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Cannot launch /universal_robots_ROS_driver with custom tool

asked 2019-11-27 23:20:16 -0600

reb281 gravatar image

updated 2019-11-28 01:53:06 -0600

gvdhoorn gravatar image

Hi Guys,

I am running into an issue when I add my end effector parameters to my launch. I can launch the bringup file without these parameters and it works perfectly. The end effector I am using is the onRobot RG6 and I am using ubuntu 16.04. Below are my inputs and the error I am getting.

reb281@Rebecca:~/driver_ws$ roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=138.25.63.246 use_tool_communication:=true tool_voltage:=24 tool_parity:=2 tool_baud_rate:=1000000 tool_stop_bits:=1 tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/rg6


setting /run_id to 2a877e6c-119d-11ea-bc12-68f72836b2e9
process[rosout-1]: started with pid [9791]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [9808]
process[ur_hardware_interface-3]: started with pid [9809]
process[ur_tool_communication_bridge-4]: started with pid [9821]
process[ros_control_controller_spawner-5]: started with pid [9831]
process[ros_control_stopped_spawner-6]: started with pid [9852]
terminate called after throwing an instance of 'std::runtime_error'
  what():  Provided baud rate is not allowed
process[controller_stopper-7]: started with pid [9863]
process[ur_hardware_interface/ur_robot_state_helper-8]: started with pid [9865]
[ INFO] [1574917732.247025304]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1574917732.255547852]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
================================================================================REQUIRED process [ur_hardware_interface-3] has died!
process has died [pid 9809, exit code -6, cmd /home/reb281/driver_ws/devel/lib/ur_robot_driver/ur_robot_driver_node __name:=ur_hardware_interface __log:=/home/reb281/.ros/log/2a877e6c-119d-11ea-bc12-68f72836b2e9/ur_hardware_interface-3.log].
log file: /home/reb281/.ros/log/2a877e6c-119d-11ea-bc12-68f72836b2e9/ur_hardware_interface-3*.log
Initiating shutdown!
================================================================================
[INFO] [1574917732.587715]: Remote device is available at '/tmp/rg6'
[INFO] [1574917732.588053]: Starting socat with following command:
socat pty,link=/tmp/rg6,raw,ignoreeof,waitslave tcp:138.25.63.246:54321
[INFO] [1574917732.594766]: Controller Spawner: Waiting for service controller_manager/load_controller
[ur_hardware_interface/ur_robot_state_helper-8] killing on exit
[controller_stopper-7] killing on exit
[ros_control_stopped_spawner-6] killing on exit
[ros_control_controller_spawner-5] killing on exit
[ur_tool_communication_bridge-4] killing on exit
[ur_hardware_interface-3] killing on exit
[robot_state_publisher-2] killing on exit
[INFO] [1574917732.636202]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1574917732.744076]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1574917732.751452]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_stopper-7] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
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Comments

This seems to be the problem:

terminate called after throwing an instance of 'std::runtime_error'
  what():  Provided baud rate is not allowed

Looks like 1MBaud is not supported.

Who is throwing that exception is unclear at this point though.

I would suggest you post this as an issue on the Universal_Robots_ROS_Driver issue tracker.

gvdhoorn gravatar imagegvdhoorn ( 2019-11-28 01:55:22 -0600 )edit

1 Answer

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answered 2019-11-28 04:10:13 -0600

gvdhoorn gravatar image

updated 2019-11-28 08:33:11 -0600

This may actually be a bug in the tool_communication part of ur_robot_driver.

I've opened an issue: UniversalRobots/Universal_Robots_ROS_Driver#52.


Edit: this is probably fixed in UniversalRobots/Universal_Robots_ROS_Driver#53.

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Asked: 2019-11-27 23:20:16 -0600

Seen: 19 times

Last updated: Nov 28