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"Failed to start controller in realtime loop" with UR/URe robot driver

asked 2020-03-29 03:25:23 -0500

fvd gravatar image

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 ...
(more)
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Comments

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?

dxp397@foxmail.com gravatar image dxp397@foxmail.com  ( 2020-03-29 03:32:48 -0500 )edit

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.

fvd gravatar image fvd  ( 2020-03-29 03:51:57 -0500 )edit

I had the setup working before

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 on Mon, 27 Jan 2020 14:30:01 GMT and synced to the public repos on 5 Feb 2020 20:40:58 GMT.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-29 04:56:21 -0500 )edit

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.

fvd gravatar image fvd  ( 2020-03-29 05:08:40 -0500 )edit

What is the output of dpkg -l | grep controller-manager?

gvdhoorn gravatar image gvdhoorn  ( 2020-03-29 05:12:35 -0500 )edit

I'll rebuild my docker image.

Running the driver in a Docker container will likely interfere with the ability to run it with real-time priorities.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-29 05:25:05 -0500 )edit

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:

ii  ros-melodic-controller-manager                     0.17.0-1bionic.20200320.133159     amd64        The controller manager.
ii  ros-melodic-controller-manager-msgs                0.17.0-1bionic.20200320.132558     amd64        Messages and services for the controller manager.
ii  ros-melodic-moveit-fake-controller-manager         1.0.2-1bionic.20200320.163635      amd64        A fake controller manager plugin for MoveIt.
ii  ros-melodic-moveit-simple-controller-manager       1.0.2-1bionic.20200320.161301      amd64        A generic, simple controller manager plugin for MoveIt.

However, I then got the errors reported in this thread. After a full rebuild, everything worked. Thanks.

fvd gravatar image fvd  ( 2020-03-30 01:38:19 -0500 )edit
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answered 2020-03-30 01:38:27 -0500

fvd gravatar image

It is unclear what the real issue was, but I assume that an installed package was outdated somehow. The error disappeared after reinstalling.

I assume updating the installed packages would have been enough: sudo apt-get --only-upgrade install ros-*

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answered 2020-03-30 02:55:28 -0500

gvdhoorn gravatar image

After a full rebuild, everything worked.

I'm pretty sure your issue is a duplicate of #q343775 (ie: the ABI breakage).

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Comments

The underlying issue (an outdated package) and solution (update/rebuild) may be the same, but since the error message is different, I wouldn't consider it a duplicate. Thanks for carrying the link from the comments

fvd gravatar image fvd  ( 2020-03-30 04:39:41 -0500 )edit
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Asked: 2020-03-29 03:25:23 -0500

Seen: 694 times

Last updated: Mar 30 '20

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