bringing up ur5, controller spawner shutted down
I finally come around to try the new ur robot driver. When I tried to bring it up, it gave me:
transport error completing service call: unable to receive data from sender, check sender's logs for details
The command that I put in was:
$ roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.0.103 kinematics_config:=${HOME}/my_robot_calibration.yaml
The response was:
auto-starting new master
process[master]: started with pid [2321]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2f73b408-4c95-11ea-9b7d-a85e4557a437
process[rosout-1]: started with pid [2332]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [2336]
process[ur_hardware_interface-3]: started with pid [2340]
process[ros_control_controller_spawner-4]: started with pid [2341]
process[ros_control_stopped_spawner-5]: started with pid [2342]
process[controller_stopper-6]: started with pid [2343]
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [2344]
[ INFO] [1581401422.643390258]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1581401422.645964371]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1581401422.648251308]: Initializing dashboard client
[ INFO] [1581401422.651484729]: Connected: Universal Robots Dashboard Server
[ INFO] [1581401422.660647089]: Initializing urdriver
[ INFO] [1581401422.661400171]: Checking if calibration data matches connected robot.
[ WARN] [1581401422.662035962]: No realtime capabilities found. Consider using a realtime system for better performance
INFO: cannot create a symlink to latest log directory: [Errno 17] File exists
[INFO] [1581401422.905321]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1581401422.907248]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1581401423.015094660]: Calibration checked successfully.
[ WARN] [1581401423.719382706]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1581401423.784345119]: Setting up RTDE communication with frequency 125.000000
[ WARN] [1581401424.812490023]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1581401424.813013666]: Loaded ur_robot_driver hardware_interface
[ INFO] [1581401424.837119755]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1581401424.837144171]: Service available.
[ INFO] [1581401424.837154919]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1581401424.837629156]: Service available.
[INFO] [1581401425.027613]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1581401425.028505]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1581401425.033724]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1581401425.035053]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1581401425.039553]: Loading controller: pos_traj_controller
[INFO] [1581401425.041020]: Loading controller: joint_state_controller
[ INFO] [1581401425.095665610]: Robot's safety mode is now NORMAL
[ INFO] [1581401425.098915574]: Robot mode is now RUNNING
[INFO] [1581401425.128532]: Controller Spawner: Loaded controllers: pos_traj_controller
[INFO] [1581401425.136407]: Loading controller: scaled_pos_traj_controller
Traceback (most recent call last):
File "/opt/ros/melodic/lib/controller_manager/spawner", line 207, in <module>
if __name__ == '__main__': main()
File "/opt/ros/melodic/lib/controller_manager/spawner", line 185, in main
resp = load_controller(name)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 439, in __call__
return self.call(*args, **kwds)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 529, in call
raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details ...
Please include the command/s you ran, and copy and paste more of the error message, as this should provide more information on what is causing this error to be generated
There are some steps to check for trubleshooting. -Is UrCaps running on the robot? -is the speed set to 100% -Did you choose the remote control program on the teachpannel? -does your teachpannels software (poyscope) have a version that is OK with the driver? -can you ping the robot at that IP address?
Thank you very much for your comment. I have done all that. Actually, when the ROS on the PC side crashed the UrCap on the robot side will not be able to establish a link with it though I tried to execute it on the Robot side. The Polyscope is of version 3.10 that is the reason I tried to use the new ur robot driver. It is necessary not for curiosity. I have ping the robot without any problem from the PC.
@gvdhoorn thank you very much for your help in editing it to a much more readable form.
Next time, paste the console text into your question, select it, then press
ctrl+k
or click the Preformatted Text button (the one with101010
on it).