UR5e with PC Ros + MoveIt Can't accept new action goals Controller is not running

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Hi everyone,

For moving the real robot I am using the default setup of universal robots repo (calibration-devel branch of fmauch) and the ur_robot_driver (melodic branch) of Universal_Robots_ROS_Driver. I am using a Docker container with Ubuntu 18.04 and ROS Melodic and a RGB camera for the robot perception.

The commands that I execute for connecting with robot are:

1. roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=IP kinematics_config:=${HOME}/project/configs/ur5e_calibration.yaml use_tool_communication:=true tool_device_name:=/tmp/ttyUR
2. roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch
3. roslaunch ur5e_moveit_config moveit_rviz.launch

I execute also rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /tmp/ttyUR for controlling the gripper.

The 3 commands ends perfectly and the bringup (1.) one gives as output:

[INFO] [1656444455.364424]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1656444455.372490]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller

(in my case I am using scaled_pos_joint_traj_controller)

But after a while, that robot moves correctly, the connected between PC Ros and UR5e is loosed and the output that the bringup command shows is:

Sending data through socket failed.

Connection attempt on port 50001 while maximum number of clients (1) is already connected. Closing connection.

Connection attempt on port 50003 while maximum number of clients (1) is already connected. Closing connection.

Connection to reverse interface dropped

Could not get fresh data package from robot

Can't accept new action goals. Controller is not running.

In the UR side I set an External Control with my IP address and port 50002 that I start after I launch the bringup command. I verified also that the Ethernet/IP is disabled.

Could it be a problem that in my plan I am using two actions that both starts moveit_commander for sending poses to the robot through MoveI??

I do not have any idea of what can be the problem and how to solve it. Could you please help me?

Thank you very much!! I would appreciate a lot your help!!!