Aborted during moving

[yinguoxiangyi]

Affected ROS2 Driver version(s)

2.4.3-1jammy.20240228.070912

Used ROS distribution.

Rolling

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

Robot SW / URSim version(s)

5.13.0

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

Aborted suddenly during moving.

Issue details

I am using rolling version of ur-robot-driver. After a period of running, it always aborted during moving, then the robot (ur 5e) stops.

$ apt show ros-rolling-ur-robot-driver
Package: ros-rolling-ur-robot-driver
Version: 2.4.3-1jammy.20240228.070912
Priority: optional
Section: misc
Maintainer: Denis Stogl <denis@stoglrobotics.de>
Installed-Size: 2,701 kB
Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libdw1 (>= 0.126), libgcc-s1 (>= 3.3.1), libstdc++6 (>= 11), ros-rolling-backward-ros, ros-rolling-controller-manager, ros-rolling-controller-manager-msgs, ros-rolling-force-torque-sensor-broadcaster, ros-rolling-geometry-msgs, ros-rolling-hardware-interface, ros-rolling-joint-state-broadcaster, ros-rolling-joint-state-publisher, ros-rolling-joint-trajectory-controller, ros-rolling-launch, ros-rolling-launch-ros, ros-rolling-pluginlib, ros-rolling-position-controllers, ros-rolling-rclcpp, ros-rolling-rclcpp-lifecycle, ros-rolling-rclpy, ros-rolling-robot-state-publisher, ros-rolling-ros2-controllers-test-nodes, ros-rolling-rviz2, ros-rolling-std-msgs, ros-rolling-std-srvs, ros-rolling-tf2-geometry-msgs, ros-rolling-ur-client-library, ros-rolling-ur-controllers, ros-rolling-ur-dashboard-msgs, ros-rolling-ur-description, ros-rolling-ur-msgs, ros-rolling-urdf, ros-rolling-velocity-controllers, ros-rolling-xacro, socat, ros-rolling-ros-workspace
Download-Size: 595 kB
APT-Manual-Installed: yes
APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages
Description: The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.

### after a period of running ###
[ur_ros2_control_node-1] [INFO] [1711334254.582643196] [scaled_joint_trajectory_controller]: Received new action goal
[ur_ros2_control_node-1] [INFO] [1711334254.582673027] [scaled_joint_trajectory_controller]: Accepted new action goal
[ur_ros2_control_node-1] [INFO] [1711334255.861731211] [scaled_joint_trajectory_controller]: Goal reached, success!
[ur_ros2_control_node-1] [INFO] [1711334255.889982073] [io_and_status_controller]: Setting digital output '0' to state: '0'.
[ur_ros2_control_node-1] [INFO] [1711334258.594450840] [scaled_joint_trajectory_controller]: Received new action goal
[ur_ros2_control_node-1] [INFO] [1711334258.594476390] [scaled_joint_trajectory_controller]: Accepted new action goal
[ur_ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ur_ros2_control_node-1]   what():  Taking data from action server but nothing is ready
[ur_ros2_control_node-1] Stack trace (most recent call last):
[ur_ros2_control_node-1] #15   Object "", at 0xffffffffffffffff, in 
[ur_ros2_control_node-1] #14   Object "/opt/ros/rolling/lib/ur_robot_driver/ur_ros2_control_node", at 0x59389878ec84, in _start
[ur_ros2_control_node-1] #13   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x761ee4a29e3f]
[ur_ros2_control_node-1] #12   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x761ee4a29d8f]
[ur_ros2_control_node-1] #11   Object "/opt/ros/rolling/lib/ur_robot_driver/ur_ros2_control_node", at 0x59389878e9e8, in main
[ur_ros2_control_node-1] #10   Object "/opt/ros/rolling/lib/librclcpp.so", at 0x761ee5313474, in rclcpp::executors::MultiThreadedExecutor::spin()
[ur_ros2_control_node-1] #9    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x761ee5313011, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[ur_ros2_control_node-1] #8    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x761ee5309eee, in rclcpp::Executor::get_next_ready_executable_from_map(rclcpp::AnyExecutable&, std::map<std::weak_ptr<rclcpp::CallbackGroup>, std::weak_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::owner_less<std::weak_ptr<rclcpp::CallbackGroup> >, std::allocator<std::pair<std::weak_ptr<rclcpp::CallbackGroup> const, std::weak_ptr<rclcpp::node_interfaces::NodeBaseInterface> > > > const&)
[ur_ros2_control_node-1] #7    Object "/opt/ros/rolling/lib/librclcpp_action.so", at 0x761eb87a7785, in 
[ur_ros2_control_node-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x761ee4eae4d7, in __cxa_throw
[ur_ros2_control_node-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x761ee4eae276, in std::terminate()
[ur_ros2_control_node-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x761ee4eae20b, in 
[ur_ros2_control_node-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x761ee4ea2b9d, in 
[ur_ros2_control_node-1] #2    Source "./stdlib/abort.c", line 79, in abort [0x761ee4a287f2]
[ur_ros2_control_node-1] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x761ee4a42475]
[ur_ros2_control_node-1] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ur_ros2_control_node-1]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ur_ros2_control_node-1]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x761ee4a969fc]
[ur_ros2_control_node-1] Aborted (Signal sent by tkill() 207969 1000)
[ERROR] [ur_ros2_control_node-1]: process has died [pid 207969, exit code -6, cmd '/opt/ros/rolling/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_4tos6rap --params-file /home/robot/work/bin-picking-ws/install/picking_robot_driver/share/picking_robot_driver/config/ur5e_update_rate.yaml --params-file /home/robot/work/bin-picking-ws/install/picking_robot_driver/share/picking_robot_driver/config/picking_controllers.yaml'].

Steps to Reproduce

N/A

Expected Behavior

not abort

Actual Behavior

abort

Workaround Suggestion

not found

Relevant log output

No response

Accept Public visibility

• I agree to make this context public

[firesurfer]

@yinguoxiangyi I guess this is a known issue with ros2 actions while running with a multithreaded executor. We have the same issue occasionally (actually it is really rare) with our setup.
See ros2/rclcpp#2242 for more information

[yinguoxiangyi]

In my situation, it happens about 5 times one day. Maybe let it go for now. If any update or solution, please inform me. Thanks in advance.

[firesurfer]

Just subscribe to the corresponding ros2/rclcpp#2250
I just stumbled upon your issue here because I run into this issue myself sometimes....

[RobertWilbrandt]

For reference: #380. We used to have a long-term test running the driver continuously and regularly ran into this error. This was resolved with PR 2250.

[fmauch]

Closing this as a duplicate of #380

@yinguoxiangyi to stay up-to-date please subscribe either to #380 or ros2/rclcpp#2250