[FATAL] [timestamp]: Failed to verify any ROS parameters against the RWS robot controller description #93

Levelsss · 2023-12-29T02:56:00Z

Levelsss
Dec 29, 2023

I tried to run ex2_rws_and_egm_6axis_robot.launch, but I got the following error:

[FATAL] [1703816349.656493100]: Failed to verify any ROS parameters against the RWS robot controller description
[FATAL] [1703816349.656588788]: Failed to initialize EGM manager
[FATAL] [1703816349.765671212]: Runtime error: 'The EGM manager has not been initialized'
[egm_hardware_interface-4] process has died [pid 24976, exit code 1, cmd /home/s/catkin_dual2600/devel/lib/abb_egm_hardware_interface/egm_hardware_interface __name:=egm_hardware_interface __log:=/home/s/.ros/log/a57c1ef2-a5f0-11ee-8885-a59ab4aae51b/egm_hardware_interface-4.log].
log file: /home/s/.ros/log/a57c1ef2-a5f0-11ee-8885-a59ab4aae51b/egm_hardware_interface-4*.log
[FATAL] [1703816379.500107993]: Runtime error: 'Timed out while waiting for service '/egm/controller_manager/list_controllers''
[egm_controller_stopper-5] process has died [pid 24982, exit code 1, cmd /home/s/catkin_dual2600/devel/lib/abb_egm_hardware_interface/egm_controller_stopper __name:=egm_controller_stopper __log:=/home/s/.ros/log/a57c1ef2-a5f0-11ee-8885-a59ab4aae51b/egm_controller_stopper-5.log].
log file: /home/s/.ros/log/a57c1ef2-a5f0-11ee-8885-a59ab4aae51b/egm_controller_stopper-5*.log
[WARN] [1703816380.103373]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1703816380.127685]: Controller Spawner couldn't find the expected controller_manager ROS interface.

Apparently, there was an error in the operation of the egm related node, which incorrectly indicated that the ROS parameters did not match the RWS robot controller description, but I looked at the code and could not find the parameter matching error.
This is the node graph I got by running the rqt command.

gavanderhoorn · 2023-12-29T10:45:44Z

gavanderhoorn
Dec 29, 2023
Maintainer

Without much more information, there's not much we can do.

Please provide information on your controller (which RW version are you running fi), how you built everything, the exact command you've used to start everything, the debug output of the driver, etc, etc.

Also: please don't post snippets of output. Always post the complete roslaunch output, as there may be important log lines you're not showing.

In the meantime, I'd suggest taking a look at similar issues which were previously posted, such as #56.

6 replies

gavanderhoorn Dec 29, 2023
Maintainer

Please start the .launch file using the command shown in #56 (reply in thread) (be sure to use the correct .launch file name and IP address of course).

Levelsss Dec 29, 2023
Author

After I tried to run this command:

roslaunch --screen abb_robot_bringup_examples ex2_rws_and_egm_6axis_robot.launch robot_ip:=192.168.56.1 debug:=true
... logging to /home/s/.ros/log/4759f18c-a64a-11ee-8885-a59ab4aae51b/roslaunch-s-virtual-machine-26307.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://s-virtual-machine:39947/

SUMMARY
========

PARAMETERS
 * /egm/egm_state_controller/publish_rate: 250
 * /egm/egm_state_controller/type: abb_egm_state_con...
 * /egm/joint_group_velocity_controller/joints: ['rob1_1', 'rob1_...
 * /egm/joint_group_velocity_controller/type: velocity_controll...
 * /egm/joint_state_controller/publish_rate: 250
 * /egm/joint_state_controller/type: joint_state_contr...
 * /egm_controller_stopper/no_service_timeout: False
 * /egm_controller_stopper/ros_control/controllers/always_ok_to_start: ['egm_state_contr...
 * /egm_controller_stopper/ros_control/controllers/ok_to_keep_running: ['egm_state_contr...
 * /egm_hardware_interface/egm/channel_1/port_number: 6511
 * /egm_hardware_interface/joint_limits/rob1_1/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_1/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_2/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_2/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_3/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_3/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_4/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_4/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_5/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_5/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_6/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_6/max_velocity: 0.2
 * /egm_hardware_interface/no_service_timeout: False
 * /egm_hardware_interface/ros_control/controllers/always_ok_to_start: ['egm_state_contr...
 * /egm_hardware_interface/ros_control/controllers/ok_to_keep_running: ['egm_state_contr...
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /rws_service_provider/no_connection_timeout: False
 * /rws_service_provider/robot_ip: 192.168.56.1
 * /rws_service_provider/robot_nickname: 
 * /rws_service_provider/robot_port: 80
 * /rws_state_publisher/no_connection_timeout: False
 * /rws_state_publisher/polling_rate: 5
 * /rws_state_publisher/robot_ip: 192.168.56.1
 * /rws_state_publisher/robot_nickname: 
 * /rws_state_publisher/robot_port: 80

NODES
  /
    egm_controller_stopper (abb_egm_hardware_interface/egm_controller_stopper)
    egm_hardware_interface (abb_egm_hardware_interface/egm_hardware_interface)
    rws_service_provider (abb_rws_service_provider/rws_service_provider)
    rws_state_publisher (abb_rws_state_publisher/rws_state_publisher)
  /egm/
    started (controller_manager/spawner)
    stopped (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [26315]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4759f18c-a64a-11ee-8885-a59ab4aae51b
process[rosout-1]: started with pid [26325]
started core service [/rosout]
process[rws_state_publisher-2]: started with pid [26332]
process[rws_service_provider-3]: started with pid [26333]
process[egm_hardware_interface-4]: started with pid [26334]
[DEBUG] [1703854846.075417464]: Get ROS parameters (namespace '/rws_state_publisher')
[DEBUG] [1703854846.077677346]: Check for (optional) parameter 'robot_ip'
[DEBUG] [1703854846.079382949]: Found parameter 'robot_ip'='192.168.56.1'
[DEBUG] [1703854846.079531256]: Check for (optional) parameter 'robot_port'
[DEBUG] [1703854846.081469386]: Found parameter 'robot_port'='80'
[DEBUG] [1703854846.081567136]: Check for (optional) parameter 'robot_nickname'
[DEBUG] [1703854846.083175017]: Found parameter 'robot_nickname'=''
[DEBUG] [1703854846.083307221]: Check for (optional) parameter 'no_connection_timeout'
[DEBUG] [1703854846.085757390]: Found parameter 'no_connection_timeout'='0'
[DEBUG] [1703854846.085878382]: Check for (optional) parameter 'polling_rate'
[DEBUG] [1703854846.086792254]: Found parameter 'polling_rate'='5'
[ INFO] [1703854846.086943314]: Initializing...
process[egm_controller_stopper-5]: started with pid [26340]
[DEBUG] [1703854846.092616143]: Get ROS parameters (namespace '/rws_service_provider')
[DEBUG] [1703854846.094443791]: Check for (optional) parameter 'robot_ip'
[DEBUG] [1703854846.095432997]: Found parameter 'robot_ip'='192.168.56.1'
[DEBUG] [1703854846.095559872]: Check for (optional) parameter 'robot_port'
[DEBUG] [1703854846.096489980]: Found parameter 'robot_port'='80'
[DEBUG] [1703854846.096592921]: Check for (optional) parameter 'robot_nickname'
[DEBUG] [1703854846.097475463]: Found parameter 'robot_nickname'=''
[DEBUG] [1703854846.097596346]: Check for (optional) parameter 'no_connection_timeout'
[DEBUG] [1703854846.098487184]: Found parameter 'no_connection_timeout'='0'
[ INFO] [1703854846.098646173]: Initializing...
process[egm/started-6]: started with pid [26345]
process[egm/stopped-7]: started with pid [26347]
[DEBUG] [1703854846.118625691]: Check for (optional) parameter 'no_service_timeout'
[DEBUG] [1703854846.121650730]: Found parameter 'no_service_timeout'='0'
[DEBUG] [1703854846.121770009]: Wait for ROS service 'rws/get_robot_controller_description'
[ INFO] [1703854846.122326327]: waitForService: Service [/rws/get_robot_controller_description] has not been advertised, waiting...
[DEBUG] [1703854846.127009170]: Get ROS parameters (namespace '/egm_controller_stopper')
[DEBUG] [1703854846.128181911]: Check for (optional) parameter 'no_service_timeout'
[DEBUG] [1703854846.129140059]: Found parameter 'no_service_timeout'='0'
[DEBUG] [1703854846.129229859]: Check for (optional) parameter 'ros_control/controllers/ok_to_keep_running'
[DEBUG] [1703854846.130158036]: Found parameter 'ros_control/controllers/ok_to_keep_running'='[egm_state_controller, joint_state_controller]'
[ INFO] [1703854846.132831176]: Initializing...
[ INFO] [1703854846.133357450]: waitForService: Service [/egm/controller_manager/list_controllers] has not been advertised, waiting...
[DEBUG] [1703854846.263707560]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
============================================================
[ INFO] [1703854846.267528249]: Initialization succeeded, and the node is ready for use
[DEBUG] [1703854846.270347599]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
============================================================
[DEBUG] [1703854846.282116757]: Adding basic services
[ INFO] [1703854846.294992958]: waitForService: Service [/rws/get_robot_controller_description] is now available.
[DEBUG] [1703854846.306306153]: StateMachine Add-In 1.1 detected, adding additional services
[ INFO] [1703854846.313216903]: Initialization succeeded, and the node is ready for use
[ INFO] [1703854846.315902336]: Initializing...
[DEBUG] [1703854846.316084826]: Check for (mandatory) parameter 'robot_controller_description'
[DEBUG] [1703854846.317069724]: Found parameter 'robot_controller_description'='header {
  ip_address: "192.168.56.1"
  rws_port_number: 80
  robot_ware_version {
    name: "6.15.00.00"
    major_number: 6
    minor_number: 15
    patch_number: 0
  }
  system_name: "dual2600test"
  system_type: "Virtual Controller"
  options: "UDPUC Driver"
  options: "Chinese"
  options: "687-1 Advanced Robot Motion"
  options: "689-1 Externally Guided Motion (EGM)"
  options: "604-1 MultiMove Coordinated"
  options: "623-1 Multitasking"
  options: "616-1 PC Interface"
  options: "888-3 PROFINET Device"
  options: "608-1 World Zones"
  options: "RobotWare Base"
  options: "Axis Calibration"
  options: "Drive System IRB 2600/390/4400/6400R"
  options: "IRB 2600-20/1.65"
  options: "StateMachine Core"
}
system_indicators {
  options {
    egm: true
    multimove: true
  }
  addins {
    state_machine_1_1: true
  }
}
mechanical_units_groups {
  name: "rob1"
  robot {
    name: "ROB_1"
    robot {
      name: "ROB_1"
      type: "ROB1_2600_1.65_20"
      joints {
        name: "rob1_1"
        logical_axis: 1
        kinematic_axis_number: -1
        arm {
          name: "rob1_1"
          lower_joint_bound: -3.1415901
          upper_joint_bound: 3.1415901
        }
        transmission {
          name: "rob1_1"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_2"
        logical_axis: 2
        kinematic_axis_number: -1
        arm {
          name: "rob1_2"
          lower_joint_bound: -1.65806
          upper_joint_bound: 2.70526
        }
        transmission {
          name: "rob1_2"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_3"
        logical_axis: 3
        kinematic_axis_number: -1
        arm {
          name: "rob1_3"
          lower_joint_bound: -3.1415901
          upper_joint_bound: 1.309
        }
        transmission {
          name: "rob1_3"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_4"
        logical_axis: 4
        kinematic_axis_number: -1
        arm {
          name: "rob1_4"
          lower_joint_bound: -6.9813199
          upper_joint_bound: 6.9813199
        }
        transmission {
          name: "rob1_4"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_5"
        logical_axis: 5
        kinematic_axis_number: -1
        arm {
          name: "rob1_5"
          lower_joint_bound: -2.0943999
          upper_joint_bound: 2.0943999
        }
        transmission {
          name: "rob1_5"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_6"
        logical_axis: 6
        kinematic_axis_number: -1
        arm {
          name: "rob1_6"
          lower_joint_bound: -6.9813199
          upper_joint_bound: 6.9813199
        }
        transmission {
          name: "rob1_6"
          rotating_move: true
        }
      }
      base_frame {
        position {
          x: 0
          y: 0
          z: 0
        }
        rotation {
          q1: 1
          q2: 0
          q3: 0
          q4: 0
        }
      }
      base_frame_moved_by: ""
    }
    type: TCP_ROBOT
    task_name: "T_ROB1"
    axes: 6
    axes_total: 6
    is_integrated_unit: "NoIntegratedUnit"
    has_integrated_unit: "NoIntegratedUnit"
    status: "Synchronized"
    mode: ACTIVATED
    standardized_joints {
      original_name: "rob1_1"
      standardized_name: "joint_1"
      rotating_move: true
      lower_joint_bound: -3.1415901
      upper_joint_bound: 3.1415901
    }
    standardized_joints {
      original_name: "rob1_2"
      standardized_name: "joint_2"
      rotating_move: true
      lower_joint_bound: -1.65806
      upper_joint_bound: 2.70526
    }
    standardized_joints {
      original_name: "rob1_3"
      standardized_name: "joint_3"
      rotating_move: true
      lower_joint_bound: -3.1415901
      upper_joint_bound: 1.309
    }
    standardized_joints {
      original_name: "rob1_4"
      standardized_name: "joint_4"
      rotating_move: true
      lower_joint_bound: -6.9813199
      upper_joint_bound: 6.9813199
    }
    standardized_joints {
      original_name: "rob1_5"
      standardized_name: "joint_5"
      rotating_move: true
      lower_joint_bound: -2.0943999
      upper_joint_bound: 2.0943999
    }
    standardized_joints {
      original_name: "rob1_6"
      standardized_name: "joint_6"
      rotating_move: true
      lower_joint_bound: -6.9813199
      upper_joint_bound: 6.9813199
    }
  }
}
rapid_tasks {
  name: "T_ROB1"
  is_motion_task: true
  is_active: true
  execution_state: STARTED
  modules {
    name: "TRobRAPID"
    type: "ProgMod"
  }
  modules {
    name: "TRobSystem"
    type: "SysMod"
  }
  modules {
    name: "user"
    type: "SysMod"
  }
  modules {
    name: "BASE"
    type: "SysMod"
  }
  modules {
    name: "TRobEGM"
    type: "ProgMod"
  }
  modules {
    name: "TRobSystemExample"
    type: "SysMod"
  }
  modules {
    name: "TRobMain"
    type: "ProgMod"
  }
  modules {
    name: "TRobUtility"
    type: "ProgMod"
  }
}
'
[DEBUG] [1703854846.319645106]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
============================================================
[DEBUG] [1703854846.320094344]: Get ROS parameters (namespace: '/egm_hardware_interface/egm')
[DEBUG] [1703854846.320242144]: Check for 'channel_1' parameter
[DEBUG] [1703854846.321078782]: Found 'channel_1' parameter
[DEBUG] [1703854846.321235829]: Check for (optional) parameter 'egm/channel_1/mech_unit_group'
[DEBUG] [1703854846.322043459]: Parameter 'egm/channel_1/mech_unit_group' not found, using default value ''
[DEBUG] [1703854846.322198422]: Check for (mandatory) parameter 'egm/channel_1/port_number'
[DEBUG] [1703854846.322913965]: Found parameter 'egm/channel_1/port_number'='6511'
[DEBUG] [1703854846.323055901]: Port number parameter '6511' found
[DEBUG] [1703854846.323223214]: Check for 'channel_2' parameter
[DEBUG] [1703854846.323946869]: Initializing EGM manager
[DEBUG] [1703854846.324032865]: Verifying ROS parameters against the RWS robot controller description
[DEBUG] [1703854846.324059199]: Skipping (no mechanical unit group specified)
[FATAL] [1703854846.324132689]: Failed to verify any ROS parameters against the RWS robot controller description
[FATAL] [1703854846.324208251]: Failed to initialize EGM manager
[FATAL] [1703854846.420126537]: Runtime error: 'The EGM manager has not been initialized'
[DEBUG] [1703854846.496448830]: Trying to publish message of type [sensor_msgs/JointState/3066dcd76a6cfaef579bd0f34173e9fd] on a publisher with type [sensor_msgs/JointState/3066dcd76a6cfaef579bd0f34173e9fd]
[DEBUG] [1703854846.496549334]: Trying to publish message of type [abb_robot_msgs/SystemState/46309669ed6ba4863375b03174d00ad7] on a publisher with type [abb_robot_msgs/SystemState/46309669ed6ba4863375b03174d00ad7]
[DEBUG] [1703854846.496617751]: Trying to publish message of type [abb_rapid_sm_addin_msgs/RuntimeState/1f803b084f80e27cb1a45c04dc77c6e7] on a publisher with type [abb_rapid_sm_addin_msgs/RuntimeState/1f803b084f80e27cb1a45c04dc77c6e7]
[INFO] [1703854846.573534]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1703854846.637274]: Controller Spawner: Waiting for service controller_manager/load_controller
[egm_hardware_interface-4] process has died [pid 26334, exit code 1, cmd /home/s/catkin_dual2600/devel/lib/abb_egm_hardware_interface/egm_hardware_interface __name:=egm_hardware_interface __log:=/home/s/.ros/log/4759f18c-a64a-11ee-8885-a59ab4aae51b/egm_hardware_interface-4.log].
log file: /home/s/.ros/log/4759f18c-a64a-11ee-8885-a59ab4aae51b/egm_hardware_interface-4*.log
[FATAL] [1703854876.134433274]: Runtime error: 'Timed out while waiting for service '/egm/controller_manager/list_controllers''
[egm_controller_stopper-5] process has died [pid 26340, exit code 1, cmd /home/s/catkin_dual2600/devel/lib/abb_egm_hardware_interface/egm_controller_stopper __name:=egm_controller_stopper __log:=/home/s/.ros/log/4759f18c-a64a-11ee-8885-a59ab4aae51b/egm_controller_stopper-5.log].
log file: /home/s/.ros/log/4759f18c-a64a-11ee-8885-a59ab4aae51b/egm_controller_stopper-5*.log
[WARN] [1703854876.862651]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1703854876.906310]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[egm/started-6] process has finished cleanly
log file: /home/s/.ros/log/4759f18c-a64a-11ee-8885-a59ab4aae51b/egm-started-6*.log
[egm/stopped-7] process has finished cleanly
log file: /home/s/.ros/log/4759f18c-a64a-11ee-8885-a59ab4aae51b/egm-stopped-7*.log

gavanderhoorn Dec 29, 2023
Maintainer

This appears to be the most significant error output:

[DEBUG] [1703854846.322043459]: Parameter 'egm/channel_1/mech_unit_group' not found, using default value ''
...
[DEBUG] [1703854846.324032865]: Verifying ROS parameters against the RWS robot controller description
[DEBUG] [1703854846.324059199]: Skipping (no mechanical unit group specified)

I'm not sure any more why this would be a problem, but seeing as you appear to have a dual robot system and are using RobotStudio, I'd recommend to try and:

updating the EGM related parameters like this (but not exactly like this, use the correct values for mech_unit_group for your system, not the YuMi values):

abb_robot_driver/abb_robot_bringup_examples/config/ex3_hardware_egm.yaml

Lines 4 to 10 in ed45d5c

    
           egm: 
        
             channel_1: 
        
               port_number: 6511 
        
               mech_unit_group: "rob_l" 
        
             channel_2: 
        
               port_number: 6512 
        
               mech_unit_group: "rob_r"

whitelist the IP of your ROS PC for RWS access in RobotStudio: Document white-listing IPs when using RobotStudio abb_librws#81

no guarantees, but these might help.

Levelsss Dec 29, 2023
Author

I'm sorry I have to explain the problem to you. I tried to control the dual robot system, but I didn't succeed. Therefore, I set the current RobotStudio as a simple single-robot system, including ROS, and all the problems discussed above are based on the single-robot system.
I modified the parameters related to EGM, as shown in the figure, which I think is correct:

channel_1:
port_number: 6511
mech_unit_group: "ROB_1"

The error still occurs after rerun:

roslaunch --screen abb_robot_bringup_examples ex2_rws_and_egm_6axis_robot.launch robot_ip:=192.168.56.1 debug:=true
... logging to /home/s/.ros/log/9c3e4c6c-a65d-11ee-8885-a59ab4aae51b/roslaunch-s-virtual-machine-28008.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://s-virtual-machine:39165/

SUMMARY
========

PARAMETERS
 * /egm/egm_state_controller/publish_rate: 250
 * /egm/egm_state_controller/type: abb_egm_state_con...
 * /egm/joint_group_velocity_controller/joints: ['rob1_1', 'rob1_...
 * /egm/joint_group_velocity_controller/type: velocity_controll...
 * /egm/joint_state_controller/publish_rate: 250
 * /egm/joint_state_controller/type: joint_state_contr...
 * /egm_controller_stopper/no_service_timeout: False
 * /egm_controller_stopper/ros_control/controllers/always_ok_to_start: ['egm_state_contr...
 * /egm_controller_stopper/ros_control/controllers/ok_to_keep_running: ['egm_state_contr...
 * /egm_hardware_interface/egm/channel_1/mech_unit_group: ROB_1
 * /egm_hardware_interface/egm/channel_1/port_number: 6511
 * /egm_hardware_interface/joint_limits/rob1_1/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_1/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_2/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_2/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_3/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_3/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_4/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_4/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_5/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_5/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_6/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_6/max_velocity: 0.2
 * /egm_hardware_interface/no_service_timeout: False
 * /egm_hardware_interface/ros_control/controllers/always_ok_to_start: ['egm_state_contr...
 * /egm_hardware_interface/ros_control/controllers/ok_to_keep_running: ['egm_state_contr...
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /rws_service_provider/no_connection_timeout: False
 * /rws_service_provider/robot_ip: 192.168.56.1
 * /rws_service_provider/robot_nickname: 
 * /rws_service_provider/robot_port: 80
 * /rws_state_publisher/no_connection_timeout: False
 * /rws_state_publisher/polling_rate: 5
 * /rws_state_publisher/robot_ip: 192.168.56.1
 * /rws_state_publisher/robot_nickname: 
 * /rws_state_publisher/robot_port: 80

NODES
  /
    egm_controller_stopper (abb_egm_hardware_interface/egm_controller_stopper)
    egm_hardware_interface (abb_egm_hardware_interface/egm_hardware_interface)
    rws_service_provider (abb_rws_service_provider/rws_service_provider)
    rws_state_publisher (abb_rws_state_publisher/rws_state_publisher)
  /egm/
    started (controller_manager/spawner)
    stopped (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [28016]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9c3e4c6c-a65d-11ee-8885-a59ab4aae51b
process[rosout-1]: started with pid [28026]
started core service [/rosout]
process[rws_state_publisher-2]: started with pid [28033]
process[rws_service_provider-3]: started with pid [28034]
process[egm_hardware_interface-4]: started with pid [28035]
[DEBUG] [1703863148.921660143]: Get ROS parameters (namespace '/rws_state_publisher')
[DEBUG] [1703863148.924012980]: Check for (optional) parameter 'robot_ip'
[DEBUG] [1703863148.925962740]: Found parameter 'robot_ip'='192.168.56.1'
[DEBUG] [1703863148.926210990]: Check for (optional) parameter 'robot_port'
[DEBUG] [1703863148.928304998]: Found parameter 'robot_port'='80'
[DEBUG] [1703863148.928519554]: Check for (optional) parameter 'robot_nickname'
[DEBUG] [1703863148.930800763]: Found parameter 'robot_nickname'=''
[DEBUG] [1703863148.930878527]: Check for (optional) parameter 'no_connection_timeout'
[DEBUG] [1703863148.932469159]: Found parameter 'no_connection_timeout'='0'
[DEBUG] [1703863148.932571493]: Check for (optional) parameter 'polling_rate'
[DEBUG] [1703863148.934106134]: Found parameter 'polling_rate'='5'
[ INFO] [1703863148.934242355]: Initializing...
process[egm_controller_stopper-5]: started with pid [28041]
[DEBUG] [1703863148.945417658]: Get ROS parameters (namespace '/rws_service_provider')
[DEBUG] [1703863148.946410146]: Check for (optional) parameter 'robot_ip'
[DEBUG] [1703863148.947399529]: Found parameter 'robot_ip'='192.168.56.1'
[DEBUG] [1703863148.947470039]: Check for (optional) parameter 'robot_port'
process[egm/started-6]: started with pid [28046]
[DEBUG] [1703863148.949853455]: Found parameter 'robot_port'='80'
[DEBUG] [1703863148.950015543]: Check for (optional) parameter 'robot_nickname'
[DEBUG] [1703863148.952107874]: Found parameter 'robot_nickname'=''
[DEBUG] [1703863148.952233689]: Check for (optional) parameter 'no_connection_timeout'
[DEBUG] [1703863148.954351734]: Found parameter 'no_connection_timeout'='0'
[ INFO] [1703863148.954435367]: Initializing...
[DEBUG] [1703863148.956216067]: Check for (optional) parameter 'no_service_timeout'
[DEBUG] [1703863148.958432336]: Found parameter 'no_service_timeout'='0'
[DEBUG] [1703863148.958512822]: Wait for ROS service 'rws/get_robot_controller_description'
[ INFO] [1703863148.959040963]: waitForService: Service [/rws/get_robot_controller_description] has not been advertised, waiting...
process[egm/stopped-7]: started with pid [28052]
[DEBUG] [1703863148.978420914]: Get ROS parameters (namespace '/egm_controller_stopper')
[DEBUG] [1703863148.979759634]: Check for (optional) parameter 'no_service_timeout'
[DEBUG] [1703863148.981226750]: Found parameter 'no_service_timeout'='0'
[DEBUG] [1703863148.981356131]: Check for (optional) parameter 'ros_control/controllers/ok_to_keep_running'
[DEBUG] [1703863148.982399826]: Found parameter 'ros_control/controllers/ok_to_keep_running'='[egm_state_controller, joint_state_controller]'
[ INFO] [1703863148.985350243]: Initializing...
[ INFO] [1703863148.985960264]: waitForService: Service [/egm/controller_manager/list_controllers] has not been advertised, waiting...
[DEBUG] [1703863149.102459769]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
============================================================
[ INFO] [1703863149.105331784]: Initialization succeeded, and the node is ready for use
[DEBUG] [1703863149.122805149]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
============================================================
[DEBUG] [1703863149.135385325]: Adding basic services
[ INFO] [1703863149.140974716]: waitForService: Service [/rws/get_robot_controller_description] is now available.
[DEBUG] [1703863149.153695937]: StateMachine Add-In 1.1 detected, adding additional services
[ INFO] [1703863149.159077008]: Initialization succeeded, and the node is ready for use
[ INFO] [1703863149.161396561]: Initializing...
[DEBUG] [1703863149.161554142]: Check for (mandatory) parameter 'robot_controller_description'
[DEBUG] [1703863149.162726533]: Found parameter 'robot_controller_description'='header {
  ip_address: "192.168.56.1"
  rws_port_number: 80
  robot_ware_version {
    name: "6.15.00.00"
    major_number: 6
    minor_number: 15
    patch_number: 0
  }
  system_name: "dual2600test"
  system_type: "Virtual Controller"
  options: "UDPUC Driver"
  options: "Chinese"
  options: "687-1 Advanced Robot Motion"
  options: "689-1 Externally Guided Motion (EGM)"
  options: "604-1 MultiMove Coordinated"
  options: "623-1 Multitasking"
  options: "616-1 PC Interface"
  options: "888-3 PROFINET Device"
  options: "608-1 World Zones"
  options: "RobotWare Base"
  options: "Axis Calibration"
  options: "Drive System IRB 2600/390/4400/6400R"
  options: "IRB 2600-20/1.65"
  options: "StateMachine Core"
}
system_indicators {
  options {
    egm: true
    multimove: true
  }
  addins {
    state_machine_1_1: true
  }
}
mechanical_units_groups {
  name: "rob1"
  robot {
    name: "ROB_1"
    robot {
      name: "ROB_1"
      type: "ROB1_2600_1.65_20"
      joints {
        name: "rob1_1"
        logical_axis: 1
        kinematic_axis_number: -1
        arm {
          name: "rob1_1"
          lower_joint_bound: -3.1415901
          upper_joint_bound: 3.1415901
        }
        transmission {
          name: "rob1_1"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_2"
        logical_axis: 2
        kinematic_axis_number: -1
        arm {
          name: "rob1_2"
          lower_joint_bound: -1.65806
          upper_joint_bound: 2.70526
        }
        transmission {
          name: "rob1_2"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_3"
        logical_axis: 3
        kinematic_axis_number: -1
        arm {
          name: "rob1_3"
          lower_joint_bound: -3.1415901
          upper_joint_bound: 1.309
        }
        transmission {
          name: "rob1_3"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_4"
        logical_axis: 4
        kinematic_axis_number: -1
        arm {
          name: "rob1_4"
          lower_joint_bound: -6.9813199
          upper_joint_bound: 6.9813199
        }
        transmission {
          name: "rob1_4"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_5"
        logical_axis: 5
        kinematic_axis_number: -1
        arm {
          name: "rob1_5"
          lower_joint_bound: -2.0943999
          upper_joint_bound: 2.0943999
        }
        transmission {
          name: "rob1_5"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_6"
        logical_axis: 6
        kinematic_axis_number: -1
        arm {
          name: "rob1_6"
          lower_joint_bound: -6.9813199
          upper_joint_bound: 6.9813199
        }
        transmission {
          name: "rob1_6"
          rotating_move: true
        }
      }
      base_frame {
        position {
          x: 0
          y: 0
          z: 0
        }
        rotation {
          q1: 1
          q2: 0
          q3: 0
          q4: 0
        }
      }
      base_frame_moved_by: ""
    }
    type: TCP_ROBOT
    task_name: "T_ROB1"
    axes: 6
    axes_total: 6
    is_integrated_unit: "NoIntegratedUnit"
    has_integrated_unit: "NoIntegratedUnit"
    status: "Synchronized"
    mode: ACTIVATED
    standardized_joints {
      original_name: "rob1_1"
      standardized_name: "joint_1"
      rotating_move: true
      lower_joint_bound: -3.1415901
      upper_joint_bound: 3.1415901
    }
    standardized_joints {
      original_name: "rob1_2"
      standardized_name: "joint_2"
      rotating_move: true
      lower_joint_bound: -1.65806
      upper_joint_bound: 2.70526
    }
    standardized_joints {
      original_name: "rob1_3"
      standardized_name: "joint_3"
      rotating_move: true
      lower_joint_bound: -3.1415901
      upper_joint_bound: 1.309
    }
    standardized_joints {
      original_name: "rob1_4"
      standardized_name: "joint_4"
      rotating_move: true
      lower_joint_bound: -6.9813199
      upper_joint_bound: 6.9813199
    }
    standardized_joints {
      original_name: "rob1_5"
      standardized_name: "joint_5"
      rotating_move: true
      lower_joint_bound: -2.0943999
      upper_joint_bound: 2.0943999
    }
    standardized_joints {
      original_name: "rob1_6"
      standardized_name: "joint_6"
      rotating_move: true
      lower_joint_bound: -6.9813199
      upper_joint_bound: 6.9813199
    }
  }
}
rapid_tasks {
  name: "T_ROB1"
  is_motion_task: true
  is_active: true
  execution_state: STARTED
  modules {
    name: "TRobRAPID"
    type: "ProgMod"
  }
  modules {
    name: "TRobSystem"
    type: "SysMod"
  }
  modules {
    name: "user"
    type: "SysMod"
  }
  modules {
    name: "BASE"
    type: "SysMod"
  }
  modules {
    name: "TRobEGM"
    type: "ProgMod"
  }
  modules {
    name: "TRobSystemExample"
    type: "SysMod"
  }
  modules {
    name: "TRobMain"
    type: "ProgMod"
  }
  modules {
    name: "TRobUtility"
    type: "ProgMod"
  }
}
'
[DEBUG] [1703863149.164614622]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
============================================================
[DEBUG] [1703863149.164923363]: Get ROS parameters (namespace: '/egm_hardware_interface/egm')
[DEBUG] [1703863149.164977915]: Check for 'channel_1' parameter
[DEBUG] [1703863149.165938879]: Found 'channel_1' parameter
[DEBUG] [1703863149.166097599]: Check for (optional) parameter 'egm/channel_1/mech_unit_group'
[DEBUG] [1703863149.167989920]: Found parameter 'egm/channel_1/mech_unit_group'='ROB_1'
[DEBUG] [1703863149.168138737]: Check for (mandatory) parameter 'egm/channel_1/port_number'
[DEBUG] [1703863149.169135868]: Found parameter 'egm/channel_1/port_number'='6511'
[DEBUG] [1703863149.169303289]: Port number parameter '6511' found
[DEBUG] [1703863149.169423767]: Check for 'channel_2' parameter
[DEBUG] [1703863149.170429513]: Initializing EGM manager
[DEBUG] [1703863149.170556751]: Verifying ROS parameters against the RWS robot controller description
[DEBUG] [1703863149.170773187]: Skipping (mechanical unit group 'ROB_1' not found)
[FATAL] [1703863149.170894912]: Failed to verify any ROS parameters against the RWS robot controller description
[FATAL] [1703863149.171035803]: Failed to initialize EGM manager
[FATAL] [1703863149.257538677]: Runtime error: 'The EGM manager has not been initialized'
[DEBUG] [1703863149.334422165]: Trying to publish message of type [sensor_msgs/JointState/3066dcd76a6cfaef579bd0f34173e9fd] on a publisher with type [sensor_msgs/JointState/3066dcd76a6cfaef579bd0f34173e9fd]
[DEBUG] [1703863149.334527856]: Trying to publish message of type [abb_robot_msgs/SystemState/46309669ed6ba4863375b03174d00ad7] on a publisher with type [abb_robot_msgs/SystemState/46309669ed6ba4863375b03174d00ad7]
[DEBUG] [1703863149.334597001]: Trying to publish message of type [abb_rapid_sm_addin_msgs/RuntimeState/1f803b084f80e27cb1a45c04dc77c6e7] on a publisher with type [abb_rapid_sm_addin_msgs/RuntimeState/1f803b084f80e27cb1a45c04dc77c6e7]
[INFO] [1703863149.353798]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1703863149.452556]: Controller Spawner: Waiting for service controller_manager/load_controller
[egm_hardware_interface-4] process has died [pid 28035, exit code 1, cmd /home/s/catkin_dual2600/devel/lib/abb_egm_hardware_interface/egm_hardware_interface __name:=egm_hardware_interface __log:=/home/s/.ros/log/9c3e4c6c-a65d-11ee-8885-a59ab4aae51b/egm_hardware_interface-4.log].
log file: /home/s/.ros/log/9c3e4c6c-a65d-11ee-8885-a59ab4aae51b/egm_hardware_interface-4*.log
[FATAL] [1703863179.003293486]: Runtime error: 'Timed out while waiting for service '/egm/controller_manager/list_controllers''
[egm_controller_stopper-5] process has died [pid 28041, exit code 1, cmd /home/s/catkin_dual2600/devel/lib/abb_egm_hardware_interface/egm_controller_stopper __name:=egm_controller_stopper __log:=/home/s/.ros/log/9c3e4c6c-a65d-11ee-8885-a59ab4aae51b/egm_controller_stopper-5.log].
log file: /home/s/.ros/log/9c3e4c6c-a65d-11ee-8885-a59ab4aae51b/egm_controller_stopper-5*.log
[WARN] [1703863179.618355]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1703863179.727262]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[egm/stopped-7] process has finished cleanly
log file: /home/s/.ros/log/9c3e4c6c-a65d-11ee-8885-a59ab4aae51b/egm-stopped-7*.log
[egm/started-6] process has finished cleanly
log file: /home/s/.ros/log/9c3e4c6c-a65d-11ee-8885-a59ab4aae51b/egm-started-6*.log

The problem is still here：

[DEBUG] [1703863149.170556751]: Verifying ROS parameters against the RWS robot controller description
[DEBUG] [1703863149.170773187]: Skipping (mechanical unit group 'ROB_1' not found)
[FATAL] [1703863149.170894912]: Failed to verify any ROS parameters against the RWS robot controller description

gavanderhoorn Dec 29, 2023
Maintainer

First: please use code blocks when posting log output.

Having written that:

mech_unit_group: "ROB_1"

everything is case sensitive.

The mechanical unit is ROB_1.

The mechanical unit group however is rob_1:

# Mechanical Unit Groups:
  |- Group: rob1

The error is now different:

[DEBUG] [1703863149.170773187]: Skipping (mechanical unit group 'ROB_1' not found)

where it used to be:

[DEBUG] [1703854846.324059199]: Skipping (no mechanical unit group specified)

I'd suggest changing mech_unit_group to rob_1 and trying again.

Levelsss · 2023-12-30T06:36:34Z

Levelsss
Dec 30, 2023
Author

I changed:

mech_unit_group: "ROB_1"

to:

mech_unit_group: "rob_1"

Mistakes still exist：

roslaunch --screen abb_robot_bringup_examples ex2_rws_and_egm_6axis_robot.launch robot_ip:=192.168.56.1 debug:=true
... logging to /home/s/.ros/log/b8441a8c-a6d9-11ee-aabb-bf3b93ba9212/roslaunch-s-virtual-machine-2393.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://s-virtual-machine:35521/

SUMMARY
========

PARAMETERS
 * /egm/egm_state_controller/publish_rate: 250
 * /egm/egm_state_controller/type: abb_egm_state_con...
 * /egm/joint_group_velocity_controller/joints: ['rob1_1', 'rob1_...
 * /egm/joint_group_velocity_controller/type: velocity_controll...
 * /egm/joint_state_controller/publish_rate: 250
 * /egm/joint_state_controller/type: joint_state_contr...
 * /egm_controller_stopper/no_service_timeout: False
 * /egm_controller_stopper/ros_control/controllers/always_ok_to_start: ['egm_state_contr...
 * /egm_controller_stopper/ros_control/controllers/ok_to_keep_running: ['egm_state_contr...
 * /egm_hardware_interface/egm/channel_1/mech_unit_group: rob_1
 * /egm_hardware_interface/egm/channel_1/port_number: 6511
 * /egm_hardware_interface/joint_limits/rob1_1/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_1/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_2/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_2/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_3/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_3/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_4/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_4/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_5/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_5/max_velocity: 0.2
 * /egm_hardware_interface/joint_limits/rob1_6/has_velocity_limits: True
 * /egm_hardware_interface/joint_limits/rob1_6/max_velocity: 0.2
 * /egm_hardware_interface/no_service_timeout: False
 * /egm_hardware_interface/ros_control/controllers/always_ok_to_start: ['egm_state_contr...
 * /egm_hardware_interface/ros_control/controllers/ok_to_keep_running: ['egm_state_contr...
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /rws_service_provider/no_connection_timeout: False
 * /rws_service_provider/robot_ip: 192.168.56.1
 * /rws_service_provider/robot_nickname: 
 * /rws_service_provider/robot_port: 80
 * /rws_state_publisher/no_connection_timeout: False
 * /rws_state_publisher/polling_rate: 5
 * /rws_state_publisher/robot_ip: 192.168.56.1
 * /rws_state_publisher/robot_nickname: 
 * /rws_state_publisher/robot_port: 80

NODES
  /
    egm_controller_stopper (abb_egm_hardware_interface/egm_controller_stopper)
    egm_hardware_interface (abb_egm_hardware_interface/egm_hardware_interface)
    rws_service_provider (abb_rws_service_provider/rws_service_provider)
    rws_state_publisher (abb_rws_state_publisher/rws_state_publisher)
  /egm/
    started (controller_manager/spawner)
    stopped (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [2403]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b8441a8c-a6d9-11ee-aabb-bf3b93ba9212
process[rosout-1]: started with pid [2413]
started core service [/rosout]
process[rws_state_publisher-2]: started with pid [2420]
process[rws_service_provider-3]: started with pid [2421]
process[egm_hardware_interface-4]: started with pid [2422]
process[egm_controller_stopper-5]: started with pid [2423]
process[egm/started-6]: started with pid [2424]
process[egm/stopped-7]: started with pid [2425]
[DEBUG] [1703916454.256577063]: Get ROS parameters (namespace '/rws_service_provider')
[DEBUG] [1703916454.258597364]: Check for (optional) parameter 'robot_ip'
[DEBUG] [1703916454.259491092]: Found parameter 'robot_ip'='192.168.56.1'
[DEBUG] [1703916454.260224363]: Check for (optional) parameter 'robot_port'
[DEBUG] [1703916454.263473365]: Found parameter 'robot_port'='80'
[DEBUG] [1703916454.263580351]: Check for (optional) parameter 'robot_nickname'
[DEBUG] [1703916454.266474538]: Get ROS parameters (namespace '/egm_controller_stopper')
[DEBUG] [1703916454.268259213]: Get ROS parameters (namespace '/rws_state_publisher')
[DEBUG] [1703916454.268909048]: Check for (optional) parameter 'no_service_timeout'
[DEBUG] [1703916454.270325300]: Found parameter 'no_service_timeout'='0'
[DEBUG] [1703916454.270389935]: Check for (optional) parameter 'ros_control/controllers/ok_to_keep_running'
[DEBUG] [1703916454.270751836]: Check for (optional) parameter 'robot_ip'
[DEBUG] [1703916454.271625927]: Found parameter 'robot_nickname'=''
[DEBUG] [1703916454.271697328]: Check for (optional) parameter 'no_connection_timeout'
[DEBUG] [1703916454.272064363]: Found parameter 'ros_control/controllers/ok_to_keep_running'='[egm_state_controller, joint_state_controller]'
[DEBUG] [1703916454.273616736]: Found parameter 'robot_ip'='192.168.56.1'
[DEBUG] [1703916454.273716581]: Check for (optional) parameter 'robot_port'
[DEBUG] [1703916454.274281644]: Found parameter 'no_connection_timeout'='0'
[ INFO] [1703916454.274410961]: Initializing...
[DEBUG] [1703916454.276381837]: Found parameter 'robot_port'='80'
[DEBUG] [1703916454.276448516]: Check for (optional) parameter 'robot_nickname'
[ INFO] [1703916454.277577509]: Initializing...
[ INFO] [1703916454.278253210]: waitForService: Service [/egm/controller_manager/list_controllers] has not been advertised, waiting...
[DEBUG] [1703916454.278615791]: Found parameter 'robot_nickname'=''
[DEBUG] [1703916454.278689002]: Check for (optional) parameter 'no_connection_timeout'
[DEBUG] [1703916454.279613820]: Found parameter 'no_connection_timeout'='0'
[DEBUG] [1703916454.279702893]: Check for (optional) parameter 'polling_rate'
[DEBUG] [1703916454.280750896]: Found parameter 'polling_rate'='5'
[ INFO] [1703916454.280857978]: Initializing...
[DEBUG] [1703916454.318820515]: Check for (optional) parameter 'no_service_timeout'
[DEBUG] [1703916454.341910001]: Found parameter 'no_service_timeout'='0'
[DEBUG] [1703916454.342030014]: Wait for ROS service 'rws/get_robot_controller_description'
[ INFO] [1703916454.344179304]: waitForService: Service [/rws/get_robot_controller_description] has not been advertised, waiting...
[DEBUG] [1703916454.471270998]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
[DEBUG] [1703916454.471339109]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
============================================================
============================================================
[ INFO] [1703916454.477399948]: Initialization succeeded, and the node is ready for use
[DEBUG] [1703916454.485932190]: Adding basic services
[DEBUG] [1703916454.502778243]: StateMachine Add-In 1.1 detected, adding additional services
[ INFO] [1703916454.504270811]: waitForService: Service [/rws/get_robot_controller_description] is now available.
[ INFO] [1703916454.513411576]: Initialization succeeded, and the node is ready for use
[ INFO] [1703916454.518383785]: Initializing...
[DEBUG] [1703916454.518531657]: Check for (mandatory) parameter 'robot_controller_description'
[DEBUG] [1703916454.519981767]: Found parameter 'robot_controller_description'='header {
  ip_address: "192.168.56.1"
  rws_port_number: 80
  robot_ware_version {
    name: "6.15.00.00"
    major_number: 6
    minor_number: 15
    patch_number: 0
  }
  system_name: "dual2600test"
  system_type: "Virtual Controller"
  options: "UDPUC Driver"
  options: "Chinese"
  options: "687-1 Advanced Robot Motion"
  options: "689-1 Externally Guided Motion (EGM)"
  options: "604-1 MultiMove Coordinated"
  options: "623-1 Multitasking"
  options: "616-1 PC Interface"
  options: "888-3 PROFINET Device"
  options: "608-1 World Zones"
  options: "RobotWare Base"
  options: "Axis Calibration"
  options: "Drive System IRB 2600/390/4400/6400R"
  options: "IRB 2600-20/1.65"
  options: "StateMachine Core"
}
system_indicators {
  options {
    egm: true
    multimove: true
  }
  addins {
    state_machine_1_1: true
  }
}
mechanical_units_groups {
  name: "rob1"
  robot {
    name: "ROB_1"
    robot {
      name: "ROB_1"
      type: "ROB1_2600_1.65_20"
      joints {
        name: "rob1_1"
        logical_axis: 1
        kinematic_axis_number: -1
        arm {
          name: "rob1_1"
          lower_joint_bound: -3.1415901
          upper_joint_bound: 3.1415901
        }
        transmission {
          name: "rob1_1"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_2"
        logical_axis: 2
        kinematic_axis_number: -1
        arm {
          name: "rob1_2"
          lower_joint_bound: -1.65806
          upper_joint_bound: 2.70526
        }
        transmission {
          name: "rob1_2"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_3"
        logical_axis: 3
        kinematic_axis_number: -1
        arm {
          name: "rob1_3"
          lower_joint_bound: -3.1415901
          upper_joint_bound: 1.309
        }
        transmission {
          name: "rob1_3"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_4"
        logical_axis: 4
        kinematic_axis_number: -1
        arm {
          name: "rob1_4"
          lower_joint_bound: -6.9813199
          upper_joint_bound: 6.9813199
        }
        transmission {
          name: "rob1_4"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_5"
        logical_axis: 5
        kinematic_axis_number: -1
        arm {
          name: "rob1_5"
          lower_joint_bound: -2.0943999
          upper_joint_bound: 2.0943999
        }
        transmission {
          name: "rob1_5"
          rotating_move: true
        }
      }
      joints {
        name: "rob1_6"
        logical_axis: 6
        kinematic_axis_number: -1
        arm {
          name: "rob1_6"
          lower_joint_bound: -6.9813199
          upper_joint_bound: 6.9813199
        }
        transmission {
          name: "rob1_6"
          rotating_move: true
        }
      }
      base_frame {
        position {
          x: 0
          y: 0
          z: 0
        }
        rotation {
          q1: 1
          q2: 0
          q3: 0
          q4: 0
        }
      }
      base_frame_moved_by: ""
    }
    type: TCP_ROBOT
    task_name: "T_ROB1"
    axes: 6
    axes_total: 6
    is_integrated_unit: "NoIntegratedUnit"
    has_integrated_unit: "NoIntegratedUnit"
    status: "Synchronized"
    mode: ACTIVATED
    standardized_joints {
      original_name: "rob1_1"
      standardized_name: "joint_1"
      rotating_move: true
      lower_joint_bound: -3.1415901
      upper_joint_bound: 3.1415901
    }
    standardized_joints {
      original_name: "rob1_2"
      standardized_name: "joint_2"
      rotating_move: true
      lower_joint_bound: -1.65806
      upper_joint_bound: 2.70526
    }
    standardized_joints {
      original_name: "rob1_3"
      standardized_name: "joint_3"
      rotating_move: true
      lower_joint_bound: -3.1415901
      upper_joint_bound: 1.309
    }
    standardized_joints {
      original_name: "rob1_4"
      standardized_name: "joint_4"
      rotating_move: true
      lower_joint_bound: -6.9813199
      upper_joint_bound: 6.9813199
    }
    standardized_joints {
      original_name: "rob1_5"
      standardized_name: "joint_5"
      rotating_move: true
      lower_joint_bound: -2.0943999
      upper_joint_bound: 2.0943999
    }
    standardized_joints {
      original_name: "rob1_6"
      standardized_name: "joint_6"
      rotating_move: true
      lower_joint_bound: -6.9813199
      upper_joint_bound: 6.9813199
    }
  }
}
rapid_tasks {
  name: "T_ROB1"
  is_motion_task: true
  is_active: true
  execution_state: STARTED
  modules {
    name: "TRobRAPID"
    type: "ProgMod"
  }
  modules {
    name: "TRobSystem"
    type: "SysMod"
  }
  modules {
    name: "user"
    type: "SysMod"
  }
  modules {
    name: "BASE"
    type: "SysMod"
  }
  modules {
    name: "TRobEGM"
    type: "ProgMod"
  }
  modules {
    name: "TRobSystemExample"
    type: "SysMod"
  }
  modules {
    name: "TRobMain"
    type: "ProgMod"
  }
  modules {
    name: "TRobUtility"
    type: "ProgMod"
  }
}
'
[DEBUG] [1703916454.523123867]: Robot controller description:
============================================================
= Summary of robot controller at '192.168.56.1:80'
============================================================
# General Information:
  |- RobotWare version: 6.15.00.00
  |- System name: dual2600test
  |- System type: Virtual Controller
  |- Options:
     |- UDPUC Driver
     |- Chinese
     |- 687-1 Advanced Robot Motion
     |- 689-1 Externally Guided Motion (EGM)
     |- 604-1 MultiMove Coordinated
     |- 623-1 Multitasking
     |- 616-1 PC Interface
     |- 888-3 PROFINET Device
     |- 608-1 World Zones
     |- RobotWare Base
     |- Axis Calibration
     |- Drive System IRB 2600/390/4400/6400R
     |- IRB 2600-20/1.65
     |- StateMachine Core

# Mechanical Units:
  |- Unit: ROB_1

# Mechanical Unit Groups:
  |- Group: rob1
============================================================
[DEBUG] [1703916454.523352320]: Get ROS parameters (namespace: '/egm_hardware_interface/egm')
[DEBUG] [1703916454.523410949]: Check for 'channel_1' parameter
[DEBUG] [1703916454.524264734]: Found 'channel_1' parameter
[DEBUG] [1703916454.524352964]: Check for (optional) parameter 'egm/channel_1/mech_unit_group'
[DEBUG] [1703916454.526715851]: Found parameter 'egm/channel_1/mech_unit_group'='rob_1'
[DEBUG] [1703916454.526869329]: Check for (mandatory) parameter 'egm/channel_1/port_number'
[DEBUG] [1703916454.527829537]: Found parameter 'egm/channel_1/port_number'='6511'
[DEBUG] [1703916454.527917633]: Port number parameter '6511' found
[DEBUG] [1703916454.527981160]: Check for 'channel_2' parameter
[DEBUG] [1703916454.529920467]: Initializing EGM manager
[DEBUG] [1703916454.530061453]: Verifying ROS parameters against the RWS robot controller description
[DEBUG] [1703916454.530168332]: Skipping (mechanical unit group 'rob_1' not found)
[FATAL] [1703916454.530284352]: Failed to verify any ROS parameters against the RWS robot controller description
[FATAL] [1703916454.530586242]: Failed to initialize EGM manager
[ INFO] [1703916454.634526213]: waitForService: Service [/egm/controller_manager/list_controllers] is now available.
[ INFO] [1703916454.635993516]: waitForService: Service [/egm/controller_manager/switch_controller] has not been advertised, waiting...
[DEBUG] [1703916454.710244724]: Trying to publish message of type [sensor_msgs/JointState/3066dcd76a6cfaef579bd0f34173e9fd] on a publisher with type [sensor_msgs/JointState/3066dcd76a6cfaef579bd0f34173e9fd]
[DEBUG] [1703916454.710336963]: Trying to publish message of type [abb_robot_msgs/SystemState/46309669ed6ba4863375b03174d00ad7] on a publisher with type [abb_robot_msgs/SystemState/46309669ed6ba4863375b03174d00ad7]
[DEBUG] [1703916454.710435112]: Trying to publish message of type [abb_rapid_sm_addin_msgs/RuntimeState/1f803b084f80e27cb1a45c04dc77c6e7] on a publisher with type [abb_rapid_sm_addin_msgs/RuntimeState/1f803b084f80e27cb1a45c04dc77c6e7]
[FATAL] [1703916454.720749923]: Runtime error: 'The EGM manager has not been initialized'
[INFO] [1703916454.956174]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1703916454.978350]: Controller Spawner: Waiting for service controller_manager/load_controller
[egm_hardware_interface-4] process has died [pid 2422, exit code 1, cmd /home/s/catkin_dual2600/devel/lib/abb_egm_hardware_interface/egm_hardware_interface __name:=egm_hardware_interface __log:=/home/s/.ros/log/b8441a8c-a6d9-11ee-aabb-bf3b93ba9212/egm_hardware_interface-4.log].
log file: /home/s/.ros/log/b8441a8c-a6d9-11ee-aabb-bf3b93ba9212/egm_hardware_interface-4*.log
[FATAL] [1703916484.648355161]: Runtime error: 'Timed out while waiting for service '/egm/controller_manager/switch_controller''
[egm_controller_stopper-5] process has died [pid 2423, exit code 1, cmd /home/s/catkin_dual2600/devel/lib/abb_egm_hardware_interface/egm_controller_stopper __name:=egm_controller_stopper __log:=/home/s/.ros/log/b8441a8c-a6d9-11ee-aabb-bf3b93ba9212/egm_controller_stopper-5.log].
log file: /home/s/.ros/log/b8441a8c-a6d9-11ee-aabb-bf3b93ba9212/egm_controller_stopper-5*.log
[WARN] [1703916485.226507]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1703916485.240638]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[egm/started-6] process has finished cleanly
log file: /home/s/.ros/log/b8441a8c-a6d9-11ee-aabb-bf3b93ba9212/egm-started-6*.log
[egm/stopped-7] process has finished cleanly
log file: /home/s/.ros/log/b8441a8c-a6d9-11ee-aabb-bf3b93ba9212/egm-stopped-7*.log

[DEBUG] [1703916454.530168332]: Skipping (mechanical unit group 'rob_1' not found)

0 replies

Levelsss · 2023-12-30T11:22:30Z

Levelsss
Dec 30, 2023
Author

After changing the code in two places, the whole project works correctly:
ex2_hardware_egm.yaml

egm:
  channel_1:
    port_number: 6511
    mech_unit_group: "rob1"
joint_limits:
  rob1_1:
    has_velocity_limits: true
    max_velocity: 0.2
  rob1_2:
    has_velocity_limits: true
    max_velocity: 0.2
  rob1_3:
    has_velocity_limits: true
    max_velocity: 0.2
  rob1_4:
    has_velocity_limits: true
    max_velocity: 0.2
  rob1_5:
    has_velocity_limits: true
    max_velocity: 0.2
  rob1_6:
    has_velocity_limits: true
    max_velocity: 0.2

ex2_controllers.yaml

joint_group_velocity_controller:
  type: velocity_controllers/JointGroupVelocityController
  joints:
    - joint_1
    - joint_2
    - joint_3
    - joint_4
    - joint_5
    - joint_6

I don't know why the joint names in the two files are different. And I didn't know what to name the joints of the second robot when I was going to control the two-robot system.

1 reply

gavanderhoorn Jan 3, 2024
Maintainer

I'm almost certain this should not be necessary, and will likely break things later on in downstream packages (as I believe you've already found out).

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[FATAL] [timestamp]: Failed to verify any ROS parameters against the RWS robot controller description #93

Levelsss Dec 29, 2023

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Levelsss
Dec 29, 2023

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