Default controller, i.e. scaled_joint_trajectory_controller is crashing after updating to ROS Jazzy #1623
Description
Affected ROS2 Driver version(s)
99.2.0-0noble
Used ROS distribution.
Jazzy
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel
How is the UR ROS2 Driver installed.
From binary packets
Which robot platform is the driver connected to.
UR E-series robot, Real robot
Robot SW / URSim version(s)
URSoftware 5.10.0.106288
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
The ros-jazzy-ur driver can not be used in the current state. The ROS node crashes abruptly when using the default parameters.
Issue details
I am running ur_control.launch.py with default parameters and it is crashing.
Steps to Reproduce
user@dell:~/ros2_ws$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.200.17
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2025-12-24-18-10-51-951409-dell-30838
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [30843]
[INFO] [controller_stopper_node-4]: process started with pid [30845]
[INFO] [ros2_control_node-1]: process started with pid [30842]
[INFO] [robot_state_helper-3]: process started with pid [30844]
[INFO] [urscript_interface-5]: process started with pid [30846]
[INFO] [robot_state_publisher-6]: process started with pid [30847]
[INFO] [rviz2-7]: process started with pid [30848]
[INFO] [trajectory_until_node-8]: process started with pid [30849]
[INFO] [spawner-9]: process started with pid [30851]
[INFO] [spawner-10]: process started with pid [30852]
[dashboard_client-2] [INFO] [1766567452.149684629] [UR_Client_Library:]: Starting primary client pipeline
[robot_state_helper-3] [INFO] [1766567452.152010390] [UR_Client_Library:]: Starting primary client pipeline
[controller_stopper_node-4] [INFO] [1766567452.152401790] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_publisher-6] [INFO] [1766567452.155611673] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1766567452.156231481] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[ros2_control_node-1] [INFO] [1766567452.157995297] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1766567452.158970692] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1766567452.158979806] [controller_manager]: Overruns handling is : enabled
[ros2_control_node-1] [INFO] [1766567452.158982397] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [INFO] [1766567452.159019957] [controller_manager]: Successful set up FIFO RT scheduling policy with priority 50.
[ros2_control_node-1] [INFO] [1766567452.168634542] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1766567452.170168504] [controller_manager]: Loading hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567452.172008432] [controller_manager]: Loaded hardware 'ur5e' from plugin 'ur_robot_driver/URPositionHardwareInterface'
[ros2_control_node-1] [INFO] [1766567452.172047523] [controller_manager]: Initialize hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567452.174255063] [controller_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567452.174855883] [resource_manager]: 'configure' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567452.174861696] [URPositionHardwareInterface]: Starting ...please wait...
[ros2_control_node-1] [INFO] [1766567452.174869522] [URPositionHardwareInterface]: Initializing driver...
[ros2_control_node-1] [INFO] [1766567452.175481284] [UR_Client_Library:]: SCHED_FIFO OK, priority 99
[spawner-9] [INFO] [1766567452.366735974] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-7] [INFO] [1766567452.532547446] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1766567452.532623120] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-7] [INFO] [1766567452.619173561] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-1] [INFO] [1766567452.644067116] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ros2_control_node-1] [INFO] [1766567452.644438399] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[dashboard_client-2] [INFO] [1766567452.652188357] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[dashboard_client-2] [INFO] [1766567452.701047708] [UR_Client_Library:]: Logging an ErrorCodeMessage from the UR Controller Box: C210A0
[ros2_control_node-1] [INFO] [1766567453.654158667] [UR_Client_Library:]: Starting primary client pipeline
[ros2_control_node-1] [INFO] [1766567454.061051638] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'.
[ros2_control_node-1] [ERROR] [1766567454.061079142] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/README.md] for details.
[ros2_control_node-1] [INFO] [1766567454.061114697] [URPositionHardwareInterface]: System successfully started!
[ros2_control_node-1] [INFO] [1766567454.061123221] [resource_manager]: Successful 'configure' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567454.061150084] [resource_manager]: 'activate' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567454.061152372] [URPositionHardwareInterface]: Activating HW interface
[ros2_control_node-1] [INFO] [1766567454.061154752] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567454.061219806] [controller_manager]: Registering statistics for : ur5e
[ros2_control_node-1] [INFO] [1766567454.061261948] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[controller_stopper_node-4] [INFO] [1766567454.062705920] [Controller stopper]: Service available
[controller_stopper_node-4] [INFO] [1766567454.062725947] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-4] [INFO] [1766567454.062733677] [Controller stopper]: Service available
[ros2_control_node-1] [INFO] [1766567454.063189860] [UR_Client_Library:]: SCHED_FIFO OK, priority 99
[ros2_control_node-1] [INFO] [1766567454.199942230] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1766567454.199983138] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.201326526] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.208015923] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1766567454.208611624] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.208677559] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [INFO] [1766567454.214303273] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[ros2_control_node-1] [INFO] [1766567454.215339608] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.218081768] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1766567454.218542929] [controller_manager]: Loading controller : 'io_and_status_controller' of type 'ur_controllers/GPIOController'
[ros2_control_node-1] [INFO] [1766567454.218557268] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1766567454.220962770] [controller_manager]: Controller 'io_and_status_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.225922842] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1766567454.226051299] [controller_manager]: Configuring controller: 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1766567454.227474580] [controller_manager]: Activating controllers: [ io_and_status_controller ]
[ros2_control_node-1] [WARN] [1766567454.233482725] [controller_manager]: Overrun might occur, Total time : 4365.762 us (Expected < 2000.000 us) --> Read time : 13.189 us, Update time : 4348.807 us (Switch time : 4328.718 us (Switch chained mode time : 0.691 us, perform mode change time : 10.779 us, Activation time : 4315.397 us, Deactivation time : 0.222 us)), Write time : 3.766 us
[ros2_control_node-1] [WARN] [1766567454.233509739] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 4.402907 ms (missed cycles : 3).
[ros2_control_node-1] [INFO] [1766567454.233486289] [controller_manager]: Successfully switched controllers!
[robot_state_helper-3] [INFO] [1766567454.235241517] [robot_state_helper]: The robot is currently in safety mode ROBOT_EMERGENCY_STOP.
[robot_state_helper-3] [INFO] [1766567454.235244118] [robot_state_helper]: The robot is currently in mode IDLE.
[spawner-9] [INFO] [1766567454.236208472] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ros2_control_node-1] [INFO] [1766567454.236898619] [controller_manager]: Loading controller : 'speed_scaling_state_broadcaster' of type 'ur_controllers/SpeedScalingStateBroadcaster'
[ros2_control_node-1] [INFO] [1766567454.236915827] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.237094264] [controller_manager]: Controller 'speed_scaling_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[ros2_control_node-1] [INFO] [1766567454.241298927] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[spawner-9] [INFO] [1766567454.243949189] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1766567454.244085516] [controller_manager]: Configuring controller: 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.244111355] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [INFO] [1766567454.245678714] [controller_manager]: Activating controllers: [ speed_scaling_state_broadcaster ]
[ros2_control_node-1] [INFO] [1766567454.247307505] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.250064367] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1766567454.250712793] [controller_manager]: Loading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'
[ros2_control_node-1] [INFO] [1766567454.250739332] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.251483165] [controller_manager]: Controller 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.257776398] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1766567454.257890634] [controller_manager]: Configuring controller: 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.259032980] [force_torque_sensor_broadcaster]: configure successful
[ros2_control_node-1] [INFO] [1766567454.261858604] [controller_manager]: Activating controllers: [ force_torque_sensor_broadcaster ]
[ros2_control_node-1] [INFO] [1766567454.263199245] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.265866533] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1766567454.266665859] [controller_manager]: Loading controller : 'tcp_pose_broadcaster' of type 'pose_broadcaster/PoseBroadcaster'
[ros2_control_node-1] [INFO] [1766567454.266684604] [controller_manager]: Loading controller 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.267266711] [controller_manager]: Controller 'tcp_pose_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.273911680] [spawner_joint_state_broadcaster]: Loaded tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1766567454.274026656] [controller_manager]: Configuring controller: 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.277834470] [controller_manager]: Activating controllers: [ tcp_pose_broadcaster ]
[ros2_control_node-1] [INFO] [1766567454.279188975] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.281976283] [spawner_joint_state_broadcaster]: Configured and activated tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1766567454.282984233] [controller_manager]: Loading controller : 'ur_configuration_controller' of type 'ur_controllers/URConfigurationController'
[ros2_control_node-1] [INFO] [1766567454.283006418] [controller_manager]: Loading controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1766567454.283122418] [controller_manager]: Controller 'ur_configuration_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.287797697] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1766567454.287907108] [controller_manager]: Configuring controller: 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1766567454.289551733] [controller_manager]: Activating controllers: [ ur_configuration_controller ]
[ros2_control_node-1] [INFO] [1766567454.291189640] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.293916359] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [INFO] [1766567454.294740803] [controller_manager]: Loading controller : 'scaled_joint_trajectory_controller' of type 'ur_controllers/ScaledJointTrajectoryController'
[ros2_control_node-1] [INFO] [1766567454.294756222] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1766567454.294864246] [controller_manager]: Controller 'scaled_joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[ros2_control_node-1] [INFO] [1766567454.298627541] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[spawner-9] [INFO] [1766567454.304098274] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1766567454.304259776] [controller_manager]: Configuring controller: 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1766567454.304371427] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1766567454.304385047] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1766567454.304404306] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1766567454.305782153] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1766567454.309944283] [controller_manager]: Activating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1766567454.311254445] [controller_manager]: Successfully switched controllers!
[ros2_control_node-1] Stack trace (most recent call last) in thread 30971:
[spawner-9] [INFO] [1766567454.314145425] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[ros2_control_node-1] #7 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in
[ros2_control_node-1] #6 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 78, in clone3 [0x743c55d29c6b]
[ros2_control_node-1] #5 Source "./nptl/pthread_create.c", line 447, in start_thread [0x743c55c9caa3]
[spawner-10] [INFO] [1766567454.369553977] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] #4 Source "../../../../../src/libstdc++-v3/src/c++11/thread.cc", line 104, in execute_native_thread_routine [0x743c560ecdb3]
[ros2_control_node-1] #3 Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x5619a7c85547, in
[ros2_control_node-1] #2 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x743c567cd98c, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-1] [ERROR] [1766567454.440894273] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.442897952] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.444874470] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[INFO] [spawner-9]: process has finished cleanly [pid 30851]
[ros2_control_node-1] [ERROR] [1766567454.448879892] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.462886486] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.464884921] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [INFO] [1766567454.466301398] [controller_manager]: Deactivating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1766567454.466405951] [controller_manager]: Switch controller timeout is set to 0, using default 1s!
[ros2_control_node-1] [INFO] [1766567454.466410235] [controller_manager]: Requested controller switch from non-realtime loop
[ros2_control_node-1] [INFO] [1766567454.466466585] [controller_manager]: Successfully switched controllers!
[ros2_control_node-1] [ERROR] [1766567454.466880224] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.468876839] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.470885872] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.472885998] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567455.354898482] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567455.356895162] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] #1 Object "/opt/ros/jazzy/lib/libcontroller_interface.so", at 0x743c563383c6, in controller_interface::ControllerInterfaceBase::trigger_update(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-1] #0 Object "/opt/ros/jazzy/lib/libur_controllers.so", at 0x743c1c3e05fd, in ur_controllers::ScaledJointTrajectoryController::update(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-1] Segmentation fault (Address not mapped to object [(nil)])
[ros2_control_node-1] [ERROR] [1766567455.358891015] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ERROR] [ros2_control_node-1]: process has died [pid 30842, exit code -11, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b'].
[spawner-10] [WARN] [1766567464.620408613] [spawner_joint_trajectory_controller]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 1 of 3.)
[spawner-10] [WARN] [1766567474.621009006] [spawner_joint_trajectory_controller]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 2 of 3.)
[spawner-10] [WARN] [1766567484.621874149] [spawner_joint_trajectory_controller]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 3 of 3.)
[spawner-10] Traceback (most recent call last):
[spawner-10] File "/opt/ros/jazzy/lib/controller_manager/spawner", line 33, in <module>
[spawner-10] sys.exit(load_entry_point('controller-manager==4.39.2', 'console_scripts', 'spawner')())
[spawner-10] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[spawner-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 251, in main
[spawner-10] if is_controller_loaded(
[spawner-10] ^^^^^^^^^^^^^^^^^^^^^
[spawner-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 69, in is_controller_loaded
[spawner-10] controllers = list_controllers(
[spawner-10] ^^^^^^^^^^^^^^^^^
[spawner-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 185, in list_controllers
[spawner-10] return service_caller(
[spawner-10] ^^^^^^^^^^^^^^^
[spawner-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 163, in service_caller
[spawner-10] raise RuntimeError(
[spawner-10] RuntimeError: Could not successfully call service /controller_manager/list_controllers after 3 attempts.
[ERROR] [spawner-10]: process has died [pid 30852, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 --inactive joint_trajectory_controller forward_velocity_controller forward_position_controller forward_effort_controller force_mode_controller passthrough_trajectory_controller freedrive_mode_controller tool_contact_controller impedance_controller --ros-args'].
Controller Status
$ ros2 control list_controllers
joint_trajectory_controller joint_trajectory_controller/JointTrajectoryController inactive
ur_configuration_controller ur_controllers/URConfigurationController active
tcp_pose_broadcaster pose_broadcaster/PoseBroadcaster active
forward_velocity_controller velocity_controllers/JointGroupVelocityController inactive
forward_position_controller position_controllers/JointGroupPositionController inactive
scaled_joint_trajectory_controller ur_controllers/ScaledJointTrajectoryController inactive
passthrough_trajectory_controller ur_controllers/PassthroughTrajectoryController inactive
forward_effort_controller effort_controllers/JointGroupEffortController inactive
force_mode_controller ur_controllers/ForceModeController inactive
tool_contact_controller ur_controllers/ToolContactController inactive
impedance_controller ur_controllers/ImpedanceController inactive
io_and_status_controller ur_controllers/GPIOController active
speed_scaling_state_broadcaster ur_controllers/SpeedScalingStateBroadcaster active
freedrive_mode_controller ur_controllers/FreedriveModeController inactive
joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster active
force_torque_sensor_broadcaster force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster active
Environment info
$ printenv | grep -E "ROS|RMW"
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DOMAIN_ID=39
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
ROS_DISTRO=jazzy
$ gcc --version
gcc (Ubuntu 13.3.0-6ubuntu2~24.04) 13.3.0
Copyright (C) 2023 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
$ uname -a
Linux dell 6.14.0-37-generic #37~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Nov 20 10:25:38 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
Package Info
$ sudo dpkg -l | grep -i -- "-ur-"
ii ros-jazzy-ur-calibration 99.2.0-0noble amd64 Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF
ii ros-jazzy-ur-client-library 99.2.0-0noble amd64 Standalone C++ library for accessing Universal Robots interfaces.
ii ros-jazzy-ur-controllers 99.2.0-0noble amd64 Provides controllers that use the speed scaling interface of Universal Robots.
ii ros-jazzy-ur-dashboard-msgs 99.2.0-0noble amd64 Messages around the UR Dashboard server.
ii ros-jazzy-ur-description 3.5.0-1noble.20251108.005254 amd64 URDF description for Universal Robots
ii ros-jazzy-ur-moveit-config 99.2.0-0noble amd64 An example package with MoveIt2 configurations for UR robots.
ii ros-jazzy-ur-msgs 2.3.0-1noble.20251007.215908 amd64 Message and service definitions for interacting with Universal Robots robot controllers.
ii ros-jazzy-ur-robot-driver 99.2.0-0noble amd64 The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.
$ sudo dpkg -l | grep -i -- "-ros2-control"
ii ros-jazzy-ros2-control 4.39.2-1noble.20251110.161902 amd64 Metapackage for ROS2 control related packages
ii ros-jazzy-ros2-control-test-assets 4.39.2-1noble.20251110.155315 amd64 Shared test resources for ros2_control stack
ii ros-jazzy-ros2-controllers 4.34.0-1noble.20251110.183236 amd64 Metapackage for ros2_controllers related packages
ii ros-jazzy-ros2-controllers-test-nodes 4.34.0-1noble.20251110.182649 amd64 Demo nodes for showing and testing functionalities of the ros2_control framework.
Relevant log output
user@dell:~/ros2_ws$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.200.17
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2025-12-24-18-10-51-951409-dell-30838
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [30843]
[INFO] [controller_stopper_node-4]: process started with pid [30845]
[INFO] [ros2_control_node-1]: process started with pid [30842]
[INFO] [robot_state_helper-3]: process started with pid [30844]
[INFO] [urscript_interface-5]: process started with pid [30846]
[INFO] [robot_state_publisher-6]: process started with pid [30847]
[INFO] [rviz2-7]: process started with pid [30848]
[INFO] [trajectory_until_node-8]: process started with pid [30849]
[INFO] [spawner-9]: process started with pid [30851]
[INFO] [spawner-10]: process started with pid [30852]
[dashboard_client-2] [INFO] [1766567452.149684629] [UR_Client_Library:]: Starting primary client pipeline
[robot_state_helper-3] [INFO] [1766567452.152010390] [UR_Client_Library:]: Starting primary client pipeline
[controller_stopper_node-4] [INFO] [1766567452.152401790] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_publisher-6] [INFO] [1766567452.155611673] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1766567452.156231481] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[ros2_control_node-1] [INFO] [1766567452.157995297] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1766567452.158970692] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1766567452.158979806] [controller_manager]: Overruns handling is : enabled
[ros2_control_node-1] [INFO] [1766567452.158982397] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [INFO] [1766567452.159019957] [controller_manager]: Successful set up FIFO RT scheduling policy with priority 50.
[ros2_control_node-1] [INFO] [1766567452.168634542] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1766567452.170168504] [controller_manager]: Loading hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567452.172008432] [controller_manager]: Loaded hardware 'ur5e' from plugin 'ur_robot_driver/URPositionHardwareInterface'
[ros2_control_node-1] [INFO] [1766567452.172047523] [controller_manager]: Initialize hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567452.174255063] [controller_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567452.174855883] [resource_manager]: 'configure' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567452.174861696] [URPositionHardwareInterface]: Starting ...please wait...
[ros2_control_node-1] [INFO] [1766567452.174869522] [URPositionHardwareInterface]: Initializing driver...
[ros2_control_node-1] [INFO] [1766567452.175481284] [UR_Client_Library:]: SCHED_FIFO OK, priority 99
[spawner-9] [INFO] [1766567452.366735974] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-7] [INFO] [1766567452.532547446] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1766567452.532623120] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-7] [INFO] [1766567452.619173561] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-1] [INFO] [1766567452.644067116] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ros2_control_node-1] [INFO] [1766567452.644438399] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[dashboard_client-2] [INFO] [1766567452.652188357] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[dashboard_client-2] [INFO] [1766567452.701047708] [UR_Client_Library:]: Logging an ErrorCodeMessage from the UR Controller Box: C210A0
[ros2_control_node-1] [INFO] [1766567453.654158667] [UR_Client_Library:]: Starting primary client pipeline
[ros2_control_node-1] [INFO] [1766567454.061051638] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'.
[ros2_control_node-1] [ERROR] [1766567454.061079142] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/README.md] for details.
[ros2_control_node-1] [INFO] [1766567454.061114697] [URPositionHardwareInterface]: System successfully started!
[ros2_control_node-1] [INFO] [1766567454.061123221] [resource_manager]: Successful 'configure' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567454.061150084] [resource_manager]: 'activate' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567454.061152372] [URPositionHardwareInterface]: Activating HW interface
[ros2_control_node-1] [INFO] [1766567454.061154752] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1766567454.061219806] [controller_manager]: Registering statistics for : ur5e
[ros2_control_node-1] [INFO] [1766567454.061261948] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[controller_stopper_node-4] [INFO] [1766567454.062705920] [Controller stopper]: Service available
[controller_stopper_node-4] [INFO] [1766567454.062725947] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-4] [INFO] [1766567454.062733677] [Controller stopper]: Service available
[ros2_control_node-1] [INFO] [1766567454.063189860] [UR_Client_Library:]: SCHED_FIFO OK, priority 99
[ros2_control_node-1] [INFO] [1766567454.199942230] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1766567454.199983138] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.201326526] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.208015923] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1766567454.208611624] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.208677559] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [INFO] [1766567454.214303273] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[ros2_control_node-1] [INFO] [1766567454.215339608] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.218081768] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1766567454.218542929] [controller_manager]: Loading controller : 'io_and_status_controller' of type 'ur_controllers/GPIOController'
[ros2_control_node-1] [INFO] [1766567454.218557268] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1766567454.220962770] [controller_manager]: Controller 'io_and_status_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.225922842] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1766567454.226051299] [controller_manager]: Configuring controller: 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1766567454.227474580] [controller_manager]: Activating controllers: [ io_and_status_controller ]
[ros2_control_node-1] [WARN] [1766567454.233482725] [controller_manager]: Overrun might occur, Total time : 4365.762 us (Expected < 2000.000 us) --> Read time : 13.189 us, Update time : 4348.807 us (Switch time : 4328.718 us (Switch chained mode time : 0.691 us, perform mode change time : 10.779 us, Activation time : 4315.397 us, Deactivation time : 0.222 us)), Write time : 3.766 us
[ros2_control_node-1] [WARN] [1766567454.233509739] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 4.402907 ms (missed cycles : 3).
[ros2_control_node-1] [INFO] [1766567454.233486289] [controller_manager]: Successfully switched controllers!
[robot_state_helper-3] [INFO] [1766567454.235241517] [robot_state_helper]: The robot is currently in safety mode ROBOT_EMERGENCY_STOP.
[robot_state_helper-3] [INFO] [1766567454.235244118] [robot_state_helper]: The robot is currently in mode IDLE.
[spawner-9] [INFO] [1766567454.236208472] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ros2_control_node-1] [INFO] [1766567454.236898619] [controller_manager]: Loading controller : 'speed_scaling_state_broadcaster' of type 'ur_controllers/SpeedScalingStateBroadcaster'
[ros2_control_node-1] [INFO] [1766567454.236915827] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.237094264] [controller_manager]: Controller 'speed_scaling_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[ros2_control_node-1] [INFO] [1766567454.241298927] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[spawner-9] [INFO] [1766567454.243949189] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1766567454.244085516] [controller_manager]: Configuring controller: 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.244111355] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [INFO] [1766567454.245678714] [controller_manager]: Activating controllers: [ speed_scaling_state_broadcaster ]
[ros2_control_node-1] [INFO] [1766567454.247307505] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.250064367] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1766567454.250712793] [controller_manager]: Loading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'
[ros2_control_node-1] [INFO] [1766567454.250739332] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.251483165] [controller_manager]: Controller 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.257776398] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1766567454.257890634] [controller_manager]: Configuring controller: 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.259032980] [force_torque_sensor_broadcaster]: configure successful
[ros2_control_node-1] [INFO] [1766567454.261858604] [controller_manager]: Activating controllers: [ force_torque_sensor_broadcaster ]
[ros2_control_node-1] [INFO] [1766567454.263199245] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.265866533] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1766567454.266665859] [controller_manager]: Loading controller : 'tcp_pose_broadcaster' of type 'pose_broadcaster/PoseBroadcaster'
[ros2_control_node-1] [INFO] [1766567454.266684604] [controller_manager]: Loading controller 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.267266711] [controller_manager]: Controller 'tcp_pose_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.273911680] [spawner_joint_state_broadcaster]: Loaded tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1766567454.274026656] [controller_manager]: Configuring controller: 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1766567454.277834470] [controller_manager]: Activating controllers: [ tcp_pose_broadcaster ]
[ros2_control_node-1] [INFO] [1766567454.279188975] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.281976283] [spawner_joint_state_broadcaster]: Configured and activated tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1766567454.282984233] [controller_manager]: Loading controller : 'ur_configuration_controller' of type 'ur_controllers/URConfigurationController'
[ros2_control_node-1] [INFO] [1766567454.283006418] [controller_manager]: Loading controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1766567454.283122418] [controller_manager]: Controller 'ur_configuration_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[spawner-9] [INFO] [1766567454.287797697] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1766567454.287907108] [controller_manager]: Configuring controller: 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1766567454.289551733] [controller_manager]: Activating controllers: [ ur_configuration_controller ]
[ros2_control_node-1] [INFO] [1766567454.291189640] [controller_manager]: Successfully switched controllers!
[spawner-9] [INFO] [1766567454.293916359] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [INFO] [1766567454.294740803] [controller_manager]: Loading controller : 'scaled_joint_trajectory_controller' of type 'ur_controllers/ScaledJointTrajectoryController'
[ros2_control_node-1] [INFO] [1766567454.294756222] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1766567454.294864246] [controller_manager]: Controller 'scaled_joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b
[ros2_control_node-1] [INFO] [1766567454.298627541] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[spawner-9] [INFO] [1766567454.304098274] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1766567454.304259776] [controller_manager]: Configuring controller: 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1766567454.304371427] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1766567454.304385047] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1766567454.304404306] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1766567454.305782153] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1766567454.309944283] [controller_manager]: Activating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1766567454.311254445] [controller_manager]: Successfully switched controllers!
[ros2_control_node-1] Stack trace (most recent call last) in thread 30971:
[spawner-9] [INFO] [1766567454.314145425] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[ros2_control_node-1] #7 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in
[ros2_control_node-1] #6 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 78, in clone3 [0x743c55d29c6b]
[ros2_control_node-1] #5 Source "./nptl/pthread_create.c", line 447, in start_thread [0x743c55c9caa3]
[spawner-10] [INFO] [1766567454.369553977] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] #4 Source "../../../../../src/libstdc++-v3/src/c++11/thread.cc", line 104, in execute_native_thread_routine [0x743c560ecdb3]
[ros2_control_node-1] #3 Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x5619a7c85547, in
[ros2_control_node-1] #2 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x743c567cd98c, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-1] [ERROR] [1766567454.440894273] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.442897952] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.444874470] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[INFO] [spawner-9]: process has finished cleanly [pid 30851]
[ros2_control_node-1] [ERROR] [1766567454.448879892] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.462886486] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.464884921] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [INFO] [1766567454.466301398] [controller_manager]: Deactivating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1766567454.466405951] [controller_manager]: Switch controller timeout is set to 0, using default 1s!
[ros2_control_node-1] [INFO] [1766567454.466410235] [controller_manager]: Requested controller switch from non-realtime loop
[ros2_control_node-1] [INFO] [1766567454.466466585] [controller_manager]: Successfully switched controllers!
[ros2_control_node-1] [ERROR] [1766567454.466880224] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.468876839] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.470885872] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567454.472885998] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567455.354898482] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] [ERROR] [1766567455.356895162] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ros2_control_node-1] #1 Object "/opt/ros/jazzy/lib/libcontroller_interface.so", at 0x743c563383c6, in controller_interface::ControllerInterfaceBase::trigger_update(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-1] #0 Object "/opt/ros/jazzy/lib/libur_controllers.so", at 0x743c1c3e05fd, in ur_controllers::ScaledJointTrajectoryController::update(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-1] Segmentation fault (Address not mapped to object [(nil)])
[ros2_control_node-1] [ERROR] [1766567455.358891015] [UR_Client_Library:]: Pipeline producer overflowed! <RTDE Data Pipeline>
[ERROR] [ros2_control_node-1]: process has died [pid 30842, exit code -11, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_uvrrob6b'].
[spawner-10] [WARN] [1766567464.620408613] [spawner_joint_trajectory_controller]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 1 of 3.)
[spawner-10] [WARN] [1766567474.621009006] [spawner_joint_trajectory_controller]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 2 of 3.)
[spawner-10] [WARN] [1766567484.621874149] [spawner_joint_trajectory_controller]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 3 of 3.)
[spawner-10] Traceback (most recent call last):
[spawner-10] File "/opt/ros/jazzy/lib/controller_manager/spawner", line 33, in <module>
[spawner-10] sys.exit(load_entry_point('controller-manager==4.39.2', 'console_scripts', 'spawner')())
[spawner-10] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[spawner-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 251, in main
[spawner-10] if is_controller_loaded(
[spawner-10] ^^^^^^^^^^^^^^^^^^^^^
[spawner-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 69, in is_controller_loaded
[spawner-10] controllers = list_controllers(
[spawner-10] ^^^^^^^^^^^^^^^^^
[spawner-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 185, in list_controllers
[spawner-10] return service_caller(
[spawner-10] ^^^^^^^^^^^^^^^
[spawner-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 163, in service_caller
[spawner-10] raise RuntimeError(
[spawner-10] RuntimeError: Could not successfully call service /controller_manager/list_controllers after 3 attempts.
[ERROR] [spawner-10]: process has died [pid 30852, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 --inactive joint_trajectory_controller forward_velocity_controller forward_position_controller forward_effort_controller force_mode_controller passthrough_trajectory_controller freedrive_mode_controller tool_contact_controller impedance_controller --ros-args'].Accept Public visibility
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