bringing up ur5, controller spawner shutted down

edit

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 ...