_ros2_control_node-1] Stack trace (most recent call last):
[ur_ros2_control_node-1] #18   Object "", at 0xffffffffffffffff, in 
[ur_ros2_control_node-1] #17   Object "/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node", at 0x5586edae4bc4, in 
[ur_ros2_control_node-1] #16   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7fd295629e3f]
[ur_ros2_control_node-1] #15   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7fd295629d8f]
[ur_ros2_control_node-1] #14   Object "/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node", at 0x5586edae4928, in 
[ur_ros2_control_node-1] #13   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd295a1d424, in rclcpp::executors::MultiThreadedExecutor::spin()
[ur_ros2_control_node-1] #12   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd295a1cfe9, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[ur_ros2_control_node-1] #11   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd295a15d95, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[ur_ros2_control_node-1] #10   Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd295a15a29, in rclcpp::Executor::execute_service(std::shared_ptr<rclcpp::ServiceBase>)
[ur_ros2_control_node-1] #9    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd295a18045, in 
[ur_ros2_control_node-1] #8    Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fd295bc4411, in 
[ur_ros2_control_node-1] #7    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd295a0ff08, in rclcpp::exceptions::throw_from_rcl_error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcutils_error_state_s const*, void (*)())
[ur_ros2_control_node-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fd295cae1fd, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
[ur_ros2_control_node-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fd295cae276, in std::terminate()
[ur_ros2_control_node-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fd295cae20b, in 
[ur_ros2_control_node-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fd295ca2b9d, in 
[ur_ros2_control_node-1] #2    Source "./stdlib/abort.c", line 79, in abort [0x7fd2956287f2]
[ur_ros2_control_node-1] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7fd295642475]
[ur_ros2_control_node-1] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ur_ros2_control_node-1]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ur_ros2_control_node-1]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7fd295696a7c]
[ur_ros2_control_node-1] Aborted (Signal sent by tkill() 13893 1000)
[ERROR] [ur_ros2_control_node-1]: process has died [pid 13893, exit code -6, cmd '/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_0d98iw8z --params-file /opt/ros/humble/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_mur398a8'].

Any help appreciated,
Thanks!

[RobertWilbrandt]

I think the error is in this line:

[ur_ros2_control_node-1] [ERROR] [1711031317.203875853] []: Caught exception in callback for transition 10

and the other symptoms are a result of that. Can you please make sure that your system is updated? Which packages are you building from source and which are installed from binary packages (in particular for this driver and ros2_control / ros2_controllers)? I vaguely remember seening errors like this in ros-controls/ros2_control#1164, so we should make sure that you are not at that version of the driver.

[sumit280188]

Hi @tonypg39,

How did you solve this problem? I am also struck at the same step?