Universal_Robots_ROS2_Driver: Galactic: Controller example Can't activate controller 'scaled_joint_trajectory_controller'

When following the example I get the following error, which is the reason for move it example to fail execute a plan.

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false [INFO] [launch]: All log files can be found below /home/lmendyk/.ros/log/2022-02-23-11-14-26-240247-lmendykLinux-17283 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [17287] [INFO] [robot_state_publisher-2]: process started with pid [17289] [INFO] [spawner-3]: process started with pid [17291] [INFO] [spawner-4]: process started with pid [17293] [INFO] [spawner-5]: process started with pid [17297] [INFO] [spawner-6]: process started with pid [17306] [INFO] [spawner.py-7]: process started with pid [17315] [INFO] [spawner-8]: process started with pid [17321] [ros2_control_node-1] [INFO] [1645611267.502405838] [controller_manager]: update rate is 500 Hz [robot_state_publisher-2] Link base_link had 2 children [robot_state_publisher-2] Link base had 0 children [robot_state_publisher-2] Link base_link_inertia had 1 children [robot_state_publisher-2] Link shoulder_link had 1 children [robot_state_publisher-2] Link upper_arm_link had 1 children [robot_state_publisher-2] Link forearm_link had 1 children [robot_state_publisher-2] Link wrist_1_link had 1 children [robot_state_publisher-2] Link wrist_2_link had 1 children [robot_state_publisher-2] Link wrist_3_link had 2 children [robot_state_publisher-2] Link flange had 1 children [robot_state_publisher-2] Link tool0 had 0 children [robot_state_publisher-2] Link ft_frame had 0 children [robot_state_publisher-2] [INFO] [1645611267.485396000] [robot_state_publisher]: got segment base [robot_state_publisher-2] [INFO] [1645611267.485565494] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1645611267.485588164] [robot_state_publisher]: got segment base_link_inertia [robot_state_publisher-2] [INFO] [1645611267.485602485] [robot_state_publisher]: got segment flange [robot_state_publisher-2] [INFO] [1645611267.485614468] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-2] [INFO] [1645611267.485627241] [robot_state_publisher]: got segment ft_frame [robot_state_publisher-2] [INFO] [1645611267.485639979] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-2] [INFO] [1645611267.485652699] [robot_state_publisher]: got segment tool0 [robot_state_publisher-2] [INFO] [1645611267.485665210] [robot_state_publisher]: got segment upper_arm_link [robot_state_publisher-2] [INFO] [1645611267.485677833] [robot_state_publisher]: got segment world [robot_state_publisher-2] [INFO] [1645611267.485689902] [robot_state_publisher]: got segment wrist_1_link [robot_state_publisher-2] [INFO] [1645611267.485702807] [robot_state_publisher]: got segment wrist_2_link [robot_state_publisher-2] [INFO] [1645611267.485715166] [robot_state_publisher]: got segment wrist_3_link [ros2_control_node-1] [INFO] [1645611267.970868036] [controller_manager]: Loading controller 'io_and_status_controller' [ros2_control_node-1] [INFO] [1645611268.017414364] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster' [spawner-4] [INFO] [1645611268.028567146] [spawner_io_and_status_controller]: Loaded io_and_status_controller [ros2_control_node-1] [INFO] [1645611268.033609067] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster' [ros2_control_node-1] [INFO] [1645611268.052736438] [controller_manager]: Configuring controller 'io_and_status_controller' [ros2_control_node-1] [ERROR] [1645611268.068258268] [controller_manager]: Can't activate controller 'io_and_status_controller': Command interface with 'gpio/standard_digital_output_cmd_0' does not exist [spawner-4] [INFO] [1645611268.071324449] [spawner_io_and_status_controller]: Configured and started io_and_status_controller [spawner-6] [INFO] [1645611268.075902209] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster [ros2_control_node-1] [INFO] [1645611268.078464426] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster' [ros2_control_node-1] [INFO] [1645611268.089087930] [controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-5] [INFO] [1645611268.104143585] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster [ros2_control_node-1] [INFO] [1645611268.105320048] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster' [ros2_control_node-1] [INFO] [1645611268.105404952] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz [spawner-6] [INFO] [1645611268.105533752] [spawner_force_torque_sensor_broadcaster]: Configured and started force_torque_sensor_broadcaster [ros2_control_node-1] [ERROR] [1645611268.108163462] [controller_manager]: Can't activate controller 'speed_scaling_state_broadcaster': State interface with key 'speed_scaling/speed_scaling_factor' does not exist [spawner-5] [INFO] [1645611268.113189044] [spawner_speed_scaling_state_broadcaster]: Configured and started speed_scaling_state_broadcaster [spawner-3] [INFO] [1645611268.124001681] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-1] [INFO] [1645611268.135888304] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1645611268.135982756] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-3] [INFO] [1645611268.147439802] [spawner_joint_state_broadcaster]: Configured and started joint_state_broadcaster [ros2_control_node-1] [INFO] [1645611268.192502222] [controller_manager]: Loading controller 'forward_position_controller' [ros2_control_node-1] [INFO] [1645611268.209727902] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller' [spawner.py-7] [INFO] [1645611268.232307955] [spawner_forward_position_controller]: Loaded forward_position_controller [ros2_control_node-1] [INFO] [1645611268.234826920] [controller_manager]: Configuring controller 'forward_position_controller' [ros2_control_node-1] [INFO] [1645611268.235340852] [forward_position_controller]: configure successful [spawner-8] [INFO] [1645611268.242768555] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller [ros2_control_node-1] [INFO] [1645611268.254174868] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller' [ros2_control_node-1] [INFO] [1645611268.254305931] [scaled_joint_trajectory_controller]: Command interfaces are [position] and and state interfaces are [position velocity]. [ros2_control_node-1] [INFO] [1645611268.255379344] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz. [ros2_control_node-1] [INFO] [1645611268.256499486] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [ros2_control_node-1] [ERROR] [1645611268.265065187] [controller_manager]: Can't activate controller 'scaled_joint_trajectory_controller': State interface with key 'speed_scaling/speed_scaling_factor' does not exist [spawner-8] [INFO] [1645611268.269128132] [spawner_scaled_joint_trajectory_controller]: Configured and started scaled_joint_trajectory_controller [INFO] [spawner-6]: process has finished cleanly [pid 17306] [INFO] [spawner-5]: process has finished cleanly [pid 17297] [INFO] [spawner-4]: process has finished cleanly [pid 17293] [spawner.py-7] /opt/ros/galactic/lib/controller_manager/spawner.py:204: DeprecationWarning: 'spawner.py' is deprecated, please use 'spawner' (without .py extension) [spawner.py-7] warnings.warn( [INFO] [spawner-3]: process has finished cleanly [pid 17291] [INFO] [spawner.py-7]: process has finished cleanly [pid 17315]

About this issue

Original URL
State: closed
Created 2 years ago
Comments: 15 (3 by maintainers)

Most upvoted comments

You should be able to get it running with the non-scaled joint_trajectory_controller:

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy \ 
    initial_joint_controller:=joint_trajectory_controller use_fake_hardware:=true launch_rviz:=false

fmauch on Feb 23, 2022

#361 should have been fixed by now in #391, #392 and #411

Closing, as the fake_hw scaled pos controller is tracked in #390

fmauch on Jun 27, 2022

@prasuchit when using

ros2 launch ur_bringup ur3e.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false

the scaled_joint_trajectory_controller will be active. This can be verified by using ros2 control list_controllers (when the ros-galactic-ros2controlcli package is installed).

Now, without further modifications, it should be possible to run

ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true

However, I’ve just tested this on my local galactic setup and it seems to throw an std::underflow_error when executing the motion, which seems to be a bug. This works with a real robot, but apparently not with fake_hardware atm. This will be further investigated…

However, when launching the driver with

ros2 launch ur_bringup ur3e.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller

and switching the default moveit_controller in the ur_moveit_config/config/controllers.yaml file as stated above, things work when starting

ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true

It looks as if you’ve missed to change the initial_controller when starting the robot after you’ve modified your moveit_default_controller.

fmauch on Jun 9, 2022

Check the MoveIt configuration under ur_moveit_config/config/controllers.yaml or something similar. There, a default controller for Moveit is defined.

blindly the initial_joint_controller:=joint_trajectory_controller to the launch command for moveit as well ) I get the error.

This is terrible approach / life strategy. Do you also close your eyes before you cross a street? Please read next time first. Otherwise, you owe us a beer for each trivial issue we solve 😄

destogl on Feb 23, 2022