Unable to start UR5 under ROS kinetic with process [ur_hardware_interface-3] died #327
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Hi, I have also tried different versions of Universal_Robots_ROS_Driver and fmauch_universal_robot. I found that the only combination of the version that could succeed in the catkin_make process was "master" of "Universal_Robots_ROS_Driver” and "calibration-devel" of "fmauch_universal_robot". Also, I have replaced the "ur_driver" in "fmauch_universal_robot" with "ur_modern_driver". The version of "ur_modern_driver" is "kinetic-devel". I wonder how I could solve the problem mentioned above, which was described as "[ur_hardware_interface-3] died". Thank you for any help you can offer! |
I don't understand, what that should have to do with anything.
Yes, as the documentation states. The interesting question is indeed why your hardware interface dies. You could start the driver in debug mode which might give a hint.: This starts the driver inside a gdb session. Once it crashed, you'll get a prompt, where you can type |
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Hi， I have tried to start the driver inside a gdb session. It would stop at this following message and could only be crashed by keyboard interrupt:
And in the gdb session, I got these messages and the stack trace of the most recent function calls: Before interrupt:
After interrupt:
Also, I wonder which customer port number I should set. I have tried the customer port number of 30001 and 50002 and this change could not solve the problem. Thank you very much for your help! |
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In a normal setup you should not have to change the port configuration. Use that only if you really need to (such as having two arms connected to one ROS machine or in case of port conflicts.) You might try to
There might be ABI incompatibilities causing your crashes. |
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Hi, I have tried to create and rebuild a workspace. When I started the robot driver with debug mode, I got these tracks:
I also tried to update my ROS installation by
And it seemed that the dependencies have already be installed. I wonder if I should mannually update the dependencies or I should upgrade all the dependencies that "sudo apt update -qq" has found. I wonder if the real-time kernel setup is necessary or I should try the alternative build way "All-source build". Thank you very much for your help! |
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Hi, I have also tried the "All-source build" in a new workspace and it got the same error messages. I wonder if I should upgrade all the dependencies by "rosdep upgrade", though it may cost long time or other problems. Thank you for any help you can offer! |
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Updating all your packages using
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Thank you very much for your kind help! I have solved the problem mentioned above by "sudo apt-get update && sudo apt-get upgrade". I got these messages with ""roslaunch ur_robot_driver ur5_bringup.launch...":
After solving this problem, I tried to control UR5 by Moveit! using:
This came with these messages before further operations:
But when I tried to use Rviz to control UR5, I came up with this problem. I used:
Then I tried to "plan and execute" in Rviz window. This operation came with the following messages in the terminal of "roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true":
And the following messages in the terminal of "roslaunch ur5_moveit_config moveit_rviz.launch config:=true"
And this following with UR5 robot could not be moved while the planning process executed normally in Rviz window. I wonder how I could fixed this "Unable to identify any set of controllers that can actuate the specified joints:" and "ABORTED: Solution found but controller failed during execution" problem. Thank you for any help you can offer! |
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Did you remap the controller namespace inside the moveit configuration as explained here? |
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Hi, Thank you very much for you kind help! I have fixed the problem by remap the controller namespace as
Sorry for not browsing other issues thoughtfully and carefully. Now I can control the UR5 robot with Moveit! and Rviz smoothly. But several warnings still exit without troubling the control process.
I wonder if these warnings could be ignored or some change could be made to the ur5.srdf. Thank you again for your reply and help! |
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The default moveit configurations are currently being worked on. See ros-industrial/universal_robot#538. Anyway, you should create your own moveit configuration matching your actual setup in order to gain the maximum benefits of MoveIt. |
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As the control setup is working, I'll close this issue. If there's anything related coming up, feel free to comment or reopen. |
Summary
Hello,
I am using external control with corresponding IP address. I have met the problem to bring up the robot (UR5) at the point of Quick start. I have got the error "REQUIRED process [ur_hardware_interface-3] has died!". While I have checked the previous issues reported this problem and checked that the "EtherNet/IP" is disabled, I still could not fix this problem.
Introduction to the issue
Versions
Impact
I have met the problem with "roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.56.101". Before this quick start step, I have completed the installation of URCap and the calibration process successfully.
Issue details
The error I got with roslaunch is as followed.
Use Case and Setup
I have followed the instruction steps to download and build the Universal_Robots_ROS_Driver. However, I followed the instructions on the net to replace the "ur_driver" with "ur_modern_driver". I wonder if this step caused this error or if there was some edition conflits between Universal_Robots_ROS_Driver and ur_modern_driver.
Thank you for any help you can offer!
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