ur_modern_driver: UR5 not move and no error output when using with Docker

I use this package with my universal robot UR5 ( CB3 ). I run the following commands, and it can connect to robot, and get the joint states, but the robot can’t move with moveit, and no any feedback from /execute_trajectory/feedback and move_group.

$ roslaunch ur_modern_driver ur5_bringup.launch limited:=true robot_ip:="192.168.1.125"

$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true

$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true

The following information are the outputs, but I can’t get any error which may cause this.

Any help will be appreciated!

$ roslaunch ur_modern_driver ur5_bringup.launch limited:=true robot_ip:="192.168.1.125"


... logging to /home/ros/.ros/log/a918f77a-37c4-11e7-b73a-0242ac110003/roslaunch-1bcd827b4ebe-385.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

redefining global property: pi
when processing file: /data/UR5/catkin_ws/src/ur_description/urdf/ur5.urdf.xacro
included from: /data/UR5/catkin_ws/src/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
started roslaunch server http://1bcd827b4ebe:45393/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /ur_driver/base_frame: base
 * /ur_driver/max_payload: 5.0
 * /ur_driver/max_velocity: 10.0
 * /ur_driver/min_payload: 0.0
 * /ur_driver/prefix:
 * /ur_driver/robot_ip_address: 192.168.1.125
 * /ur_driver/servoj_time: 0.008
 * /ur_driver/tool_frame: tool0_controller

NODES
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ur_driver (ur_modern_driver/ur_driver)

auto-starting new master
process[master]: started with pid [399]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a918f77a-37c4-11e7-b73a-0242ac110003
process[rosout-1]: started with pid [412]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [415]
process[ur_driver-3]: started with pid [416]
[ INFO] [1494670437.509568644]: on_goal
Wrong length of message on RT interface: 1078457466
[ INFO] [1494670792.486295224]: on_cancel
[ INFO] [1494670794.786943293]: on_goal

---

$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true


... logging to /home/ros/.ros/log/a918f77a-37c4-11e7-b73a-0242ac110003/roslaunch-1bcd827b4ebe-522.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://1bcd827b4ebe:42509/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.05
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[move_group-1]: started with pid [540]
[ INFO] [1494670359.575039943]: Loading robot model 'ur5'...
[ WARN] [1494670359.575115604]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1494670359.575135205]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1494670359.655414212]: Loading robot model 'ur5'...
[ WARN] [1494670359.655448994]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1494670359.655460885]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1494670359.702693594]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1494670359.707214573]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1494670359.707268490]: Starting scene monitor
[ INFO] [1494670359.712328086]: Listening to '/planning_scene'
[ INFO] [1494670359.712394129]: Starting world geometry monitor
[ INFO] [1494670359.718502803]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1494670359.722884792]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1494670359.740684899]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1494670359.796684990]: Initializing OMPL interface using ROS parameters
[ INFO] [1494670359.837804653]: Using planning interface 'OMPL'
[ INFO] [1494670359.867733583]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1494670359.868506239]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1494670359.869317902]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1494670359.870172206]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1494670359.870849095]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1494670359.871551273]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1494670359.871629111]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1494670359.871658602]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1494670359.871680652]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1494670359.871706772]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1494670359.871728576]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1494670360.047571178]: Added FollowJointTrajectory controller for
[ INFO] [1494670360.047788949]: Returned 1 controllers in list
[ INFO] [1494670360.079668045]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1494670360.272498782]:

********************************************************
* MoveGroup using:
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1494670360.272612646]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1494670360.272654446]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!

[ INFO] [1494670435.139660681]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1494670435.143837124]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1494670435.144153059]: No planner specified. Using default.
[ INFO] [1494670435.145108290]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.145191366]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.145252656]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.146867926]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.156417683]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670435.156528676]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670435.156976344]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1494670435.157562679]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1494670435.157692439]: ParallelPlan::solve(): Solution found by one or more threads in 0.012994 seconds
[ INFO] [1494670435.157873800]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.157978797]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.158452068]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670435.158523058]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1494670435.158682783]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.160106062]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.160483848]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1494670435.160687371]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1494670435.160800198]: ParallelPlan::solve(): Solution found by one or more threads in 0.002989 seconds
[ INFO] [1494670435.160930988]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.160960470]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670435.161271906]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670435.161315452]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670435.161583233]: ParallelPlan::solve(): Solution found by one or more threads in 0.000714 seconds
[ INFO] [1494670435.161837460]: SimpleSetup: Path simplification took 0.000098 seconds and changed from 3 to 2 states
[ INFO] [1494670437.508035593]: Received new trajectory execution service request...
[ INFO] [1494670792.485746437]: Received event 'stop'
[ INFO] [1494670792.485809259]: MoveItSimpleControllerManager: Cancelling execution for
[ INFO] [1494670792.485886981]: Stopped trajectory execution.
[ INFO] [1494670792.486778773]: Execution completed: PREEMPTED
[ INFO] [1494670794.763534304]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1494670794.763762581]: Planning attempt 1 of at most 1
[ INFO] [1494670794.764740789]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1494670794.764842067]: No planner specified. Using default.
[ INFO] [1494670794.765409090]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.765595247]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.765779730]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.765991621]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.777120481]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670794.778462041]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1494670794.778614890]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670794.778787516]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1494670794.779142358]: ParallelPlan::solve(): Solution found by one or more threads in 0.014054 seconds
[ INFO] [1494670794.779992934]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.780331698]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.781042872]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.781130979]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.781684882]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670794.782432302]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1494670794.782572140]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1494670794.783073335]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1494670794.783426495]: ParallelPlan::solve(): Solution found by one or more threads in 0.003918 seconds
[ INFO] [1494670794.783655626]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.783856566]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1494670794.784203725]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670794.784887534]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1494670794.785191778]: ParallelPlan::solve(): Solution found by one or more threads in 0.001646 seconds
[ INFO] [1494670794.785266074]: SimpleSetup: Path simplification took 0.000007 seconds and changed from 3 to 2 states
[ INFO] [1494671480.757053031]: Received new trajectory execution service request...

---

$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true

... logging to /home/ros/.ros/log/a918f77a-37c4-11e7-b73a-0242ac110003/roslaunch-1bcd827b4ebe-937.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://1bcd827b4ebe:39193/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /rviz_1bcd827b4ebe_937_1185201707645598711/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /rviz_1bcd827b4ebe_937_1185201707645598711/manipulator/kinematics_solver_attempts: 3
 * /rviz_1bcd827b4ebe_937_1185201707645598711/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_1bcd827b4ebe_937_1185201707645598711/manipulator/kinematics_solver_timeout: 0.005

NODES
  /
    rviz_1bcd827b4ebe_937_1185201707645598711 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rviz_1bcd827b4ebe_937_1185201707645598711-1]: started with pid [955]
[ INFO] [1494670367.054922200]: rviz version 1.11.15
[ INFO] [1494670367.054983512]: compiled against Qt version 4.8.6
[ INFO] [1494670367.055000940]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1494670367.390986535]: Stereo is NOT SUPPORTED
[ INFO] [1494670367.391078231]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1494670370.872470198]: Loading robot model 'ur5'...
[ WARN] [1494670370.872550402]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1494670370.872576672]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1494670370.995342952]: Loading robot model 'ur5'...
[ WARN] [1494670370.995434061]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1494670370.995449636]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1494670371.057840158]: Starting scene monitor
[ INFO] [1494670371.063650873]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1494670371.379891501]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ INFO] [1494670372.308197155]: TrajectoryExecution will use old service capability.
[ INFO] [1494670372.308318403]: Ready to take MoveGroup commands for group manipulator.
[ INFO] [1494670372.308422556]: Looking around: no
[ INFO] [1494670372.308480442]: Replanning: no