"Failed to start controller in realtime loop" with UR/URe robot driver
I am trying to start up a UR5 on ROS Melodic/Ubuntu 18.04 with the ur_robot_driver package, but I am getting the error Failed to start controller in realtime loop. This should never happen.
The full error log is below:
roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.0.42 reverse_port:=50003 script_sender_port:=50004
... logging to /root/.ros/log/9ed9ba2e-7187-11ea-8a14-c8d3ff4172f5/roslaunch-o2ac-ur-27505.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.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://localhost:44335/
SUMMARY
========
PARAMETERS
* /controller_stopper/consistent_controllers: ['joint_state_con...
* /force_torque_sensor_controller/publish_rate: 125
* /force_torque_sensor_controller/type: force_torque_sens...
* /hardware_control_loop/loop_hz: 125
* /hardware_interface/joints: ['shoulder_pan_jo...
* /joint_state_controller/publish_rate: 125
* /joint_state_controller/type: joint_state_contr...
* /pos_traj_controller/action_monitor_rate: 10
* /pos_traj_controller/constraints/elbow_joint/goal: 0.1
* /pos_traj_controller/constraints/elbow_joint/trajectory: 0.2
* /pos_traj_controller/constraints/goal_time: 0.6
* /pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
* /pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
* /pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
* /pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
* /pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
* /pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
* /pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
* /pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
* /pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
* /pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
* /pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
* /pos_traj_controller/joints: ['shoulder_pan_jo...
* /pos_traj_controller/state_publish_rate: 125
* /pos_traj_controller/stop_trajectory_duration: 0.5
* /pos_traj_controller/type: position_controll...
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.3
* /scaled_pos_traj_controller/action_monitor_rate: 10
* /scaled_pos_traj_controller/constraints/elbow_joint/goal: 0.1
* /scaled_pos_traj_controller/constraints/elbow_joint/trajectory: 0.2
* /scaled_pos_traj_controller/constraints/goal_time: 0.6
* /scaled_pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
* /scaled_pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
* /scaled_pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
* /scaled_pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
* /scaled_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
* /scaled_pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
* /scaled_pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
* /scaled_pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
* /scaled_pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
* /scaled_pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
* /scaled_pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
* /scaled_pos_traj_controller/joints: ['shoulder_pan_jo...
* /scaled_pos_traj_controller/state_publish_rate: 125
* /scaled_pos_traj_controller/stop_trajectory_duration: 0.5
* /scaled_pos_traj_controller/type: position_controll...
* /speed_scaling_state_controller/publish_rate: 125
* /speed_scaling_state_controller/type: ur_controllers/Sp...
* /ur_hardware_interface/headless_mode: False
* /ur_hardware_interface/input_recipe_file: /root/underlay_ws...
* /ur_hardware_interface/kinematics/forearm/pitch: 0
* /ur_hardware_interface/kinematics/forearm/roll: 0
* /ur_hardware_interface/kinematics/forearm/x: -0.425
* /ur_hardware_interface/kinematics/forearm/y: 0
* /ur_hardware_interface/kinematics/forearm/yaw: 0
* /ur_hardware_interface/kinematics/forearm/z: 0
* /ur_hardware_interface/kinematics/hash: calib_20954911754...
* /ur_hardware_interface/kinematics/shoulder/pitch: 0
* /ur_hardware_interface/kinematics/shoulder/roll: 0
* /ur_hardware_interface/kinematics/shoulder/x: 0
* /ur_hardware_interface/kinematics/shoulder/y: 0
* /ur_hardware_interface/kinematics/shoulder/yaw: 0
* /ur_hardware_interface/kinematics/shoulder/z: 0.089159
* /ur_hardware_interface/kinematics/upper_arm/pitch: 0
* /ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327
* /ur_hardware_interface/kinematics/upper_arm/x: 0
* /ur_hardware_interface/kinematics/upper_arm/y: 0
* /ur_hardware_interface/kinematics/upper_arm/yaw: 0
* /ur_hardware_interface/kinematics/upper_arm/z: 0
* /ur_hardware_interface/kinematics/wrist_1/pitch: 0
* /ur_hardware_interface/kinematics/wrist_1/roll: 0
* /ur_hardware_interface/kinematics/wrist_1/x: -0.39225
* /ur_hardware_interface/kinematics/wrist_1/y: 0
* /ur_hardware_interface/kinematics/wrist_1/yaw: 0
* /ur_hardware_interface/kinematics/wrist_1/z: 0.10915
* /ur_hardware_interface/kinematics/wrist_2/pitch: 0
* /ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327
* /ur_hardware_interface/kinematics/wrist_2/x: 0
* /ur_hardware_interface/kinematics/wrist_2/y: -0.09465
* /ur_hardware_interface ...
Hello there. I want to add an end effector to the UR, specifically to add a laser scanner. Do you know how to add it?
Please post new questions separately via the "ASK YOUR QUESTION" button, not in a comment. Please also read the instructions carefully, since you seem to be mistaken about how the site is structured.
The same setup?
ros_control
has quite a few changes between Kinetic and Melodic, hence my question.That error message is from here, which is interesting, as it's the Kinetic version of the
ControllerManager
. The Melodic version doesn't have it any more (since ros-controls/ros_control#391). That PR was included in 0.16.0, which was released onMon, 27 Jan 2020 14:30:01 GMT
and synced to the public repos on 5 Feb 2020 20:40:58 GMT.It was running on Melodic before as well, yes. I also just checked that all controller-related packages point to
/opt/ros/share/melodic
and I can't find the error message in my workspaces either. How curious. I'll rebuild my docker image.What is the output of
dpkg -l | grep controller-manager
?Running the driver in a Docker container will likely interfere with the ability to run it with real-time priorities.
Probably, but I won't depend on it. I just want the controllers to run at all. The output of that command after rebuilding the container is this:
However, I then got the errors reported in this thread. After a full rebuild, everything worked. Thanks.