Robotics StackExchange | Archived questions

Problem with UR5 and ur_robot_driver:

I am trying to control a UR5 with a remote pc in VMware

remote pc:

-Ubuntu 16.04

-ros kinetic

UR5:

URSoftware 3.7.0.40195

I am using the urrobotdriver to connect to the robot and moveit to plan a trajectory. Once i execute a the in rviz planned trajectory i get this error(Can't accept new action goals. Controller is not running.) . My steps are as follows

1.

roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.74.128

2.Start URCap Program that was created in this tutorial

3.start moveit

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

I get the following outputs in the 3 terminals and the rostopic list see below

In Rviz i get the correct pose of the roboter, but if i execute the new pose i get the error mentioned above (new terminal output is also below)

I already changed the controllers.yaml file in the ur5moveitconfig

controller_list:
- name: /pos_traj_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
  - shoulder_pan_joint
  - shoulder_lift_joint
  - elbow_joint
  - wrist_1_joint
  - wrist_2_joint
  - wrist_3_joint

I saw on other questions that this could be an issue. With the default name i got this error(Action client not connected: /followjointtrajectory). I am quite new to ros and i followed the tutorials to install universalrobot and urmoderndriver. A few days ago i tried the urmoderndriver to connect to the robot and i was able to execute the testmove.py . However this driver isnt working anymore on my maschine, i guess thats a different issue.

output:

Terminal 1:

steffen@ubuntu:~/catkinws$ roslaunch urrobotdriver ur5bringup.launch robot_ip:=192.168.74.128 ... logging to /home/steffen/.ros/log/cebc2656-1b3c-11ea-b56e-000c29fb465b/roslaunch-ubuntu-48110.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:36177/

SUMMARY

PARAMETERS

NODES / controllerstopper (controllerstopper/node) robotstatepublisher (robotstatepublisher/robotstatepublisher) roscontrolcontrollerspawner (controllermanager/spawner) roscontrolstoppedspawner (controllermanager/spawner) urhardwareinterface (urrobotdriver/urrobotdrivernode) /urhardwareinterface/ urrobotstatehelper (urrobotdriver/robotstatehelper)

auto-starting new master process[master]: started with pid [48123] ROSMASTERURI=http://localhost:11311

setting /run_id to cebc2656-1b3c-11ea-b56e-000c29fb465b

process[rosout-1]: started with pid [48136]

started core service [/rosout]

process[robotstatepublisher-2]: started with pid [48153]

process[urhardwareinterface-3]: started with pid [48154]

process[roscontrolcontroller_spawner-4]: started with pid [48156]

process[roscontrolstopped_spawner-5]: started with pid [48169]

process[controller_stopper-6]: started with pid [48176]

process[urhardwareinterface/urrobotstate_helper-7]: started with pid [48179]

[ INFO] [1575975857.786253486]: Waiting for controller manager service to come up on /controllermanager/switchcontroller

[ INFO] [1575975857.787300917]: waitForService: Service [/controllermanager/switchcontroller] has not been advertised, waiting...

[ INFO] [1575975857.790459386]: Initializing dashboard client

[ INFO] [1575975857.792868050]: Connected: Universal Robots Dashboard Server

[ INFO] [1575975857.830310678]: Initializing urdriver

[ INFO] [1575975857.830686207]: Checking if calibration data matches connected robot.

[ WARN] [1575975857.830982056]: No realtime capabilities found. Consider using a realtime system for better performance

[INFO] [1575975857.988480]: Controller Spawner: Waiting for service controllermanager/loadcontroller

[INFO] [1575975857.989582]: Controller Spawner: Waiting for service controllermanager/loadcontroller

[ INFO] [1575975858.095794361]: Calibration checked successfully.

[ WARN] [1575975858.914991031]: No realtime capabilities found. Consider using a realtime system for better performance

[ INFO] [1575975858.921294211]: Setting up RTDE communication with frequency 125.000000

[ WARN] [1575975859.964496618]: No realtime capabilities found. Consider using a realtime system for better performance

[ INFO] [1575975859.965086873]: Loaded urrobotdriver hardware_interface

[ INFO] [1575975860.015090081]: waitForService: Service [/controllermanager/switchcontroller] is now available.

[ INFO] [1575975860.015126015]: Service available.

[ INFO] [1575975860.015138367]: Waiting for controller list service to come up on /controllermanager/listcontrollers

[ INFO] [1575975860.015794503]: Service available.

[INFO] [1575975860.118565]: Controller Spawner: Waiting for service controllermanager/switchcontroller

[INFO] [1575975860.122272]: Controller Spawner: Waiting for service controllermanager/unloadcontroller

[INFO] [1575975860.123360]: Controller Spawner: Waiting for service controllermanager/switchcontroller

[INFO] [1575975860.125965]: Loading controller: postrajcontroller

[INFO] [1575975860.127471]: Controller Spawner: Waiting for service controllermanager/unloadcontroller

[INFO] [1575975860.131071]: Loading controller: jointstatecontroller

[ INFO] [1575975860.175769984]: Robot's safety mode is now NORMAL

[ INFO] [1575975860.175830555]: Robot mode is now RUNNING

[INFO] [1575975860.186358]: Controller Spawner: Loaded controllers: postrajcontroller

[INFO] [1575975860.195652]: Loading controller: scaledpostraj_controller

[INFO] [1575975860.241940]: Loading controller: speedscalingstate_controller

[INFO] [1575975860.258162]: Loading controller: forcetorquesensor_controller

[INFO] [1575975860.267036]: Controller Spawner: Loaded controllers: jointstatecontroller, scaledpostrajcontroller, speedscalingstatecontroller, forcetorquesensor_controller

[INFO] [1575975860.275989]: Started controllers: jointstatecontroller, scaledpostrajcontroller, speedscalingstatecontroller, forcetorquesensor_controller

[ INFO] [1575975888.482082303]: Robot requested program

[ INFO] [1575975888.482181901]: Sent program to robot

[ INFO] [1575975888.544744681]: Robot ready to receive control commands.

Terminal 2:

steffen@ubuntu:~/catkinws$ roslaunch ur5moveitconfig ur5moveitplanningexecution.launch

... logging to /home/steffen/.ros/log/cebc2656-1b3c-11ea-b56e-000c29fb465b/roslaunch-ubuntu-48776.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:46307/

SUMMARY

========

PARAMETERS

NODES / movegroup (moveitrosmovegroup/move_group)

ROSMASTERURI=http://localhost:11311

process[move_group-1]: started with pid [48793]

[ INFO] [1575975945.171087533]: Loading robot model 'ur5'...

[ WARN] [1575975945.171157578]: Skipping virtual joint 'fixedbase' because its child frame 'baselink' does not match the URDF frame 'world'

[ INFO] [1575975945.171167211]: No root/virtual joint specified in SRDF. Assuming fixed joint

[ INFO] [1575975945.229526528]: Loading robot model 'ur5'...

[ WARN] [1575975945.229567995]: Skipping virtual joint 'fixedbase' because its child frame 'baselink' does not match the URDF frame 'world'

[ INFO] [1575975945.229594065]: No root/virtual joint specified in SRDF. Assuming fixed joint

[ INFO] [1575975945.270673336]: Publishing maintained planning scene on 'monitoredplanningscene'

[ INFO] [1575975945.273673812]: MoveGroup debug mode is OFF

Starting context monitors...

[ INFO] [1575975945.273719767]: Starting scene monitor

[ INFO] [1575975945.277332536]: Listening to '/planning_scene'

[ INFO] [1575975945.277372493]: Starting world geometry monitor

[ INFO] [1575975945.280857569]: Listening to '/collision_object' using message notifier with target frame '/world '

[ INFO] [1575975945.285205214]: Listening to '/planningsceneworld' for planning scene world geometry

[ INFO] [1575975945.297374033]: Listening to '/attachedcollisionobject' for attached collision objects

Context monitors started.

[ INFO] [1575975945.317342945]: Initializing OMPL interface using ROS parameters

[ INFO] [1575975945.350058508]: Using planning interface 'OMPL'

[ INFO] [1575975945.352644403]: Param 'defaultworkspacebounds' was not set. Using default value: 10

[ INFO] [1575975945.353137231]: Param 'startstatemaxboundserror' was set to 0.1

[ INFO] [1575975945.353658232]: Param 'startstatemax_dt' was not set. Using default value: 0.5

[ INFO] [1575975945.354195886]: Param 'startstatemax_dt' was not set. Using default value: 0.5

[ INFO] [1575975945.354720616]: Param 'jiggle_fraction' was set to 0.05

[ INFO] [1575975945.355725938]: Param 'maxsamplingattempts' was not set. Using default value: 100

[ INFO] [1575975945.355779253]: Using planning request adapter 'Add Time Parameterization'

[ INFO] [1575975945.355801440]: Using planning request adapter 'Fix Workspace Bounds'

[ INFO] [1575975945.355808649]: Using planning request adapter 'Fix Start State Bounds'

[ INFO] [1575975945.355814790]: Using planning request adapter 'Fix Start State In Collision'

[ INFO] [1575975945.355821217]: Using planning request adapter 'Fix Start State Path Constraints'

[ INFO] [1575975945.616810170]: Added FollowJointTrajectory controller for /postrajcontroller

[ INFO] [1575975945.616921036]: Returned 1 controllers in list

[ INFO] [1575975945.635124434]: Trajectory execution is managing controllers

Loading 'move_group/ApplyPlanningSceneService'...

Loading 'move_group/ClearOctomapService'...

Loading 'move_group/MoveGroupCartesianPathService'...

Loading 'move_group/MoveGroupExecuteTrajectoryAction'...

Loading 'move_group/MoveGroupGetPlanningSceneService'...

Loading 'move_group/MoveGroupKinematicsService'...

Loading 'move_group/MoveGroupMoveAction'...

Loading 'move_group/MoveGroupPickPlaceAction'...

Loading 'move_group/MoveGroupPlanService'...

Loading 'move_group/MoveGroupQueryPlannersService'...

Loading 'move_group/MoveGroupStateValidationService'...

[ INFO] [1575975945.718478036]:

[ INFO] [1575975945.718561262]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner

[ INFO] [1575975945.718586638]: MoveGroup context initialization complete

You can start planning now!

Terminal 3:

steffen@ubuntu:~/catkinws$ roslaunch ur5moveitconfig moveitrviz.launch config:=true ... logging to /home/steffen/.ros/log/cebc2656-1b3c-11ea-b56e-000c29fb465b/roslaunch-ubuntu-49356.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:36297/

SUMMARY

PARAMETERS

NODES / rvizubuntu49356_4930782179416906371 (rviz/rviz)

ROSMASTERURI=http://localhost:11311

process[rvizubuntu49356_4930782179416906371-1]: started with pid [49373]

[ INFO] [1575976026.561891883]: rviz version 1.12.17

[ INFO] [1575976026.561938790]: compiled against Qt version 5.5.1

[ INFO] [1575976026.561968256]: compiled against OGRE version 1.9.0 (Ghadamon)

[ INFO] [1575976026.682791394]: Stereo is NOT SUPPORTED

[ INFO] [1575976026.682927907]: OpenGl version: 2.1 (GLSL 1.2).

[ INFO] [1575976029.909635280]: Loading robot model 'ur5'...

[ WARN] [1575976029.909730958]: Skipping virtual joint 'fixedbase' because its child frame 'baselink' does not match the URDF frame 'world'

[ INFO] [1575976029.909770174]: No root/virtual joint specified in SRDF. Assuming fixed joint

[ INFO] [1575976029.973804415]: Loading robot model 'ur5'...

[ WARN] [1575976029.973900074]: Skipping virtual joint 'fixedbase' because its child frame 'baselink' does not match the URDF frame 'world'

[ INFO] [1575976029.974056988]: No root/virtual joint specified in SRDF. Assuming fixed joint

[ INFO] [1575976030.032005394]: Starting scene monitor

[ INFO] [1575976030.037320782]: Listening to '/movegroup/monitoredplanning_scene'

[ INFO] [1575976030.269236426]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''

[ INFO] [1575976031.457297091]: Ready to take commands for planning group manipulator.

[ INFO] [1575976031.457376362]: Looking around: no

[ INFO] [1575976031.457463331]: Replanning: no

[ WARN] [1575976031.465583035]: Interactive marker 'EE:goaleelink' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.

rostopic list:

steffen@ubuntu:~/catkin_ws$ rostopic list

/attachedcollisionobject

/clicked_point

/collision_object

/execute_trajectory/cancel

/execute_trajectory/feedback

/execute_trajectory/goal

/execute_trajectory/result

/execute_trajectory/status

/initialpose

/joint_states

/movebasesimple/goal

/move_group/cancel

/movegroup/displaycontacts

/movegroup/displayplanned_path

/move_group/feedback

/move_group/goal

/movegroup/monitoredplanning_scene

/movegroup/ompl/parameterdescriptions

/movegroup/ompl/parameterupdates

/movegroup/planexecution/parameter_descriptions

/movegroup/planexecution/parameter_updates

/movegroup/planningscenemonitor/parameterdescriptions

/movegroup/planningscenemonitor/parameterupdates

/move_group/result

/movegroup/senseforplan/parameterdescriptions

/movegroup/senseforplan/parameterupdates

/move_group/status

/movegroup/trajectoryexecution/parameter_descriptions

/movegroup/trajectoryexecution/parameter_updates

/pickup/cancel

/pickup/feedback

/pickup/goal

/pickup/result

/pickup/status

/place/cancel

/place/feedback

/place/goal

/place/result

/place/status

/planning_scene

/planningsceneworld

/postrajcontroller/command

/postrajcontroller/followjointtrajectory/cancel

/postrajcontroller/followjointtrajectory/feedback

/postrajcontroller/followjointtrajectory/goal

/postrajcontroller/followjointtrajectory/result

/postrajcontroller/followjointtrajectory/status

/postrajcontroller/state

/recognizedobjectarray

/rosout

/rosout_agg

/rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic/feedback

/rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic/update

/rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic/update_full

/rvizubuntu493564930782179416906371/motionplanningplanningscenemonitor/parameter_descriptions

/rvizubuntu493564930782179416906371/motionplanningplanningscenemonitor/parameter_updates

/scaledpostraj_controller/command

/scaledpostrajcontroller/followjoint_trajectory/cancel

/scaledpostrajcontroller/followjoint_trajectory/feedback

/scaledpostrajcontroller/followjoint_trajectory/goal

/scaledpostrajcontroller/followjoint_trajectory/result

/scaledpostrajcontroller/followjoint_trajectory/status

/scaledpostraj_controller/state

/speedscalingfactor

/tf

/tf_static

/trajectoryexecutionevent

/urhardwareinterface/io_states

/urhardwareinterface/robot_mode

/urhardwareinterface/robotprogramrunning

/urhardwareinterface/safety_mode

/urhardwareinterface/script_command

/urhardwareinterface/set_mode/cancel

/urhardwareinterface/set_mode/feedback

/urhardwareinterface/set_mode/goal

/urhardwareinterface/set_mode/result

/urhardwareinterface/set_mode/status

/urhardwareinterface/tool_data

/wrench

After executing a new pose and canceling:

Terminal 1:

[ERROR] [1575977272.280607877]: Can't accept new action goals. Controller is not running. ^C[urhardwareinterface/urrobotstatehelper-7] killing on exit [roscontrolstoppedspawner-5] killing on exit[controller_stopper-6] killing on exit

[roscontrolcontroller_spawner-4] killing on exit

[INFO] [1575977324.921173]: Shutting down spawner. Stopping and unloading controllers...

[INFO] [1575977324.921457]: Stopping all controllers...

[INFO] [1575977324.921953]: Shutting down spawner. Stopping and unloading controllers...

[INFO] [1575977324.922683]: Stopping all controllers...

[ERROR] [1575977324.924545366]: Could not stop controller 'postrajcontroller' since it is not running

[INFO] [1575977324.924719]: Unloading all loaded controllers...

[INFO] [1575977324.924901]: Trying to unload postrajcontroller

[robotstatepublisher-2] killing on exit

[urhardwareinterface-3] killing on exit

Interrupt signal (2) received.

terminate called without an active exception

[WARN] [1575977325.062947]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender's logs for details

[WARN] [1575977325.063221]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender's logs for details [rosout-1] killing on exit

[master] killing on exit

shutting down processing monitor...

... shutting down processing monitor complete

done

Terminal 2:

[ INFO] [1575977272.255131980]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.

[ INFO] [1575977272.255412301]: Planning attempt 1 of at most 1

[ INFO] [1575977272.256732947]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

[ INFO] [1575977272.257420764]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.257514002]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.257614530]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.257676774]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.268523664]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1575977272.268931794]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1575977272.269056775]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1575977272.270799926]: RRTConnect: Created 6 states (3 start + 3 goal)

[ INFO] [1575977272.271014307]: ParallelPlan::solve(): Solution found by one or more threads in 0.013852 seconds

[ INFO] [1575977272.271199437]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.271341825]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.271412548]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.271765315]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.272147495]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1575977272.272628510]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1575977272.273297519]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1575977272.273632189]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1575977272.273801774]: ParallelPlan::solve(): Solution found by one or more threads in 0.002653 seconds

[ INFO] [1575977272.273952830]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.274081491]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1575977272.274658045]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1575977272.274983138]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1575977272.275159372]: ParallelPlan::solve(): Solution found by one or more threads in 0.001273 seconds

[ INFO] [1575977272.276935388]: SimpleSetup: Path simplification took 0.001687 seconds and changed from 3 to 2 states

[ WARN] [1575977272.280904145]: Controller /postrajcontroller failed with error code INVALID_GOAL

[ WARN] [1575977272.281018909]: Controller handle /postrajcontroller reports status FAILED

[ INFO] [1575977272.283966539]: Completed trajectory execution with status FAILED ...

Terminal 3:

[ INFO] [1575977272.515038523]: ABORTED: Solution found but controller failed during execution

Asked by sb97 on 2019-12-10 06:54:40 UTC

Comments

Can you tell us how you've configured networking in your VM?

If you're using NAT, you'll have to open up the "return port" in the NAT configuration, otherwise the program running on the UR controller will not be able to connect back to the driver node.

Finally: you may want to post your question to the ur_robot_driver issue tracker.

Asked by gvdhoorn on 2019-12-10 06:57:19 UTC

Yes i am using NAT . The remote ubuntu pc and the URSim UR5 are running both on seperate VMs with a static IP. Would this mean i have to use the roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT] with the port specified in the URCap program or do i have to put the IP and the Port into the NAT Setting of VMware. As mentioned im quite new to this topic and unfortunatly im not able to upload screens of my settings. I tested the same procedure on a maschine of a friend which runs ubuntu 16.04 and ros kinetic natively und URSim directly on that maschine. There the same error occurs.

Asked by sb97 on 2019-12-10 07:50:12 UTC

Answers