Unable to connect the driver #749
Description
When I execute
roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.1.10
This is the complete log file
... logging to /home/zou/.ros/log/2ebb33b2-34d2-11f0-b86f-536638209415/roslaunch-ubuntu-4155.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:39187/
SUMMARY
PARAMETERS
/controller_stopper/consistent_controllers: ['joint_state_con...
/force_torque_sensor_controller/publish_rate: 125
/force_torque_sensor_controller/type: force_torque_sens...
/forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
/forward_cartesian_traj_controller/type: pass_through_cont...
/forward_joint_traj_controller/joints: ['shoulder_pan_jo...
/forward_joint_traj_controller/type: pass_through_cont...
/hardware_control_loop/loop_hz: 125
/joint_based_cartesian_traj_controller/base: base
/joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
/joint_based_cartesian_traj_controller/tip: tool0
/joint_based_cartesian_traj_controller/type: position_controll...
/joint_group_vel_controller/joints: ['shoulder_pan_jo...
/joint_group_vel_controller/type: velocity_controll...
/joint_state_controller/publish_rate: 125
/joint_state_controller/type: joint_state_contr...
/pos_joint_traj_controller/action_monitor_rate: 20
/pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
/pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
/pos_joint_traj_controller/constraints/goal_time: 0.6
/pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
/pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
/pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
/pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
/pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
/pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
/pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
/pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
/pos_joint_traj_controller/joints: ['shoulder_pan_jo...
/pos_joint_traj_controller/state_publish_rate: 125
/pos_joint_traj_controller/stop_trajectory_duration: 0.5
/pos_joint_traj_controller/type: position_controll...
/pose_based_cartesian_traj_controller/base: base
/pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
/pose_based_cartesian_traj_controller/tip: tool0_controller
/pose_based_cartesian_traj_controller/type: pose_controllers/...
/robot_description: <?xml version="1....
/robot_status_controller/handle_name: industrial_robot_...
/robot_status_controller/publish_rate: 10
/robot_status_controller/type: industrial_robot_...
/rosdistro: noetic
/rosversion: 1.17.3
/scaled_pos_joint_traj_controller/action_monitor_rate: 20
/scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
/scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
/scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
/scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
/scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
/scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
/scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
/scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
/scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
/scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
/scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
/scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
/scaled_pos_joint_traj_controller/state_publish_rate: 125
/scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
/scaled_pos_joint_traj_controller/type: position_controll...
/scaled_vel_joint_traj_controller/action_monitor_rate: 20
/scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
/scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
/scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
/scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
/scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
/scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
/scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
/scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
/scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
/scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
/scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
/scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
/scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
/scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
/scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0
/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
/scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
/scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
/scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
/scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
/scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
/scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
/scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
/scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
/scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
/scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
/scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
/scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
/scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
/scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
/scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo...
/scaled_vel_joint_traj_controller/state_publish_rate: 125
/scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5
/scaled_vel_joint_traj_controller/type: velocity_controll...
/scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
/scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
/scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
/scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
/scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
/scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
/speed_scaling_state_controller/publish_rate: 125
/speed_scaling_state_controller/type: scaled_controller...
/twist_controller/frame_id: tool0_controller
/twist_controller/joints: ['shoulder_pan_jo...
/twist_controller/publish_rate: 125
/twist_controller/type: ros_controllers_c...
/ur_hardware_interface/headless_mode: False
/ur_hardware_interface/input_recipe_file: /home/zou/catkin_...
/ur_hardware_interface/joints: ['shoulder_pan_jo...
/ur_hardware_interface/kinematics/forearm/pitch: 0
/ur_hardware_interface/kinematics/forearm/roll: 0
/ur_hardware_interface/kinematics/forearm/x: -0.425
/ur_hardware_interface/kinematics/forearm/y: 0
/ur_hardware_interface/kinematics/forearm/yaw: 0
/ur_hardware_interface/kinematics/forearm/z: 0
/ur_hardware_interface/kinematics/hash: calib_20954911754...
/ur_hardware_interface/kinematics/shoulder/pitch: 0
/ur_hardware_interface/kinematics/shoulder/roll: 0
/ur_hardware_interface/kinematics/shoulder/x: 0
/ur_hardware_interface/kinematics/shoulder/y: 0
/ur_hardware_interface/kinematics/shoulder/yaw: 0
/ur_hardware_interface/kinematics/shoulder/z: 0.089159
/ur_hardware_interface/kinematics/upper_arm/pitch: 0
/ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327
/ur_hardware_interface/kinematics/upper_arm/x: 0
/ur_hardware_interface/kinematics/upper_arm/y: 0
/ur_hardware_interface/kinematics/upper_arm/yaw: 0
/ur_hardware_interface/kinematics/upper_arm/z: 0
/ur_hardware_interface/kinematics/wrist_1/pitch: 0
/ur_hardware_interface/kinematics/wrist_1/roll: 0
/ur_hardware_interface/kinematics/wrist_1/x: -0.39225
/ur_hardware_interface/kinematics/wrist_1/y: 0
/ur_hardware_interface/kinematics/wrist_1/yaw: 0
/ur_hardware_interface/kinematics/wrist_1/z: 0.10915
/ur_hardware_interface/kinematics/wrist_2/pitch: 0
/ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327
/ur_hardware_interface/kinematics/wrist_2/x: 0
/ur_hardware_interface/kinematics/wrist_2/y: -0.09465
/ur_hardware_interface/kinematics/wrist_2/yaw: 0
/ur_hardware_interface/kinematics/wrist_2/z: -1.94130395089760...
/ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
/ur_hardware_interface/kinematics/wrist_3/roll: 1.570796326589793
/ur_hardware_interface/kinematics/wrist_3/x: 0
/ur_hardware_interface/kinematics/wrist_3/y: 0.0823
/ur_hardware_interface/kinematics/wrist_3/yaw: 3.141592653589793
/ur_hardware_interface/kinematics/wrist_3/z: -1.68800121668117...
/ur_hardware_interface/output_recipe_file: /home/zou/catkin_...
/ur_hardware_interface/reverse_ip:
/ur_hardware_interface/reverse_port: 50001
/ur_hardware_interface/robot_ip: 192.168.1.10
/ur_hardware_interface/robot_receive_timeout: 0.02
/ur_hardware_interface/script_command_port: 50004
/ur_hardware_interface/script_file: /opt/ros/noetic/s...
/ur_hardware_interface/script_sender_port: 50002
/ur_hardware_interface/servoj_gain: 2000
/ur_hardware_interface/servoj_lookahead_time: 0.03
/ur_hardware_interface/tf_prefix:
/ur_hardware_interface/tool_baud_rate: 115200
/ur_hardware_interface/tool_parity: 0
/ur_hardware_interface/tool_rx_idle_chars: 1.5
/ur_hardware_interface/tool_stop_bits: 1
/ur_hardware_interface/tool_tx_idle_chars: 3.5
/ur_hardware_interface/tool_voltage: 0
/ur_hardware_interface/trajectory_port: 50003
/ur_hardware_interface/use_spline_interpolation: True
/ur_hardware_interface/use_tool_communication: False
/vel_joint_traj_controller/action_monitor_rate: 20
/vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
/vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
/vel_joint_traj_controller/constraints/goal_time: 0.6
/vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
/vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
/vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
/vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
/vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
/vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
/vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
/vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
/vel_joint_traj_controller/gains/elbow_joint/d: 0.1
/vel_joint_traj_controller/gains/elbow_joint/i: 0.05
/vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
/vel_joint_traj_controller/gains/elbow_joint/p: 5.0
/vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
/vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
/vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
/vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
/vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
/vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
/vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
/vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
/vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
/vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
/vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
/vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
/vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
/vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
/vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
/vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
/vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
/vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
/vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
/vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
/vel_joint_traj_controller/joints: ['shoulder_pan_jo...
/vel_joint_traj_controller/state_publish_rate: 125
/vel_joint_traj_controller/stop_trajectory_duration: 0.5
/vel_joint_traj_controller/type: velocity_controll...
/vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
/vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
/vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
/vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
/vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
/vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
NODES
/
controller_stopper (ur_robot_driver/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)
/ur_hardware_interface/
ur_robot_state_helper (ur_robot_driver/robot_state_helper)
ROS_MASTER_URI=http://localhost:11311/
process[robot_state_publisher-1]: started with pid [4171]
process[ur_hardware_interface-2]: started with pid [4172]
process[ros_control_controller_spawner-3]: started with pid [4173]
process[ros_control_stopped_spawner-4]: started with pid [4174]
[INFO] [1747674994.842245006]: Initializing dashboard client
process[controller_stopper-5]: started with pid [4187]
[INFO] [1747674994.845744912]: Connected: Universal Robots Dashboard Server
process[ur_hardware_interface/ur_robot_state_helper-6]: started with pid [4188]
[INFO] [1747674994.854837091]: Initializing urdriver
[INFO] [1747674994.858273996]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[INFO] [1747674994.858968286]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[WARN] [1747674994.859134645]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details.
[INFO] [1747674995.069375060]: Negotiated RTDE protocol version to 2.
[INFO] [1747674995.069664400]: Setting up RTDE communication with frequency 125.000000
[ERROR] [1747674995.070240365]: The following variables are not recognized by the robot:
'tcp_offset'
Either your output recipe contains errors or the urcontrol version does not support them.
[ERROR] [1747674995.070378055]: Failed to initialize RTDE client, retrying in 5 seconds
[INFO] [1747674995.122270]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1747674995.123241]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1747674996.077324175]: Failed to read from stream, reconnecting in 1 seconds...
[WARN] [1747674998.093112024]: Failed to read from stream, reconnecting in 2 seconds...
[ERROR] [1747675000.071008266]: Failed to initialize RTDE client, retrying in 5 seconds
[WARN] [1747675001.101468969]: Failed to read from stream, reconnecting in 4 seconds...
[INFO] [1747675005.071566926]: Stopping primary client pipeline
[FATAL] [1747675006.125357687]: The following variables are not recognized by the robot:
'tcp_offset'
Either your output recipe contains errors or the urcontrol version does not support them.
Failed to connect to robot. Please check if the robot is booted and connected.
Failed to connect to robot. Please check if the robot is booted and connected.
Failed to initialize RTDE client after 3 attempts
Please note that the minimum software version required is 3.12.0 for CB3 robots and 5.5.1 for e-Series robots. The error above could be related to a non-supported polyscope version. Please update your robot's software accordingly.
[ERROR] [1747675006.125459187]: Could not correctly initialize robot. Exiting
================================================================================REQUIRED process [ur_hardware_interface-2] has died!
process has died [pid 4172, exit code 1, cmd /home/zou/catkin_ws/devel/lib/ur_robot_driver/ur_robot_driver_node __name:=ur_hardware_interface __log:=/home/zou/.ros/log/2ebb33b2-34d2-11f0-b86f-536638209415/ur_hardware_interface-2.log].
log file: /home/zou/.ros/log/2ebb33b2-34d2-11f0-b86f-536638209415/ur_hardware_interface-2*.log
Initiating shutdown!
================================================================================
[ur_hardware_interface/ur_robot_state_helper-6] killing on exit
[controller_stopper-5] killing on exit
[robot_state_publisher-1] killing on exit
[ros_control_controller_spawner-3] killing on exit
[ur_hardware_interface-2] killing on exit
[ros_control_stopped_spawner-4] killing on exit
[WARN] [1747675007.003772]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1747675007.004724]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_stopper-5] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done
I don't know if this is related to my PolyScope version. My PolyScope version is 3.7.1,I'm using a virtual machine-vmware.