Ask Your Question
1

Error initializing UR3 with ur_robot_driver

asked 2020-06-18 07:53:22 -0500

Eike2601 gravatar image

updated 2020-06-18 08:23:47 -0500

gvdhoorn gravatar image

Hello guys, I'm using ROS melodic on Ubuntu 18.04 with Kernel 5.3.0.59-generic a UR3 Robot

right now I'm trying to run ROS on a UR3. I've already installed the external Control on URCaps, and it's shown on the HMI. (I havn't installed a realtime kernel right now, because I want to check if it works without, because the manual says it should work also. And I don't think that this is the reason for my problem)

I followed the guide from the "ur_robot_driver" (https://github.com/UniversalRobots/Un...) and it works until it gets to the Quick start:

if I run the code to start the robot driver :

roslaunch ur_robot_driver ur3_bringup.launch robot_ip:=131.246.xx.xxx

with the following Error:

... logging to /home/robo/.ros/log/f8a7351e-b15f-11ea-8f59-00e04c21794d/roslaunch-robo-ESPRIMO-P958-13814.log
Checking log directory for disk usage. This may take a while.
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://robo-ESPRIMO-P958:36795/

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_group_vel_controller/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/type: velocity_controll...
 * /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....
 * /robot_status_controller/handle_name: industrial_robot_...
 * /robot_status_controller/publish_rate: 10
 * /robot_status_controller/type: industrial_robot_...
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /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...
 * /scaled_vel_traj_controller/action_monitor_rate: 10
 * /scaled_vel_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_vel_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /scaled_vel_traj_controller/constraints/goal_time: 0.6
 * /scaled_vel_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_vel_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /scaled_vel_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_vel_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /scaled_vel_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_vel_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_vel_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /scaled_vel_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_vel_traj_controller/constraints/wrist_2_joint/trajectory: 0 ...
(more)
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
2

answered 2020-06-18 08:26:55 -0500

gvdhoorn gravatar image

updated 2020-06-30 06:08:48 -0500

Variable 'speed_slider_mask' is currently controlled by another RTDE client. The input recipe can't be used as configured

I searched in answers.ros.org but wasn't able to find anything.

it hasn't been reported on ROS Answers, but it is a known issue. See UniversalRobots/Universal_Robots_ROS_Driver#204 for instance.

Summarising: with certain versions of system software, there seems to be an incompatibility with the EtherNet/IP fieldbus on the controller when it's enabled.

If you don't need it, disable it and try again.

If that allows you to connect the driver, please post a comment on UniversalRobots/Universal_Robots_ROS_Driver#204 and provide details on your setup so we could include those in our diagnosis.

edit flag offensive delete link more

Comments

Did you discover a solution?

StewartHemm74 gravatar image StewartHemm74  ( 2020-09-01 16:29:52 -0500 )edit
1

@StewartHemm74: pelase check the linked issue: UniversalRobots/Universal_Robots_ROS_Driver#204.

It discusses the cause and possible work-arounds.

gvdhoorn gravatar image gvdhoorn  ( 2020-09-02 01:35:13 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2020-06-18 07:53:22 -0500

Seen: 66 times

Last updated: Jun 30