ros2 UR10仿真包运行

leecheni leecheni 博客等级 墨衍会员 · AI 创作全网分发 墨衍智能分发 本文由作者通过墨衍一键同步至各平台 1分发平台 1.4k累计阅读 1.5k平均单平台 已同步平台 优快云 微信公众号 微博 知乎 掘金 百家号 博客园 抖音 小红书 你的文章也可以这样分发 墨衍会员 ¥399起/年，写一次发全网 我也要 码龄16年
关注
原创 2023-10-20 11:07:45 1.4k 阅读 AI 写同款· GEO 优化 ›
UR10 ROS（noetic）驱动安装过程及操控实际机械臂过程 UR10驱动包安装过程 # workspace mkdir -p ur_ws/src && cd ur_ws # package https://github.com/UniversalRobots/Universal_Robots_ROS_Driver # https://github.com/fmauch/universal_robot git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Dr. 阅读详情

前言

一个月前安装了一下这个包，但是有报错。现在换了一个强劲的电脑，内存64G ，显存39G ，终于跑起来了，没有报错。网页控制器可以控制RVIZ中的机器人旋转。

vituralBOX中3D加速要勾选，这样才能发挥独立显卡的作业，才能让虚拟机不卡顿。

我是通过远程桌面去访问这个强劲电脑，因网速问题略微卡顿，不太影响。

1.加载虚拟控制器

这个加载的时候，非root用户会提示权限不够，切换到根用户，

sudo su

会提示找不到ros2

cheni@yuchen:~$ ros2 run ur_client_library start_ursim.sh -m ur10

Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Get "http://%2Fvar%2Frun%2Fdocker.sock/v1.24/networks/ursim_net": dial unix /var/run/docker.sock: connect: permission denied

Creating ursim_net

Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post "http://%2Fvar%2Frun%2Fdocker.sock/v1.24/networks/create": dial unix /var/run/docker.sock: connect: permission denied

docker: Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post "http://%2Fvar%2Frun%2Fdocker.sock/v1.24/containers/create?name=ursim": dial unix /var/run/docker.sock: connect: permission denied.

See 'docker run --help'.

[ros2run]: Process exited with failure 126

 先source一下再运行就好

root@yuchen:/home/cheni# source /opt/ros/rolling/setup.sh 
root@yuchen:/home/cheni# ros2 run ur_client_library start_ursim.sh -m ur10

效果如下：

root@yuchen:/home/cheni# ros2 run ur_client_library start_ursim.sh -m ur10

  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current

                                 Dload  Upload   Total   Spent    Left  Speed

  0     0    0     0    0     0      0      0 --:--:--  0:02:00 --:--:--     0

curl: (56) OpenSSL SSL_read: error:0A000126:SSL routines::unexpected eof while reading, errno 0

ursim_net already exists

37786d6c6b225e044706e8bef35af83ccd6dd1e79cb1194747cd44bd23e1bbec

Docker URSim is running



To access Polyscope, open the following URL in a web browser.

	http://192.168.56.101:6080/vnc.html



To exit, press CTRL+C

^Ckilling

Error response from daemon: Cannot kill container: ursim: No such container: ursim

[ros2run]: Process exited with failure 1

root@yuchen:/home/cheni# ros2 run ur_client_library start_ursim.sh -m ur10

  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current

                                 Dload  Upload   Total   Spent    Left  Speed

  0     0    0     0    0     0      0      0 --:--:--  0:02:11 --:--:--     0

curl: (28) Failed to connect to github.com port 443 after 131175 ms: 连接超时

ursim_net already exists

ec6ab0c50e626867e20ada8b21ff182586d2fa02f866d83d35bc819b9a09d83a

Docker URSim is running



To access Polyscope, open the following URL in a web browser.

	http://192.168.56.101:6080/vnc.html



To exit, press CTRL+C

2.打开浏览器进行连接

效果如下，想改成中文，测试了不成功。只能看英文的了。点击到这个界面就好。

3.启动rviz

cheni@yuchen:~$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10 robot_ip:=192.168.56.101 launch_rviz:=true

[INFO] [launch]: All log files can be found below /home/cheni/.ros/log/2023-10-18-17-16-40-997672-yuchen-19246

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [dashboard_client-2]: process started with pid [19254]

[INFO] [controller_stopper_node-3]: process started with pid [19256]

[INFO] [ur_ros2_control_node-1]: process started with pid [19252]

[INFO] [urscript_interface-4]: process started with pid [19258]

[INFO] [robot_state_publisher-5]: process started with pid [19260]

[INFO] [rviz2-6]: process started with pid [19262]

[INFO] [spawner-7]: process started with pid [19264]

[INFO] [spawner-8]: process started with pid [19266]

[INFO] [spawner-9]: process started with pid [19268]

[INFO] [spawner-10]: process started with pid [19270]

[INFO] [spawner-11]: process started with pid [19272]

[INFO] [spawner-12]: process started with pid [19274]

[rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.

[controller_stopper_node-3] [INFO] [1697620601.585913917] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller

[ur_ros2_control_node-1] [WARN] [1697620601.599039497] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.

[ur_ros2_control_node-1] text not specified in the tf_prefix tag

[ur_ros2_control_node-1] [INFO] [1697620601.599400048] [resource_manager]: Loading hardware 'ur10' 

[ur_ros2_control_node-1] [INFO] [1697620601.601241897] [resource_manager]: Initialize hardware 'ur10' 

[ur_ros2_control_node-1] [INFO] [1697620601.601288221] [resource_manager]: Successful initialization of hardware 'ur10'

[ur_ros2_control_node-1] [INFO] [1697620601.601398129] [resource_manager]: 'configure' hardware 'ur10' 

[ur_ros2_control_node-1] [INFO] [1697620601.601402703] [resource_manager]: Successful 'configure' of hardware 'ur10'

[ur_ros2_control_node-1] [INFO] [1697620601.601416810] [resource_manager]: 'activate' hardware 'ur10' 

[ur_ros2_control_node-1] [INFO] [1697620601.601421726] [URPositionHardwareInterface]: Starting ...please wait...

[ur_ros2_control_node-1] [INFO] [1697620601.601428857] [URPositionHardwareInterface]: Initializing driver...

[robot_state_publisher-5] [INFO] [1697620601.604043017] [robot_state_publisher]: Robot initialized

[rviz2-6] [INFO] [1697620601.895750788] [rviz2]: Stereo is NOT SUPPORTED

[rviz2-6] [INFO] [1697620601.895889721] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)

[rviz2-6] [INFO] [1697620601.925227291] [rviz2]: Stereo is NOT SUPPORTED

[spawner-7] [INFO] [1697620603.756785754] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available

[spawner-8] [INFO] [1697620603.767271620] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-9] [INFO] [1697620603.790952404] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available

[spawner-11] [INFO] [1697620603.824011749] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-10] [INFO] [1697620603.836708094] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-12] [INFO] [1697620603.859390892] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available

[dashboard_client-2] [ERROR] [1697620604.617355057] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620604.617367336] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[spawner-7] [INFO] [1697620605.770359059] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available

[spawner-8] [INFO] [1697620605.780972574] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-9] [INFO] [1697620605.801798313] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available

[spawner-11] [INFO] [1697620605.840607511] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-10] [INFO] [1697620605.853351245] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-12] [INFO] [1697620605.869930016] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[spawner-7] [INFO] [1697620607.784794710] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available

[spawner-8] [INFO] [1697620607.791828202] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-9] [INFO] [1697620607.816176219] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available

[spawner-11] [INFO] [1697620607.853336202] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-10] [INFO] [1697620607.872221126] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-12] [INFO] [1697620607.886508104] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available

[spawner-7] [INFO] [1697620609.796913481] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available

[spawner-8] [INFO] [1697620609.801278996] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-9] [INFO] [1697620609.829892511] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available

[spawner-11] [INFO] [1697620609.863629439] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-10] [INFO] [1697620609.886876876] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-12] [INFO] [1697620609.898657037] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available

[spawner-8] [ERROR] [1697620611.815283050] [spawner_joint_state_broadcaster]: Controller manager not available

[spawner-7] [ERROR] [1697620611.815343330] [spawner_scaled_joint_trajectory_controller]: Controller manager not available

[spawner-9] [ERROR] [1697620611.850509388] [spawner_io_and_status_controller]: Controller manager not available

[spawner-11] [ERROR] [1697620611.877378395] [spawner_force_torque_sensor_broadcaster]: Controller manager not available

[spawner-10] [ERROR] [1697620611.898880900] [spawner_speed_scaling_state_broadcaster]: Controller manager not available

[spawner-12] [ERROR] [1697620611.918231227] [spawner_forward_position_controller]: Controller manager not available

[ERROR] [spawner-8]: process has died [pid 19266, exit code 1, cmd '/opt/ros/rolling/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --controller-manager-timeout 10 --ros-args'].

[ERROR] [spawner-7]: process has died [pid 19264, exit code 1, cmd '/opt/ros/rolling/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --controller-manager-timeout 10 --ros-args'].

[ERROR] [spawner-9]: process has died [pid 19268, exit code 1, cmd '/opt/ros/rolling/lib/controller_manager/spawner io_and_status_controller --controller-manager /controller_manager --controller-manager-timeout 10 --ros-args'].

[ERROR] [spawner-11]: process has died [pid 19272, exit code 1, cmd '/opt/ros/rolling/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager /controller_manager --controller-manager-timeout 10 --ros-args'].

[ERROR] [spawner-10]: process has died [pid 19270, exit code 1, cmd '/opt/ros/rolling/lib/controller_manager/spawner speed_scaling_state_broadcaster --controller-manager /controller_manager --controller-manager-timeout 10 --ros-args'].

[ERROR] [spawner-12]: process has died [pid 19274, exit code 1, cmd '/opt/ros/rolling/lib/controller_manager/spawner forward_position_controller --controller-manager /controller_manager --controller-manager-timeout 10 --inactive --ros-args'].

[ur_ros2_control_node-1] [ERROR] [1697620617.674695116] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620617.674854194] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620630.730729841] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620630.730757786] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620643.786044906] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620643.786084098] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620656.844871224] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620656.844879031] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620669.897358065] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620669.897412139] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620682.957343109] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620682.957419768] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620696.009247417] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620696.009280643] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620709.067121860] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620709.067121907] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620722.121106520] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620722.121155433] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[rviz2-6] [ERROR] [1697620734.066237695] [rviz2]: Failed to open /opt/ros/rolling/share/ur_description/rviz/view_robot.rviz for writing.

[ur_ros2_control_node-1] [ERROR] [1697620735.177713915] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620735.177713751] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620748.234146646] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620748.234196430] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620761.290381017] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620761.290386082] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620774.345313786] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620774.345364767] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620787.401409613] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620787.401416073] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620800.457585346] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620800.457611877] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620813.519876814] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620813.519954753] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620826.570448827] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620826.570450183] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620839.626253307] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620839.626252825] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620852.681166419] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620852.681139780] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620865.738521330] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620865.739197737] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620878.793494446] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620878.793533192] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620891.853834705] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620891.853849910] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620904.905491272] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620904.905613071] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620917.961366189] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620917.961403904] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620931.017307838] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620931.017324588] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ur_ros2_control_node-1] [ERROR] [1697620944.073232461] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[dashboard_client-2] [ERROR] [1697620944.073208368] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620957.129724062] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620957.129786765] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620970.185587415] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620970.185625411] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620983.244408711] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620983.244616094] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697620996.297661450] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697620996.297665241] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697621009.353842812] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697621009.353832578] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697621022.410149541] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697621022.410149571] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697621035.465370042] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697621035.465344708] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[dashboard_client-2] [ERROR] [1697621048.521965941] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

[ur_ros2_control_node-1] [ERROR] [1697621048.521969959] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[dashboard_client-2] [INFO] [1697621051.328878010] [rclcpp]: signal_handler(signum=2)

[controller_stopper_node-3] [INFO] [1697621051.328888069] [rclcpp]: signal_handler(signum=2)

[controller_stopper_node-3] [INFO] [1697621051.329342045] [Controller stopper]: Service available

[controller_stopper_node-3] [INFO] [1697621051.329359168] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers

[controller_stopper_node-3] [INFO] [1697621051.329367216] [Controller stopper]: Service available

[controller_stopper_node-3] 

[controller_stopper_node-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()

[controller_stopper_node-3] This error state is being overwritten:

[controller_stopper_node-3] 

[controller_stopper_node-3]   'rcl node's context is invalid, at ./src/rcl/node.c:405'

[controller_stopper_node-3] 

[controller_stopper_node-3] with this new error message:

[controller_stopper_node-3] 

[controller_stopper_node-3]   'publisher's context is invalid, at ./src/rcl/publisher.c:424'

[controller_stopper_node-3] 

[controller_stopper_node-3] rcutils_reset_error() should be called after error handling to avoid this.

[controller_stopper_node-3] <<<

[controller_stopper_node-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'

[controller_stopper_node-3]   what():  failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67

[rviz2-6] [INFO] [1697621051.328744551] [rclcpp]: signal_handler(signum=2)

[robot_state_publisher-5] [INFO] [1697621051.328757334] [rclcpp]: signal_handler(signum=2)

[ur_ros2_control_node-1] [INFO] [1697621051.328858453] [rclcpp]: signal_handler(signum=2)

[urscript_interface-4] [INFO] [1697621051.328813758] [rclcpp]: signal_handler(signum=2)

[INFO] [robot_state_publisher-5]: process has finished cleanly [pid 19260]

[INFO] [rviz2-6]: process has finished cleanly [pid 19262]

[urscript_interface-4] ERROR ./src/comm/tcp_socket.cpp 129: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds 

[ERROR] [controller_stopper_node-3]: process has died [pid 19256, exit code -6, cmd '/opt/ros/rolling/lib/ur_robot_driver/controller_stopper_node --ros-args -r __node:=controller_stopper --params-file /tmp/launch_params_vfxkhuw3 --params-file /tmp/launch_params_6shznysc --params-file /tmp/launch_params_aqbhos7w'].

[ERROR] [urscript_interface-4]: process[urscript_interface-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'

[ERROR] [dashboard_client-2]: process[dashboard_client-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'

[ERROR] [ur_ros2_control_node-1]: process[ur_ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'

[INFO] [urscript_interface-4]: sending signal 'SIGTERM' to process[urscript_interface-4]

[INFO] [dashboard_client-2]: sending signal 'SIGTERM' to process[dashboard_client-2]

[INFO] [ur_ros2_control_node-1]: sending signal 'SIGTERM' to process[ur_ros2_control_node-1]

[urscript_interface-4] [INFO] [1697621056.339854857] [rclcpp]: signal_handler(signum=15)

[dashboard_client-2] [INFO] [1697621056.340825489] [rclcpp]: signal_handler(signum=15)

[ur_ros2_control_node-1] [INFO] [1697621056.342180730] [rclcpp]: signal_handler(signum=15)

[ERROR] [urscript_interface-4]: process[urscript_interface-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'

[ERROR] [dashboard_client-2]: process[dashboard_client-2] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'

[ERROR] [ur_ros2_control_node-1]: process[ur_ros2_control_node-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'

[INFO] [urscript_interface-4]: sending signal 'SIGKILL' to process[urscript_interface-4]

[INFO] [dashboard_client-2]: sending signal 'SIGKILL' to process[dashboard_client-2]

[INFO] [ur_ros2_control_node-1]: sending signal 'SIGKILL' to process[ur_ros2_control_node-1]

[ERROR] [urscript_interface-4]: process has died [pid 19258, exit code -9, cmd '/opt/ros/rolling/lib/ur_robot_driver/urscript_interface --ros-args --params-file /tmp/launch_params_nb_ud0iw'].

[ERROR] [dashboard_client-2]: process has died [pid 19254, exit code -9, cmd '/opt/ros/rolling/lib/ur_robot_driver/dashboard_client --ros-args -r __node:=dashboard_client --params-file /tmp/launch_params_x40xzydl'].

[ERROR] [ur_ros2_control_node-1]: process has died [pid 19252, exit code -9, cmd '/opt/ros/rolling/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_aplj4v_p --params-file /opt/ros/rolling/share/ur_robot_driver/config/ur10_update_rate.yaml --params-file /tmp/launch_params_kh4tysuh'].

cheni@yuchen:~$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10 robot_ip:=192.168.56.101 launch_rviz:=true

[INFO] [launch]: All log files can be found below /home/cheni/.ros/log/2023-10-18-17-27-27-837054-yuchen-23621

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [dashboard_client-2]: process started with pid [23630]

[INFO] [controller_stopper_node-3]: process started with pid [23632]

[INFO] [ur_ros2_control_node-1]: process started with pid [23628]

[INFO] [urscript_interface-4]: process started with pid [23634]

[INFO] [robot_state_publisher-5]: process started with pid [23636]

[INFO] [rviz2-6]: process started with pid [23638]

[INFO] [spawner-7]: process started with pid [23640]

[INFO] [spawner-8]: process started with pid [23642]

[INFO] [spawner-9]: process started with pid [23644]

[INFO] [spawner-10]: process started with pid [23646]

[INFO] [spawner-11]: process started with pid [23656]

[INFO] [spawner-12]: process started with pid [23658]

[rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.

[controller_stopper_node-3] [INFO] [1697621248.323970889] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller

[dashboard_client-2] [INFO] [1697621248.332004402] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server

[dashboard_client-2] 

[ur_ros2_control_node-1] [WARN] [1697621248.343058321] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.

[ur_ros2_control_node-1] text not specified in the tf_prefix tag

[ur_ros2_control_node-1] [INFO] [1697621248.343371642] [resource_manager]: Loading hardware 'ur10' 

[ur_ros2_control_node-1] [INFO] [1697621248.346872971] [resource_manager]: Initialize hardware 'ur10' 

[ur_ros2_control_node-1] [INFO] [1697621248.346927862] [resource_manager]: Successful initialization of hardware 'ur10'

[ur_ros2_control_node-1] [INFO] [1697621248.347084371] [resource_manager]: 'configure' hardware 'ur10' 

[ur_ros2_control_node-1] [INFO] [1697621248.347091370] [resource_manager]: Successful 'configure' of hardware 'ur10'

[ur_ros2_control_node-1] [INFO] [1697621248.347105751] [resource_manager]: 'activate' hardware 'ur10' 

[ur_ros2_control_node-1] [INFO] [1697621248.347110579] [URPositionHardwareInterface]: Starting ...please wait...

[ur_ros2_control_node-1] [INFO] [1697621248.347118214] [URPositionHardwareInterface]: Initializing driver...

[robot_state_publisher-5] [INFO] [1697621248.350609220] [robot_state_publisher]: Robot initialized

[ur_ros2_control_node-1] [WARN] [1697621248.361342137] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.

[rviz2-6] [INFO] [1697621248.626779825] [rviz2]: Stereo is NOT SUPPORTED

[rviz2-6] [INFO] [1697621248.627533634] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)

[rviz2-6] [INFO] [1697621248.647145156] [rviz2]: Stereo is NOT SUPPORTED

[ur_ros2_control_node-1] [INFO] [1697621248.717338678] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.

[ur_ros2_control_node-1] [INFO] [1697621248.717439732] [UR_Client_Library:]: Setting up RTDE communication with frequency 125.000000

[spawner-8] [INFO] [1697621250.548518465] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-10] [INFO] [1697621250.590337892] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-7] [INFO] [1697621250.602488770] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available

[spawner-11] [INFO] [1697621250.620963765] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-9] [INFO] [1697621250.633218873] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available

[spawner-12] [INFO] [1697621250.692575016] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available

[ur_ros2_control_node-1] [WARN] [1697621251.982466542] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead use the RobotReceiveTimeout, to set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.

[ur_ros2_control_node-1] [WARN] [1697621251.982506841] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead you should set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.

[ur_ros2_control_node-1] [INFO] [1697621251.982512081] [URPositionHardwareInterface]: Calibration checksum: 'calib_17227329492635474227'.

[spawner-8] [INFO] [1697621252.562613654] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-10] [INFO] [1697621252.602825499] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-7] [INFO] [1697621252.616024085] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available

[spawner-11] [INFO] [1697621252.641434793] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available

[spawner-9] [INFO] [1697621252.646665080] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available

[spawner-12] [INFO] [1697621252.703861342] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available

[ur_ros2_control_node-1] [INFO] [1697621253.055205580] [URPositionHardwareInterface]: Calibration checked successfully.

[ur_ros2_control_node-1] [INFO] [1697621253.055307779] [URPositionHardwareInterface]: System successfully started!

[ur_ros2_control_node-1] [INFO] [1697621253.055320054] [resource_manager]: Successful 'activate' of hardware 'ur10'

[controller_stopper_node-3] [INFO] [1697621253.059460067] [Controller stopper]: Service available

[controller_stopper_node-3] [INFO] [1697621253.059488185] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers

[controller_stopper_node-3] [INFO] [1697621253.059504823] [Controller stopper]: Service available

[ur_ros2_control_node-1] [WARN] [1697621253.061565941] [controller_manager]: Could not enable FIFO RT scheduling policy

[ur_ros2_control_node-1] [WARN] [1697621253.061735037] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.

[ur_ros2_control_node-1] [INFO] [1697621253.116692126] [controller_manager]: Loading controller 'forward_position_controller'

[spawner-12] [INFO] [1697621253.137759710] [spawner_forward_position_controller]: Loaded forward_position_controller

[ur_ros2_control_node-1] [INFO] [1697621253.138856325] [controller_manager]: Configuring controller 'forward_position_controller'

[ur_ros2_control_node-1] [INFO] [1697621253.139698681] [forward_position_controller]: configure successful

[ur_ros2_control_node-1] [INFO] [1697621253.175154503] [controller_manager]: Loading controller 'joint_state_broadcaster'

[spawner-8] [INFO] [1697621253.195727700] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster

[ur_ros2_control_node-1] [INFO] [1697621253.197512915] [controller_manager]: Configuring controller 'joint_state_broadcaster'

[ur_ros2_control_node-1] [INFO] [1697621253.197580129] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published

[spawner-8] [INFO] [1697621253.221031057] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster

[ur_ros2_control_node-1] [INFO] [1697621253.223622825] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'

[ur_ros2_control_node-1] [INFO] [1697621253.241050528] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 

[spawner-10] [INFO] [1697621253.250161824] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster

[ur_ros2_control_node-1] [INFO] [1697621253.252239879] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'

[ur_ros2_control_node-1] [INFO] [1697621253.271881201] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'

[spawner-11] [INFO] [1697621253.272446246] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster

[ur_ros2_control_node-1] [WARN] [1697621253.286567684] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.

[ur_ros2_control_node-1] [INFO] [1697621253.288512025] [controller_manager]: Loading controller 'io_and_status_controller'

[spawner-7] [INFO] [1697621253.289374662] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller

[INFO] [spawner-12]: process has finished cleanly [pid 23658]

[ur_ros2_control_node-1] [INFO] [1697621253.305532942] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'

[spawner-9] [INFO] [1697621253.305770366] [spawner_io_and_status_controller]: Loaded io_and_status_controller

[ur_ros2_control_node-1] [INFO] [1697621253.306085776] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz

[ur_ros2_control_node-1] [INFO] [1697621253.307379689] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'

[ur_ros2_control_node-1] [INFO] [1697621253.310337596] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'

[ur_ros2_control_node-1] [INFO] [1697621253.310459286] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.

[ur_ros2_control_node-1] [INFO] [1697621253.310483769] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].

[ur_ros2_control_node-1] [INFO] [1697621253.310501202] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.

[ur_ros2_control_node-1] [INFO] [1697621253.312947419] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.

[ur_ros2_control_node-1] [INFO] [1697621253.320653317] [controller_manager]: Configuring controller 'io_and_status_controller'

[ur_ros2_control_node-1] [INFO] [1697621253.330893201] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[spawner-10] [INFO] [1697621253.332065298] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster

[ur_ros2_control_node-1] [INFO] [1697621253.346907827] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[spawner-11] [INFO] [1697621253.347479372] [spawner_force_torque_sensor_broadcaster]: Configured and activated force_torque_sensor_broadcaster

[ur_ros2_control_node-1] [INFO] [1697621253.363632046] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[spawner-7] [INFO] [1697621253.364074898] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller

[ur_ros2_control_node-1] [INFO] [1697621253.364759362] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[ur_ros2_control_node-1] [INFO] [1697621253.364926034] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[ur_ros2_control_node-1] [INFO] [1697621253.364946460] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[ur_ros2_control_node-1] [INFO] [1697621253.371739379] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[ur_ros2_control_node-1] [INFO] [1697621253.384753616] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[ur_ros2_control_node-1] [INFO] [1697621253.385256245] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[spawner-9] [INFO] [1697621253.390939616] [spawner_io_and_status_controller]: Configured and activated io_and_status_controller

[INFO] [spawner-8]: process has finished cleanly [pid 23642]

[ur_ros2_control_node-1] [INFO] [1697621253.397749739] [io_and_status_controller]: Configure UR gpio controller with tf_prefix: 

[INFO] [spawner-10]: process has finished cleanly [pid 23646]

[INFO] [spawner-11]: process has finished cleanly [pid 23656]

[INFO] [spawner-7]: process has finished cleanly [pid 23640]

[INFO] [spawner-9]: process has finished cleanly [p

效果如下：

点击气泡1里面的箭头，RVIZ和浏览器里面的缩略图都可以正常同步移动。

4.总结

 看来很多问题还是硬件不行啊，这个强劲的电脑效果不错的。

收录于
UR机器人使用

当前文章被收录于：

UR机器人使用
13 篇文章 7 人学习

介绍一些UR机器人的使用

订阅专栏 查看详情
标签
#机器人 #ros2 #rolling
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
【control_manager】无法加载，gazebo_ros2_control 0.4.8，机械臂乱飞 ,! 阅读详情

相关推荐

ros2 安装UR机器人仿真包

GitHub很多时候都是无法打开的，但是码云可以复制这个GitHub上的包，别人已经复制好了。

关注工业机器人应用 1988

ROS rviz2 软件闪退问题

解决rviz2异常闪退问题。

qq_29772939的博客 3568

ROS上的UR5机械臂仿真

UR5介绍 Universal Robots（优傲机器人）公司是一家引领协作机器人全新细分市场的先驱企业，该公司成立于2005年，关注机器人的用户可操作性和灵活度，总部位于丹麦的欧登塞市，主要的机器人产品有：UR3、UR5和UR10，分别针对不同的负载级别。 UR5，自重18公斤，负载高达5公斤，工作半径85cm，不仅颠覆了人们对于传统工业机器人的认识，还自此定义了“协作机器人”的真正意义...

愿万事胜意 1万+

ROS2 error : [ros2run]: Process exited with failure 3221226505

大概明白了，用指令 colcon build --symlink-install --merge-install时，symlink这东西是指快捷方式，在windows下不好使，所以找不到程序的实体，从而引发报告。直接打开跑，发现一切都正常，能进入断点内单步调试。于是找到那个vs2019 的解决方案，也就是说，程序本身是没有问题的，果断使用不要symlink的编译。发现这个字节数居然是0。官方的例子说明在这里，

tanmx219的博客 2271

详细Ubuntu 22.04 配置最新UR机械臂仿真环境(ros2-humble, ur-sim, ur-ros2-driver)

使用ubuntu22.04.01和ur-sim, ur-driver进行ur机械臂的仿真

verloge的博客 1万+

ROS下UR机械臂控制配置

ROS环境下UR机械臂运动控制配置

一地鸡毛的博客 5333

Universal_Robots_ROS2_Driver实现UR机械臂仿真控制(1)

UR_sim是由UR官方提供的一种代替真实UR机械臂的离线仿真器

m0_60079093的博客 5536

Unbuntu22.4虚拟机-ROS2（ROS-humble） ur机器人仿真----讲述所有踩过的坑，一步到位

大家好，这篇文章的目的是安装ur机器人的ros2驱动并进行初步的仿真演示。

DonWheel的博客 3917

UR机械臂仿真

UR机械臂仿真学习笔记（1）1 安装编译功能包2 功能包文件3 启动仿真4 实现简单的仿真运动5 Motion Planning 1 安装编译功能包 其中包含UR3、UR5、UR10三款机器人的功能。 mkdir -p ~/ur_ws/src cd ~/ur_ws/src git clone https://github.com/ros-industrial/universal_robot cd .. catkin_make 2 功能包文件 3 启动仿真 在Gazebo中显示UR5机器人： cd ur_

huangjunsheng123的博客 4952

ROS驱动实体UR5e机械臂

机械臂UR5e相关的ROS功能包及插件，进行仿真和实物的驱动。

Vittore_Li的博客 3383

ROS_UR总结（2）——ROS_UR驱动的安装

ROS_UR系列总结2安装ROS-Industrial-universal_robot源码安装apt-get安装安装ur_modern_driver源码安装仿真测试连接机械臂实体  其实这方面的教程也十分丰富，但是很多博客都没有说清楚驱动的关系，ROS_UR主要是分为两部分： ROS-Industrial 的universal_robot包 针对与新版ROS驱动器固件（>3.0）的新版核心...

qq_26343043的博客 1938

ROS2-Humble-UR功能包仿真测试

ROS2-Humble-UR功能包仿真

Vittore_Li的博客 1221

ur10e机械臂与夹爪在gazebo下仿真

上一篇博客为ur10e添加了DH-AG95夹爪，接着就是进行gazebo仿真了，首先当然是把ur10e与夹爪的模型加载到Gazebo仿真环境下，笔者这里继续在

子非云的博客 3131

ROS 中仿真 UR 机械臂

换一个指令执行：rosdep install --from-paths src --ignore-src -r -y。在planning中选择manipulator，然后点击Plan和Execute可以拖动轨迹球让机械臂动起来。ros版本：ros-noetic-desktop-full，安装此版本ros无需再安装moveit运动规划库。在使用rosdep install --from-paths src --ignore-src -y报错。进入工作空间下载ur驱动。进入工作空间并进行编译。

leng_peach的博客 4188

使用amp训练出现Detected call of lr_scheduler.step() before optimizer.step().

这个警告是怎么产生的？是由于在算梯度的时候出现了nan，所以这一次更新会跳过，但是参数仍旧会更新所以出现了问题，按下面的做法加一个判断就行了。但是在使用amp进行混合精度训练出现的一个warning，调换代码顺序也不work。正常在训练的时候，对于优化器和参数更新的顺序这样就可以了。

weixin_46214675的博客 1306

【学习记录】IIC驱动ICM42670+卡尔曼滤波+四元数姿态角解算

ICM42670陀螺仪可以使用iic驱动，单片机平台使用GD32f305VE。

liarsup的博客 8269

ROS-noetic & Moveit & UR10e联调

接下来在示教器中打开程序>URCaps，点选External Control，可以看到程序窗口新增了一段程序，Control by 192.xxx.xx.xxx，点击右下角播放键，点击从选择处播放，播放按钮变成暂停按钮，也可以点击右上角运行，查看运行状态。接下来设置机器人IP，选择设置>系统>网络，设置IP，机器人IP和电脑IP在同一网段，例如，设置机器人IP为：192.168.56.1，设置电脑IP为：192.168.56.100，以上均为静态IP。软件安装：首先安装ROS-noetic，Moveit!

Siva5的博客 1658

从原理图到PCB：手把手教你绘制DRV8301驱动板（附完整代码与避坑指南）

本文详细介绍了如何从原理图设计到PCB布局，手把手教你绘制DRV8301驱动板，特别适用于FOC（磁场定向控制）系统开发。内容涵盖元器件选型、电源树架构设计、栅极驱动电路、PCB布局技巧、焊接调试及代码配置，并附有完整代码与常见问题避坑指南，帮助工程师快速掌握DRV8301驱动板的设计与优化。

weixin_33716941的博客 396

ROS2环境下UR机器人仿真包的快速安装与配置指南

本文提供了在ROS2 Humble环境下快速安装与配置UR机器人仿真包的详细指南。重点介绍了通过Ubuntu系统包管理器进行二进制安装、使用Docker部署Ursim仿真器，以及连接ROS2驱动与仿真器的关键步骤，帮助开发者高效搭建稳定的UR机器人仿真开发环境。

weixin_29240343的博客 334

SigmaStar（星宸科技）SSC33X系列

目前，SSC33X系列已经量产了接近两年，SDK成熟稳定，功耗表现良好，图像效果出色，广泛应用在AI枪机、AI球机、AI云台机、多目摄像机、停车场闸机、人脸门禁、人脸锁、门铃猫眼等产品上。

Comake Online的博客 1万+

海康视觉平台VisionMaster实战入门：从通讯配置到工具应用

本文为海康VisionMaster视觉平台实战入门指南，详细介绍了从软件安装准备、与PLC等外部设备的通讯配置，到匹配定位、测量、畸变矫正等核心工具的应用方法。通过实战案例拆解，帮助工程师快速掌握如何搭建完整的机器视觉检测与引导定位系统，实现工业自动化项目落地。

weixin_29224309的博客 1018

Coppeliasim仿真：ROS节点规划UR5画圆

Coppeliasim仿真：ROS节点规划UR5画圆

qq_48922607的博客 2803

竞赛经验——挑战杯、互联网加、北斗杯、微软创新杯、计算机设计等比赛教训与经验

最近参加一些比赛，北斗杯、挑战者杯、微软创新杯等比赛，每次比赛都有不少需要总结的地方，特别是项目展示上技巧很多，总结一下。 首先最重要的是作品自身硬！自身的作品完成度不高，或者是没有创新点，就没必要参加了。 比如是出去比赛的话，我反正每次碰到最多的是智慧农场、智慧家居之类，不知道为啥这种的太多了。如果是创业型比赛，评委基本会问小米已经做得很好了很便宜了，你的优势在哪里？这些都是常见的问题提前要...

沉迷单车的追风少年 7329

ROS下UR机械臂仿真控制（kinetic版）

描述 使用ROS的kinetic版本，在gazebo仿真系统下控制UR机械臂 问题 CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package): Could not find a package configuration file provided by "moveit_core" with any of the following names: moveit_core

weixin_42156097的博客 3087

Django框架中settings文件的部署建议

为了更好地管理开发和生产环境的配置，建议将settings文件分为多个文件，分别用于不同的环境。然后，通过在启动应用程序时指定不同的settings文件，来加载相应的配置。在Django框架中，settings.py文件是非常重要的配置文件，它包含了项目的各种设置和选项。在Django框架中，settings.py文件是非常重要的配置文件，它包含了项目的各种设置和选项。可以使用Python的。为了更好地管理开发和生产环境的配置，建议将settings文件分为多个文件，分别用于不同的环境。

WELL_CODER的博客 129

GEE：大面积研究区域数据分块导出，以解决内存限制和导出失败的问题

本文介绍了在Google Earth Engine (GEE)平台分块导出大面积研究区域数据的方法。针对直接导出大区域影像易失败的问题，作者提出通过网格分块技术进行处理。文章展示了完整的JavaScript代码示例，包含定义研究区域、加载ESA WorldCover数据集、设置分块参数（包括像素大小、分块尺寸）、创建网格系统、处理坐标转换等关键步骤。代码中还提供了错误处理和导出按钮功能，确保数据能可靠地分块导出到Google Drive。该方法有效解决了大区域数据导出时的内存限制问题，适用于全球范围的研究。

养乐多的博客 1186
上一篇： 手机拍照转机器人末端坐标（九点标定法）
下一篇： UR中ROS仿真使用脚本命令控制
点赞 0
评论 2
书签 书签 2
leecheni
leecheni
博客等级 码龄16年 1973粉丝 62原创
+ 关注 专栏目录 订阅专栏
评论 2
成就一亿技术人!
拼手气红包6.0元
还能输入1000个字符
 
表情包 插入表情
表情包 代码片
 条评论被折叠 查看
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包

打赏作者

leecheni

你的鼓励将是我创作的最大动力

¥1 ¥2 ¥4 ¥6 ¥10 ¥20
扫码支付：¥1
获取中
扫码支付

您的余额不足，请更换扫码支付或充值

打赏作者

实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值