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    ROS2下与UR10实物机械臂连接

    已定时 已固定 已锁定 已移动
    ROS 2相关问题
    ur实物 urrobotdriver controlmanager
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    • 12896188781
      胖虎
      最后由 编辑

      一直用ur_robot_driver驱动进行实物连接，直到昨天系统提示要更新，结果点了更新之后，今天再连接就报错了。版本是22.04+ros-humble。
      完整报错信息是这样的```
      [INFO] [launch]: All log files can be found below /home/zs/.ros/log/2023-05-13-18-01-52-639166-zs-Legion-Y9000P-IAH7H-20410
      [INFO] [launch]: Default logging verbosity is set to INFO
      [INFO] [dashboard_client-2]: process started with pid [20416]
      [INFO] [controller_stopper_node-3]: process started with pid [20418]
      [INFO] [ur_ros2_control_node-1]: process started with pid [20414]
      [INFO] [robot_state_publisher-4]: process started with pid [20420]
      [INFO] [spawner-5]: process started with pid [20422]
      [INFO] [spawner-6]: process started with pid [20424]
      [INFO] [spawner-7]: process started with pid [20426]
      [INFO] [spawner-8]: process started with pid [20428]
      [INFO] [spawner-9]: process started with pid [20430]
      [INFO] [spawner-10]: process started with pid [20432]
      [dashboard_client-2] [INFO] [1683972112.972405773] [UR_Client_Library]: Connected: Universal Robots Dashboard Server
      [dashboard_client-2]
      [robot_state_publisher-4] [INFO] [1683972112.976794969] [robot_state_publisher]: got segment base
      [ur_ros2_control_node-1] [INFO] [1683972112.976832360] [resource_manager]: Loading hardware 'ur10'
      [controller_stopper_node-3] [INFO] [1683972112.977195980] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
      [robot_state_publisher-4] [INFO] [1683972112.977661601] [robot_state_publisher]: got segment base_link
      [robot_state_publisher-4] [INFO] [1683972112.977672177] [robot_state_publisher]: got segment base_link_inertia
      [robot_state_publisher-4] [INFO] [1683972112.977676976] [robot_state_publisher]: got segment flange
      [robot_state_publisher-4] [INFO] [1683972112.977681320] [robot_state_publisher]: got segment forearm_link
      [robot_state_publisher-4] [INFO] [1683972112.977685466] [robot_state_publisher]: got segment ft_frame
      [robot_state_publisher-4] [INFO] [1683972112.977689585] [robot_state_publisher]: got segment shoulder_link
      [robot_state_publisher-4] [INFO] [1683972112.977693823] [robot_state_publisher]: got segment tool0
      [robot_state_publisher-4] [INFO] [1683972112.977697916] [robot_state_publisher]: got segment upper_arm_link
      [robot_state_publisher-4] [INFO] [1683972112.977702097] [robot_state_publisher]: got segment world
      [robot_state_publisher-4] [INFO] [1683972112.977706466] [robot_state_publisher]: got segment wrist_1_link
      [robot_state_publisher-4] [INFO] [1683972112.977710477] [robot_state_publisher]: got segment wrist_2_link
      [robot_state_publisher-4] [INFO] [1683972112.977714233] [robot_state_publisher]: got segment wrist_3_link
      [ur_ros2_control_node-1] [INFO] [1683972112.978228069] [resource_manager]: Initialize hardware 'ur10'
      [ur_ros2_control_node-1] [INFO] [1683972112.978292133] [resource_manager]: Successful initialization of hardware 'ur10'
      [ur_ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
      [ur_ros2_control_node-1] what(): Wrong state or command interface configuration.
      [ur_ros2_control_node-1] missing state interfaces:
      [ur_ros2_control_node-1]
      [ur_ros2_control_node-1] missing command interfaces:
      [ur_ros2_control_node-1] ' gpio/tool_voltage_cmd ' ' zero_ftsensor/zero_ftsensor_cmd ' ' zero_ftsensor/zero_ftsensor_async_success '
      [ERROR] [ur_ros2_control_node-1]: process has died [pid 20414, exit code -6, cmd '/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_n3ln323v --params-file /opt/ros/humble/share/ur_robot_driver/config/ur10_update_rate.yaml --params-file /opt/ros/humble/share/ur_robot_driver/config/ur_controllers.yaml'].
      [spawner-6] [INFO] [1683972115.164245235] [spawner_io_and_status_controller]: Waiting for '/controller_manager' node to exist
      [spawner-5] [INFO] [1683972115.176311082] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-7] [INFO] [1683972115.177385626] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-9] [INFO] [1683972115.178462990] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
      [spawner-8] [INFO] [1683972115.185978506] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-10] [INFO] [1683972115.188330254] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
      [spawner-6] [INFO] [1683972117.181988927] [spawner_io_and_status_controller]: Waiting for '/controller_manager' node to exist
      [spawner-7] [INFO] [1683972117.192349058] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-9] [INFO] [1683972117.192549721] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
      [spawner-5] [INFO] [1683972117.193079887] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-8] [INFO] [1683972117.198717415] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-10] [INFO] [1683972117.200521659] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
      [spawner-6] [INFO] [1683972119.196514868] [spawner_io_and_status_controller]: Waiting for '/controller_manager' node to exist
      [spawner-7] [INFO] [1683972119.207227535] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-5] [INFO] [1683972119.207688993] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-9] [INFO] [1683972119.207780654] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
      [spawner-8] [INFO] [1683972119.210686491] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-10] [INFO] [1683972119.212110611] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
      [spawner-6] [INFO] [1683972121.213897541] [spawner_io_and_status_controller]: Waiting for '/controller_manager' node to exist
      [spawner-9] [INFO] [1683972121.223297152] [spawner_forward_position_controller]: Waiting for '/controller_manager' node to exist
      [spawner-5] [INFO] [1683972121.223871627] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-8] [INFO] [1683972121.224190722] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-7] [INFO] [1683972121.225859014] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' node to exist
      [spawner-10] [INFO] [1683972121.226242466] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
      [spawner-6] [ERROR] [1683972123.232502022] [spawner_io_and_status_controller]: Controller manager not available
      [spawner-9] [ERROR] [1683972123.238868773] [spawner_forward_position_controller]: Controller manager not available
      [spawner-8] [ERROR] [1683972123.239542148] [spawner_force_torque_sensor_broadcaster]: Controller manager not available
      [spawner-5] [ERROR] [1683972123.240262174] [spawner_joint_state_broadcaster]: Controller manager not available
      [spawner-7] [ERROR] [1683972123.240815629] [spawner_speed_scaling_state_broadcaster]: Controller manager not available
      [spawner-10] [ERROR] [1683972123.241072109] [spawner_scaled_joint_trajectory_controller]: Controller manager not available
      [ERROR] [spawner-6]: process has died [pid 20424, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller -c /controller_manager --ros-args'].
      [ERROR] [spawner-5]: process has died [pid 20422, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
      [ERROR] [spawner-9]: process has died [pid 20430, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner forward_position_controller -c /controller_manager --inactive --ros-args'].
      [ERROR] [spawner-8]: process has died [pid 20428, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager /controller_manager --ros-args'].
      [ERROR] [spawner-10]: process has died [pid 20432, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --ros-args'].
      [ERROR] [spawner-7]: process has died [pid 20426, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner speed_scaling_state_broadcaster --controller-manager /controller_manager --ros-args'].

      尝试了重启电脑，重启机械臂，重装ros2以及重装ur_driver都无济于事
期间ping机械臂的ip地址是可以ping通的，但机械臂示教器始终显示拒绝连接。我猜测问题应该是出在这里不知道更新了啥依赖导致的[ur_ros2_control_node-1]: process has died [pid 20414, exit code -6, cmd '/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_n3ln323v --params-file /opt/ros/humble/share/ur_robot_driver/config/ur10_update_rate.yaml --params-file /opt/ros/humble/share/ur_robot_driver/config/ur_controllers.yaml'].头秃一整天都在处理这个问题，再也不更新了
      小鱼小 1 条回复 最后回复 回复 引用 0
      • 小鱼小
        小鱼 技术大佬 @1289618878
        最后由 编辑

        @1289618878 在 ROS2下与UR10实物机械臂连接 中说：

        terminate called after throwing an instance of 'std::runtime_error'
        [ur_ros2_control_node-1] what(): Wrong state or command interface configuration.
        [ur_ros2_control_node-1] missing state interfaces:
        [ur_ros2_control_node-1]
        [ur_ros2_control_node-1] missing command interfaces:

        检查下依赖

        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

        12896188781 1 条回复 最后回复 回复 引用 0
        • 12896188781
          胖虎 @小鱼
          最后由 编辑

          @小鱼 鱼哥，我用你的rosdepc check了一下依赖没发现问题啊😟 ```
          rosdepc check --from-path src --ignore-src -r -y

          欢迎使用国内版rosdep之rosdepc，我是作者小鱼！
          欢迎关注公众号《鱼香ROS》加入交流群
          小鱼rosdepc正式为您服务

          All system dependencies have been satisfied

          如果在使用过程中遇到任何问题，欢迎通过fishros.org.cn反馈，最后加入QQ交流群 686914208(入群口令：一键安装)

          小鱼小 1 条回复 最后回复 回复 引用 0
          • 小鱼小
            小鱼 技术大佬 @1289618878
            最后由 编辑

            @1289618878 rosdep 检查的是package.xml 中声明的依赖有没有，并没有检查运行时或代码的的依赖有没有，如果作者忘记声明了，就会出现这种情况

            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

            12896188781 1 条回复 最后回复 回复 引用 0
            • 12896188781
              胖虎 @小鱼
              最后由 编辑

              @小鱼 鱼哥，这个ur驱动是前两天才更新的，我怀疑很有可能像你说的那样。我用了源码编译了之前版本的，终于修复了。我想等官方修复了😠 感谢鱼哥

              小鱼小 1 条回复 最后回复 回复 引用 1
              • 小鱼小
                小鱼 技术大佬 @1289618878
                最后由 编辑

                @1289618878 OK

                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                1 条回复 最后回复 回复 引用 0
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