Hi!

TLDR: Cannot move simulated UR10e with the usage of the parameter usesimtime:=true because moveit can´t connect to jointtrajectorycontroller/followjointtrajectory. With usesimtime:=false everything works fine.

I´m running the following enviroment:

• ROS foxy
• Ubuntu 20.04
• simulated UR10e

When I start the urmoveit.launch.py and the urcontrol.launch.py from the UR-Repo (https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy) with the added parameter

use_sim_time:=true

for every node, I can plan, but not move the robot because moveit can´t find an usable controller.

Under the clock-topic timestamps are published and the UR-controllers are up and running.

If I set the

use_sim_time:=false

everything works fine.

The log returns, that no controller can be found and the action client cannot connect to the jointtrajectorycontroller/followjointtrajectory namespace.

I´m guessing that the problem might have to do something with the controlnode from the urcontrol.launch.py:

control_node = Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[robot_description, robot_controllers,
                {"use_sim_time": use_sim_time},
                ],
    output={
        "stdout": "screen",
        "stderr": "screen",
    },
)

When I don´t start the controlnode with simtime, the planning and movement works fine.

---

Part from the log of ur_moveit.launch.py:

[move_group-1] [WARN] [1674651545.185283127] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up
[rviz2-2] [INFO] [1674651548.824348732] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-2] [INFO] [1674651548.824449667] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1674651548.824457637] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [WARN] [1674651548.824552408] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-2] [INFO] [1674651548.834240939] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-2] [INFO] [1674651548.834279872] [move_group_interface]: Looking around: no
[rviz2-2] [INFO] [1674651548.834286821] [move_group_interface]: Replanning: no
[move_group-1] [WARN] [1674651550.185442256] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up
[move_group-1] [ERROR] [1674651555.185607586] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: joint_trajectory_controller/follow_joint_trajectory
[move_group-1] [INFO] [1674651555.187214838] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-1] [INFO] [1674651555.187888973] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers

ROS controllers list:

speed_scaling_state_broadcaster[ur_controllers/SpeedScalingStateBroadcaster] active    
force_torque_sensor_broadcaster[ur_controllers/ForceTorqueStateBroadcaster] active    
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active    
io_and_status_controller[ur_controllers/GPIOController] inactive  
joint_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] active    

ROS topic list:

/Ceeling_camera/filtered_cloud
/Ceeling_camera/points
/attached_collision_object
/camera_info
/clicked_point
/clock
/collision_object
/display_contacts
/display_cost_sources
/display_planned_path
/dynamic_joint_states
/ft_data
/goal_pose
/initialpose
/io_and_status_controller/robot_program_running
/joint_states
/joint_states_isaac
/joint_trajectory_controller/joint_trajectory
/joint_trajectory_controller/state
/monitored_planning_scene
/motion_plan_request
/move_group/planning_scene_monitor
/move_group/publish_planning_scene
/parameter_events
/planning_scene
/planning_scene_world
/recognized_object_array
/rgb
/robot_description
/rosout
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/speed_scaling_state_broadcaster/speed_scaling
/tf
/tf_static
/trajectory_execution_event

ROS node list:

/controller_manager
/controller_stopper
/force_torque_sensor_broadcaster
/interactive_marker_display_94131247094800
/io_and_status_controller
/joint_state_broadcaster
/joint_trajectory_controller
/move_group
/move_group_private
/moveit_simple_controller_manager
/robot_state_publisher
/rviz2_moveit
/rviz2_moveit
/rviz2_moveit_private
/speed_scaling_state_broadcaster
/static_transform_publisher_ceeling_camera
/static_transform_publisher_ur10e
/transform_listener_impl_5598dc2c0f70
/transform_listener_impl_5598dcbbacf0
/transform_listener_impl_559ca2588c60
/transform_listener_impl_559ca3538690
/transform_listener_impl_7facac001140

In the the RQT-graph it´s visible, that the /moveitsimplecontrollermanager isn´t connect to the /jointtrajectorycontroller/followjoint_trajectory, even though that the node and the namespace are present.

Thanks for letting me know, if I miss something!