UR5 test move error- controller already loaded inside control manager
Hello everyone,
I'm running ROS Melodic on Ubuntu 18.04 with a 5.4.143-rt64 kernel. I wanted to use ROS to connect my computer with a real UR5 robot with CB3 controller (3.13 Polyscope version). I followed this tutorial to install the driver, and then this one to try to use the driver. I launch the driver, and run the External Control program on the robot side. This is what I get:
[ INFO] [1634038019.712352877]: Robot connected to reverse interface. Ready to receive control commands.
[ WARN] [1634208874.069848658]: Message on ReverseInterface received. The reverse interface currently does not support any message handling. This message will be ignored.
On the teaching pendant there is a small pop up window that says Starting Program... and it the remains the whole time the tow devices are connected.
I wanted to run the test_move Python program and move the real robot. I run the script, then enter the 0 and the 'y' on the command line, and I expected the program to start. However, the robot does not move, and this is the output:
[ERROR] [1634294541.712716618]: A controller named 'scaled_pos_joint_traj_controller' was already loaded inside the controller manager
I found this in the documentation:
You are trying to load a controller with a name that matches one of the controllers already loaded inside the controller manager. This is not allowed since every controller needs to have a unique name.
Can anyone give an idea as to how to fix this? I gather a controller has already been loaded but how can I work around it and get the script to work?
Thanks very much in advance!
