Multi/ Dual Robot Communication

RishiM · March 10, 2023, 2:44pm

Hey guys, I am trying to set up dual robot communication between 2 UR5e. I am using Universal_Robot_ROS_Driver with ubuntu 18.04, melodic and ROS1. IT seems like I am only able to run the joints of 1 robot, but not the other robot. I have spent a few days on this task and not too sure how to approach this problem. Would appreciate some help! Thanks in advance!

As there are word limit, I’m uploading the second part of the output in the reply section!

I listed out the general dual robot configuration I have done, I have uploaded an example image of what the xml files looks like (I am not allowed multiple images), but the full complete package can be found on my github: UR5 Error

Re-configured the urdf file to contain a world frame to be the parent of the two robot, with each
Made a copy of the controller.yaml and changed the name of each joint in the format of “prefix” + “joint name”
Made a new load file that upload the urdf information to the server

Here are the complete output


  

PARAMETERS 

* /dispense_robot/controller_stopper/consistent_controllers: ['joint_state_con... 

* /dispense_robot/force_torque_sensor_controller/publish_rate: 500 

* /dispense_robot/force_torque_sensor_controller/type: force_torque_sens... 

* /dispense_robot/forward_cartesian_traj_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/forward_cartesian_traj_controller/type: pass_through_cont... 

* /dispense_robot/forward_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/forward_joint_traj_controller/type: pass_through_cont... 

* /dispense_robot/hardware_control_loop/loop_hz: 500 

* /dispense_robot/joint_based_cartesian_traj_controller/base: base 

* /dispense_robot/joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/joint_based_cartesian_traj_controller/tip: tool0 

* /dispense_robot/joint_based_cartesian_traj_controller/type: position_controll... 

* /dispense_robot/joint_group_vel_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/joint_group_vel_controller/type: velocity_controll... 

* /dispense_robot/joint_state_controller/publish_rate: 500 

* /dispense_robot/joint_state_controller/type: joint_state_contr... 

* /dispense_robot/pos_joint_traj_controller/action_monitor_rate: 20 

* /dispense_robot/pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 

* /dispense_robot/pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 

* /dispense_robot/pos_joint_traj_controller/constraints/goal_time: 0.6 

* /dispense_robot/pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 

* /dispense_robot/pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 

* /dispense_robot/pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 

* /dispense_robot/pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 

* /dispense_robot/pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 

* /dispense_robot/pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 

* /dispense_robot/pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 

* /dispense_robot/pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 

* /dispense_robot/pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 

* /dispense_robot/pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 

* /dispense_robot/pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 

* /dispense_robot/pos_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/pos_joint_traj_controller/state_publish_rate: 500 

* /dispense_robot/pos_joint_traj_controller/stop_trajectory_duration: 0.5 

* /dispense_robot/pos_joint_traj_controller/type: position_controll... 

* /dispense_robot/pose_based_cartesian_traj_controller/base: base 

* /dispense_robot/pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/pose_based_cartesian_traj_controller/tip: tool0_controller 

* /dispense_robot/pose_based_cartesian_traj_controller/type: pose_controllers/... 

* /dispense_robot/robot_description: <?xml version="1.... 

* /dispense_robot/robot_status_controller/handle_name: industrial_robot_... 

* /dispense_robot/robot_status_controller/publish_rate: 10 

* /dispense_robot/robot_status_controller/type: industrial_robot_... 

* /dispense_robot/scaled_pos_joint_traj_controller/action_monitor_rate: 20 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/goal_time: 0.6 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 

* /dispense_robot/scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 

* /dispense_robot/scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/scaled_pos_joint_traj_controller/state_publish_rate: 500 

* /dispense_robot/scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5 

* /dispense_robot/scaled_pos_joint_traj_controller/type: position_controll... 

* /dispense_robot/scaled_vel_joint_traj_controller/action_monitor_rate: 20 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/goal_time: 0.6 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 

* /dispense_robot/scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 

* /dispense_robot/scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/scaled_vel_joint_traj_controller/state_publish_rate: 500 

* /dispense_robot/scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5 

* /dispense_robot/scaled_vel_joint_traj_controller/type: velocity_controll... 

* /dispense_robot/scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 

* /dispense_robot/scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 

* /dispense_robot/scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 

* /dispense_robot/scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 

* /dispense_robot/scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 

* /dispense_robot/scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 

* /dispense_robot/speed_scaling_state_controller/publish_rate: 500 

* /dispense_robot/speed_scaling_state_controller/type: scaled_controller... 

* /dispense_robot/twist_controller/frame_id: tool0_controller 

* /dispense_robot/twist_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/twist_controller/publish_rate: 500 

* /dispense_robot/twist_controller/type: ros_controllers_c... 

* /dispense_robot/ur_hardware_interface/headless_mode: False 

* /dispense_robot/ur_hardware_interface/input_recipe_file: /home/cheungy/cat... 

* /dispense_robot/ur_hardware_interface/joints: ['shoulder_pan_jo... 

* /dispense_robot/ur_hardware_interface/kinematics/forearm/pitch: 0 

* /dispense_robot/ur_hardware_interface/kinematics/forearm/roll: 0 

* /dispense_robot/ur_hardware_interface/kinematics/forearm/x: -0.425 

* /dispense_robot/ur_hardware_interface/kinematics/forearm/y: 0 

* /dispense_robot/ur_hardware_interface/kinematics/forearm/yaw: 0 

* /dispense_robot/ur_hardware_interface/kinematics/forearm/z: 0 

* /dispense_robot/ur_hardware_interface/kinematics/hash: calib_12788084448... 

* /dispense_robot/ur_hardware_interface/kinematics/shoulder/pitch: 0 

* /dispense_robot/ur_hardware_interface/kinematics/shoulder/roll: 0 

* /dispense_robot/ur_hardware_interface/kinematics/shoulder/x: 0 

* /dispense_robot/ur_hardware_interface/kinematics/shoulder/y: 0 

* /dispense_robot/ur_hardware_interface/kinematics/shoulder/yaw: 0 

* /dispense_robot/ur_hardware_interface/kinematics/shoulder/z: 0.1625 

* /dispense_robot/ur_hardware_interface/kinematics/upper_arm/pitch: 0 

* /dispense_robot/ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327 

* /dispense_robot/ur_hardware_interface/kinematics/upper_arm/x: 0 

* /dispense_robot/ur_hardware_interface/kinematics/upper_arm/y: 0 

* /dispense_robot/ur_hardware_interface/kinematics/upper_arm/yaw: 0 

* /dispense_robot/ur_hardware_interface/kinematics/upper_arm/z: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_1/pitch: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_1/roll: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_1/x: -0.3922 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_1/y: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_1/yaw: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_1/z: 0.1333 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_2/pitch: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_2/x: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_2/y: -0.0997 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_2/yaw: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_2/z: -2.0448811823e-11 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_3/pitch: 3.14159265359 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_3/roll: 1.57079632659 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_3/x: 0 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_3/y: 0.0996 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_3/yaw: 3.14159265359 

* /dispense_robot/ur_hardware_interface/kinematics/wrist_3/z: -2.04283014801e-11 

* /dispense_robot/ur_hardware_interface/output_recipe_file: /home/cheungy/cat... 

* /dispense_robot/ur_hardware_interface/reverse_ip:  

* /dispense_robot/ur_hardware_interface/reverse_port: 50000 

* /dispense_robot/ur_hardware_interface/robot_ip: 192.168.1.30 

* /dispense_robot/ur_hardware_interface/script_command_port: 50004 

* /dispense_robot/ur_hardware_interface/script_file: /opt/ros/melodic/... 

* /dispense_robot/ur_hardware_interface/script_sender_port: 50005 

* /dispense_robot/ur_hardware_interface/servoj_gain: 2000 

* /dispense_robot/ur_hardware_interface/servoj_lookahead_time: 0.03 

* /dispense_robot/ur_hardware_interface/tf_prefix: dispense_ 

* /dispense_robot/ur_hardware_interface/tool_baud_rate: 115200 

* /dispense_robot/ur_hardware_interface/tool_parity: 0 

* /dispense_robot/ur_hardware_interface/tool_rx_idle_chars: 1.5 

* /dispense_robot/ur_hardware_interface/tool_stop_bits: 1 

* /dispense_robot/ur_hardware_interface/tool_tx_idle_chars: 3.5 

* /dispense_robot/ur_hardware_interface/tool_voltage: 0 

* /dispense_robot/ur_hardware_interface/trajectory_port: 50003 

* /dispense_robot/ur_hardware_interface/use_tool_communication: False 

* /dispense_robot/vel_joint_traj_controller/action_monitor_rate: 20 

* /dispense_robot/vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/goal_time: 0.6 

* /dispense_robot/vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 

* /dispense_robot/vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 

* /dispense_robot/vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 

* /dispense_robot/vel_joint_traj_controller/gains/elbow_joint/d: 0.1 

* /dispense_robot/vel_joint_traj_controller/gains/elbow_joint/i: 0.05 

* /dispense_robot/vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 

* /dispense_robot/vel_joint_traj_controller/gains/elbow_joint/p: 5.0 

* /dispense_robot/vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 

* /dispense_robot/vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05

RishiM · March 10, 2023, 2:45pm

(post deleted by author)

RishiM · March 10, 2023, 2:50pm

* /dispense_robot/vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 

* /dispense_robot/vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 

* /dispense_robot/vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 

* /dispense_robot/vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 

* /dispense_robot/vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 

* /dispense_robot/vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 

* /dispense_robot/vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 

* /dispense_robot/vel_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /dispense_robot/vel_joint_traj_controller/state_publish_rate: 500 

* /dispense_robot/vel_joint_traj_controller/stop_trajectory_duration: 0.5 

* /dispense_robot/vel_joint_traj_controller/type: velocity_controll... 

* /dispense_robot/vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 

* /dispense_robot/vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 

* /dispense_robot/vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 

* /dispense_robot/vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 

* /dispense_robot/vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 

* /dispense_robot/vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 

* /pick_and_place/controller_stopper/consistent_controllers: ['joint_state_con... 

* /pick_and_place/force_torque_sensor_controller/publish_rate: 500 

* /pick_and_place/force_torque_sensor_controller/type: force_torque_sens... 

* /pick_and_place/forward_cartesian_traj_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/forward_cartesian_traj_controller/type: pass_through_cont... 

* /pick_and_place/forward_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/forward_joint_traj_controller/type: pass_through_cont... 

* /pick_and_place/hardware_control_loop/loop_hz: 500 

* /pick_and_place/joint_based_cartesian_traj_controller/base: base 

* /pick_and_place/joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/joint_based_cartesian_traj_controller/tip: tool0 

* /pick_and_place/joint_based_cartesian_traj_controller/type: position_controll... 

* /pick_and_place/joint_group_vel_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/joint_group_vel_controller/type: velocity_controll... 

* /pick_and_place/joint_state_controller/publish_rate: 500 

* /pick_and_place/joint_state_controller/type: joint_state_contr... 

* /pick_and_place/pos_joint_traj_controller/action_monitor_rate: 20 

* /pick_and_place/pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 

* /pick_and_place/pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 

* /pick_and_place/pos_joint_traj_controller/constraints/goal_time: 0.6 

* /pick_and_place/pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 

* /pick_and_place/pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 

* /pick_and_place/pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 

* /pick_and_place/pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 

* /pick_and_place/pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 

* /pick_and_place/pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 

* /pick_and_place/pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 

* /pick_and_place/pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 

* /pick_and_place/pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 

* /pick_and_place/pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 

* /pick_and_place/pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 

* /pick_and_place/pos_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/pos_joint_traj_controller/state_publish_rate: 500 

* /pick_and_place/pos_joint_traj_controller/stop_trajectory_duration: 0.5 

* /pick_and_place/pos_joint_traj_controller/type: position_controll... 

* /pick_and_place/pose_based_cartesian_traj_controller/base: base 

* /pick_and_place/pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/pose_based_cartesian_traj_controller/tip: tool0_controller 

* /pick_and_place/pose_based_cartesian_traj_controller/type: pose_controllers/... 

* /pick_and_place/robot_description: <?xml version="1.... 

* /pick_and_place/robot_status_controller/handle_name: industrial_robot_... 

* /pick_and_place/robot_status_controller/publish_rate: 10 

* /pick_and_place/robot_status_controller/type: industrial_robot_... 

* /pick_and_place/scaled_pos_joint_traj_controller/action_monitor_rate: 20 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/goal_time: 0.6 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 

* /pick_and_place/scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 

* /pick_and_place/scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/scaled_pos_joint_traj_controller/state_publish_rate: 500 

* /pick_and_place/scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5 

* /pick_and_place/scaled_pos_joint_traj_controller/type: position_controll... 

* /pick_and_place/scaled_vel_joint_traj_controller/action_monitor_rate: 20 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/goal_time: 0.6 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 

* /pick_and_place/scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 

* /pick_and_place/scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/scaled_vel_joint_traj_controller/state_publish_rate: 500 

* /pick_and_place/scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5 

* /pick_and_place/scaled_vel_joint_traj_controller/type: velocity_controll... 

* /pick_and_place/scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 

* /pick_and_place/scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 

* /pick_and_place/scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 

* /pick_and_place/scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 

* /pick_and_place/scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 

* /pick_and_place/scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 

* /pick_and_place/speed_scaling_state_controller/publish_rate: 500 

* /pick_and_place/speed_scaling_state_controller/type: scaled_controller... 

* /pick_and_place/twist_controller/frame_id: tool0_controller 

* /pick_and_place/twist_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/twist_controller/publish_rate: 500 

* /pick_and_place/twist_controller/type: ros_controllers_c... 

* /pick_and_place/ur_hardware_interface/headless_mode: False 

* /pick_and_place/ur_hardware_interface/input_recipe_file: /home/cheungy/cat... 

* /pick_and_place/ur_hardware_interface/joints: ['shoulder_pan_jo... 

* /pick_and_place/ur_hardware_interface/kinematics/forearm/pitch: 0 

* /pick_and_place/ur_hardware_interface/kinematics/forearm/roll: 0 

* /pick_and_place/ur_hardware_interface/kinematics/forearm/x: -0.425 

* /pick_and_place/ur_hardware_interface/kinematics/forearm/y: 0 

* /pick_and_place/ur_hardware_interface/kinematics/forearm/yaw: 0 

* /pick_and_place/ur_hardware_interface/kinematics/forearm/z: 0 

* /pick_and_place/ur_hardware_interface/kinematics/hash: calib_12788084448... 

* /pick_and_place/ur_hardware_interface/kinematics/shoulder/pitch: 0 

* /pick_and_place/ur_hardware_interface/kinematics/shoulder/roll: 0 

* /pick_and_place/ur_hardware_interface/kinematics/shoulder/x: 0 

* /pick_and_place/ur_hardware_interface/kinematics/shoulder/y: 0 

* /pick_and_place/ur_hardware_interface/kinematics/shoulder/yaw: 0 

* /pick_and_place/ur_hardware_interface/kinematics/shoulder/z: 0.1625 

* /pick_and_place/ur_hardware_interface/kinematics/upper_arm/pitch: 0 

* /pick_and_place/ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327 

* /pick_and_place/ur_hardware_interface/kinematics/upper_arm/x: 0 

* /pick_and_place/ur_hardware_interface/kinematics/upper_arm/y: 0 

* /pick_and_place/ur_hardware_interface/kinematics/upper_arm/yaw: 0 

* /pick_and_place/ur_hardware_interface/kinematics/upper_arm/z: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_1/pitch: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_1/roll: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_1/x: -0.3922 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_1/y: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_1/yaw: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_1/z: 0.1333 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_2/pitch: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_2/x: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_2/y: -0.0997 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_2/yaw: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_2/z: -2.0448811823e-11 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_3/pitch: 3.14159265359 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_3/roll: 1.57079632659 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_3/x: 0 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_3/y: 0.0996 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_3/yaw: 3.14159265359 

* /pick_and_place/ur_hardware_interface/kinematics/wrist_3/z: -2.04283014801e-11 

* /pick_and_place/ur_hardware_interface/output_recipe_file: /home/cheungy/cat... 

* /pick_and_place/ur_hardware_interface/reverse_ip:  

* /pick_and_place/ur_hardware_interface/reverse_port: 50007 

* /pick_and_place/ur_hardware_interface/robot_ip: 192.168.1.25 

* /pick_and_place/ur_hardware_interface/script_command_port: 50004 

* /pick_and_place/ur_hardware_interface/script_file: /opt/ros/melodic/... 

* /pick_and_place/ur_hardware_interface/script_sender_port: 50008 

* /pick_and_place/ur_hardware_interface/servoj_gain: 2000 

* /pick_and_place/ur_hardware_interface/servoj_lookahead_time: 0.03 

* /pick_and_place/ur_hardware_interface/tf_prefix: pickAndPlace_ 

* /pick_and_place/ur_hardware_interface/tool_baud_rate: 115200 

* /pick_and_place/ur_hardware_interface/tool_parity: 0 

* /pick_and_place/ur_hardware_interface/tool_rx_idle_chars: 1.5 

* /pick_and_place/ur_hardware_interface/tool_stop_bits: 1 

* /pick_and_place/ur_hardware_interface/tool_tx_idle_chars: 3.5 

* /pick_and_place/ur_hardware_interface/tool_voltage: 0 

* /pick_and_place/ur_hardware_interface/trajectory_port: 50003 

* /pick_and_place/ur_hardware_interface/use_tool_communication: False 

* /pick_and_place/vel_joint_traj_controller/action_monitor_rate: 20 

* /pick_and_place/vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/goal_time: 0.6 

* /pick_and_place/vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 

* /pick_and_place/vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 

* /pick_and_place/vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 

* /pick_and_place/vel_joint_traj_controller/gains/elbow_joint/d: 0.1 

* /pick_and_place/vel_joint_traj_controller/gains/elbow_joint/i: 0.05 

* /pick_and_place/vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 

* /pick_and_place/vel_joint_traj_controller/gains/elbow_joint/p: 5.0 

* /pick_and_place/vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 

* /pick_and_place/vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 

* /pick_and_place/vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 

* /pick_and_place/vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 

* /pick_and_place/vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 

* /pick_and_place/vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 

* /pick_and_place/vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 

* /pick_and_place/vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 

* /pick_and_place/vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 

* /pick_and_place/vel_joint_traj_controller/joints: ['shoulder_pan_jo... 

* /pick_and_place/vel_joint_traj_controller/state_publish_rate: 500 

* /pick_and_place/vel_joint_traj_controller/stop_trajectory_duration: 0.5 

* /pick_and_place/vel_joint_traj_controller/type: velocity_controll... 

* /pick_and_place/vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 

* /pick_and_place/vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 

* /pick_and_place/vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 

* /pick_and_place/vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 

* /pick_and_place/vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 

* /pick_and_place/vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 

* /rosdistro: melodic 

* /rosversion: 1.14.13 

  

NODES 

  /dispense_robot/ 

    controller_stopper (controller_stopper/node) 

    robot_state_publisher (robot_state_publisher/robot_state_publisher) 

    ros_control_controller_spawner (controller_manager/spawner) 

    ros_control_stopped_spawner (controller_manager/spawner) 

    ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) 

  /dispense_robot/ur_hardware_interface/ 

    ur_robot_state_helper (ur_robot_driver/robot_state_helper) 

  /pick_and_place/ 

    controller_stopper (controller_stopper/node) 

    robot_state_publisher (robot_state_publisher/robot_state_publisher) 

    ros_control_controller_spawner (controller_manager/spawner) 

    ros_control_stopped_spawner (controller_manager/spawner) 

    ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) 

  /pick_and_place/ur_hardware_interface/ 

    ur_robot_state_helper (ur_robot_driver/robot_state_helper) 

  

auto-starting new master 

process[master]: started with pid [9392] 

ROS_MASTER_URI=http://localhost:11311 

  

setting /run_id to 42d286a2-bf4a-11ed-9755-080027486f66 

process[rosout-1]: started with pid [9403] 

started core service [/rosout] 

process[pick_and_place/robot_state_publisher-2]: started with pid [9410] 

process[pick_and_place/ur_hardware_interface-3]: started with pid [9411] 

process[pick_and_place/ros_control_controller_spawner-4]: started with pid [9412] 

process[pick_and_place/ros_control_stopped_spawner-5]: started with pid [9413] 

process[pick_and_place/controller_stopper-6]: started with pid [9415] 

process[pick_and_place/ur_hardware_interface/ur_robot_state_helper-7]: started with pid [9424] 

[ INFO] [1678456121.756467209]: Initializing dashboard client 

process[dispense_robot/robot_state_publisher-8]: started with pid [9429] 

[ INFO] [1678456121.780162288]: Waiting for controller manager service to come up on /pick_and_place/controller_manager/switch_controller 

[ INFO] [1678456121.781007513]: Connected: Universal Robots Dashboard Server 

  

process[dispense_robot/ur_hardware_interface-9]: started with pid [9431] 

[ INFO] [1678456121.794646977]: waitForService: Service [/pick_and_place/controller_manager/switch_controller] has not been advertised, waiting... 

process[dispense_robot/ros_control_controller_spawner-10]: started with pid [9440] 

[ INFO] [1678456121.834555156]: Initializing urdriver 

process[dispense_robot/ros_control_stopped_spawner-11]: started with pid [9442] 

[ WARN] [1678456121.848844960]: No realtime capabilities found. Consider using a realtime system for better performance 

[ INFO] [1678456121.852820835]: Negotiated RTDE protocol version to 2. 

[ INFO] [1678456121.854626841]: Setting up RTDE communication with frequency 500.000000 

[ INFO] [1678456121.873309131]: Checking if calibration data matches connected robot. 

process[dispense_robot/controller_stopper-12]: started with pid [9448] 

[ WARN] [1678456121.894112498]: No realtime capabilities found. Consider using a realtime system for better performance 

process[dispense_robot/ur_hardware_interface/ur_robot_state_helper-13]: started with pid [9464] 

[ INFO] [1678456121.940057596]: Initializing dashboard client 

[ INFO] [1678456121.944918019]: Connected: Universal Robots Dashboard Server 

  

[ INFO] [1678456121.959523495]: Waiting for controller manager service to come up on /dispense_robot/controller_manager/switch_controller 

[ INFO] [1678456121.965843515]: waitForService: Service [/dispense_robot/controller_manager/switch_controller] has not been advertised, waiting... 

[ INFO] [1678456122.003501805]: Initializing urdriver 

[ WARN] [1678456122.013709956]: No realtime capabilities found. Consider using a realtime system for better performance 

[ INFO] [1678456122.427496050]: Negotiated RTDE protocol version to 2. 

[ INFO] [1678456122.428846302]: Setting up RTDE communication with frequency 500.000000 

[ERROR] [1678456122.952935513]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] for details. 

[ WARN] [1678456122.973051491]: No realtime capabilities found. Consider using a realtime system for better performance 

[ INFO] [1678456122.973617372]: Loaded ur_robot_driver hardware_interface 

[ INFO] [1678456123.087613137]: Robot's safety mode is now NORMAL 

[ INFO] [1678456123.088499799]: Robot mode is now POWER_OFF 

[ INFO] [1678456123.089817430]: waitForService: Service [/pick_and_place/controller_manager/switch_controller] is now available. 

[ INFO] [1678456123.090005222]: Service available. 

[ INFO] [1678456123.090138161]: Waiting for controller list service to come up on /pick_and_place/controller_manager/list_controllers 

[ INFO] [1678456123.090701297]: Service available. 

[INFO] [1678456123.307370]: Controller Spawner: Waiting for service controller_manager/load_controller 

[INFO] [1678456123.309352]: Controller Spawner: Waiting for service controller_manager/switch_controller 

[INFO] [1678456123.310867]: Controller Spawner: Waiting for service controller_manager/unload_controller 

[INFO] [1678456123.312624]: Loading controller: pos_joint_traj_controller 

[INFO] [1678456123.317792]: Controller Spawner: Waiting for service controller_manager/load_controller 

[INFO] [1678456123.341412]: Controller Spawner: Waiting for service controller_manager/switch_controller 

[INFO] [1678456123.347062]: Controller Spawner: Waiting for service controller_manager/unload_controller 

[ERROR] [1678456123.348817461]: Could not find joint 'shoulder_pan_joint' in URDF model. 

[ERROR] [1678456123.349315776]: Failed to initialize the controller 

[ERROR] [1678456123.349438295]: Initializing controller 'pos_joint_traj_controller' failed 

[INFO] [1678456123.353938]: Loading controller: joint_state_controller 

[INFO] [1678456123.363646]: Loading controller: scaled_pos_joint_traj_controller 

[INFO] [1678456123.377477]: Controller Spawner: Waiting for service controller_manager/load_controller 

[ERROR] [1678456123.396148538]: Could not find joint 'shoulder_pan_joint' in URDF model. 

[INFO] [1678456123.399790]: Controller Spawner: Waiting for service controller_manager/load_controller 

[ERROR] [1678456123.402609122]: Failed to initialize the controller 

[ERROR] [1678456123.402749836]: Initializing controller 'scaled_pos_joint_traj_controller' failed 

terminate called after throwing an instance of 'std::system_error' 

  what():  Failed to bind socket for port 50003 to address. Reason: Address already in use: Address already in use 

================================================================================REQUIRED process [dispense_robot/ur_hardware_interface-9] has died! 

process has died [pid 9431, exit code -6, cmd /home/cheungy/catkin_ws/devel/lib/ur_robot_driver/ur_robot_driver_node __name:=ur_hardware_interface __log:=/home/cheungy/.ros/log/42d286a2-bf4a-11ed-9755-080027486f66/dispense_robot-ur_hardware_interface-9.log]. 

log file: /home/cheungy/.ros/log/42d286a2-bf4a-11ed-9755-080027486f66/dispense_robot-ur_hardware_interface-9*.log 

Initiating shutdown! 

================================================================================ 

[dispense_robot/ur_hardware_interface/ur_robot_state_helper-13] killing on exit 

[dispense_robot/controller_stopper-12] killing on exit 

[dispense_robot/ros_control_stopped_spawner-11] killing on exit 

[dispense_robot/ros_control_controller_spawner-10] killing on exit 

[dispense_robot/ur_hardware_interface-9] killing on exit 

[dispense_robot/robot_state_publisher-8] killing on exit 

[pick_and_place/ur_hardware_interface/ur_robot_state_helper-7] killing on exit 

[pick_and_place/controller_stopper-6] killing on exit 

[pick_and_place/ros_control_stopped_spawner-5] killing on exit 

[INFO] [1678456123.814071]: Shutting down spawner. Stopping and unloading controllers... 

[INFO] [1678456123.815348]: Stopping all controllers... 

[pick_and_place/ros_control_controller_spawner-4] killing on exit 

[INFO] [1678456123.827603]: Shutting down spawner. Stopping and unloading controllers... 

[INFO] [1678456123.828774]: Stopping all controllers... 

[INFO] [1678456123.831245]: Unloading all loaded controllers... 

[pick_and_place/ur_hardware_interface-3] killing on exit 

Interrupt signal (2) received. 

[ERROR] [1678456123.848318113]: Could not stop controller 'joint_state_controller' since it is not running 

[INFO] [1678456123.848664]: Unloading all loaded controllers... 

[INFO] [1678456123.849885]: Trying to unload joint_state_controller 

[WARN] [1678456123.897281]: Controller Spawner couldn't find the expected controller_manager ROS interface. 

[pick_and_place/robot_state_publisher-2] killing on exit 

[ERROR] [1678456124.003309]: Failed to load pos_joint_traj_controller 

[INFO] [1678456124.004555]: Loading controller: joint_group_vel_controller 

Traceback (most recent call last): 

  File "/opt/ros/melodic/lib/controller_manager/spawner", line 212, in <module> 

    if __name__ == '__main__': main() 

  File "/opt/ros/melodic/lib/controller_manager/spawner", line 190, in main 

    resp = load_controller(name) 

  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__ 

    return self.call(*args, **kwds) 

  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 525, in call 

    raise ServiceException("service [%s] returned no response"%self.resolved_name) 

rospy.service.ServiceException: service [/pick_and_place/controller_manager/load_controller] returned no response 

[WARN] [1678456124.398996]: Controller Spawner couldn't find the expected controller_manager ROS interface. 

[WARN] [1678456125.943233]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender's logs for details 

[ERROR] [1678456126.082692]: Failed to load scaled_pos_joint_traj_controller 

[INFO] [1678456126.084107]: Loading controller: speed_scaling_state_controller 

Traceback (most recent call last): 

  File "/opt/ros/melodic/lib/controller_manager/spawner", line 212, in <module> 

    if __name__ == '__main__': main() 

  File "/opt/ros/melodic/lib/controller_manager/spawner", line 190, in main 

    resp = load_controller(name) 

  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__ 

    return self.call(*args, **kwds) 

  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 512, in call 

    raise ServiceException("unable to connect to service: %s"%e) 

rospy.service.ServiceException: unable to connect to service: [Errno 111] Connection refused 

[dispense_robot/controller_stopper-12] escalating to SIGTERM 

[pick_and_place/controller_stopper-6] escalating to SIGTERM 

[rosout-1] killing on exit 

[master] killing on exit 

shutting down processing monitor... 

... shutting down processing monitor complete 

done

rzegers · March 13, 2023, 8:45am

Hello @RishiM,

I have a couple of questions.
Is this the only launch file you are running, or are there any other launch files?
Did you had any error messages that you can share? Or how do you realize it it not working? Please post you run or execute what you expect to happen and what is actually happening?

Did I understood correctly you are running this with real robots, or is this in simulation?

Cheers,

Roberto