Gripper connected to control box not connected

[Mokchanic]

Affected ROS2 Driver version(s)

humble

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Docker

How is the UR ROS2 Driver installed.

Build both the ROS driver and UR Client Library from source

Which robot platform is the driver connected to.

UR CB3 robot

Robot SW / URSim version(s)

URSoftware 3.14

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

Gripper connected to control box not connected.

Issue details

Gripper is recognized when directly connected to the computer, but not in the control box.
I referred to the link below, but it doesn't seem to work in cb3 because it's e-series only.

https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/humble/ur_robot_driver/doc/setup_tool_communication.rst

error:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3 robot_ip:=xxx.xxx.xxx.xxx use_tool_communication:=
true
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-09-23-07-52-57-184058-joshua-139614
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [139620]
[INFO] [controller_stopper_node-4]: process started with pid [139624]
[INFO] [ur_ros2_control_node-1]: process started with pid [139618]
[INFO] [tool_communication.py-3]: process started with pid [139622]
[INFO] [urscript_interface-5]: process started with pid [139626]
[INFO] [robot_state_publisher-6]: process started with pid [139628]
[INFO] [rviz2-7]: process started with pid [139630]
[INFO] [spawner-8]: process started with pid [139632]
[INFO] [spawner-9]: process started with pid [139634]
[INFO] [spawner-10]: process started with pid [139636]
[controller_stopper_node-4] [INFO] [1727077977.827999219] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[dashboard_client-2] [INFO] [1727077977.835360976] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[ur_ros2_control_node-1] [WARN] [1727077977.844687279] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ur_ros2_control_node-1] text not specified in the tf_prefix tag
[ur_ros2_control_node-1] [INFO] [1727077977.845578449] [resource_manager]: Loading hardware 'ur3' 
[ur_ros2_control_node-1] [INFO] [1727077977.847491254] [resource_manager]: Initialize hardware 'ur3' 
[ur_ros2_control_node-1] [INFO] [1727077977.847536125] [resource_manager]: Successful initialization of hardware 'ur3'
[ur_ros2_control_node-1] [INFO] [1727077977.847811939] [resource_manager]: Loading hardware 'gripper' 
[ur_ros2_control_node-1] [INFO] [1727077977.848324305] [resource_manager]: Initialize hardware 'gripper' 
[ur_ros2_control_node-1] [INFO] [1727077977.848449000] [DefaultDriverFactory]: Reading slave_address...
[ur_ros2_control_node-1] [INFO] [1727077977.848456090] [DefaultDriverFactory]: slave_address: 9
[ur_ros2_control_node-1] [INFO] [1727077977.848457944] [DefaultDriverFactory]: Reading gripper_speed_multiplier...
[ur_ros2_control_node-1] [INFO] [1727077977.848462758] [DefaultDriverFactory]: gripper_speed_multiplier: 1.000000s
[ur_ros2_control_node-1] [INFO] [1727077977.848466418] [DefaultDriverFactory]: Reading gripper_force_multiplier...
[ur_ros2_control_node-1] [INFO] [1727077977.848468414] [DefaultDriverFactory]: gripper_force_multiplier: 0.500000s
[ur_ros2_control_node-1] [INFO] [1727077977.848472016] [DefaultSerialFactory]: Reading COM_port...
[ur_ros2_control_node-1] [INFO] [1727077977.848474492] [DefaultSerialFactory]: COM_port: /dev/ttyUSB0
[ur_ros2_control_node-1] [INFO] [1727077977.848475961] [DefaultSerialFactory]: Reading baudrate...
[ur_ros2_control_node-1] [INFO] [1727077977.848477370] [DefaultSerialFactory]: baudrate: 115200bps
[ur_ros2_control_node-1] [INFO] [1727077977.848478764] [DefaultSerialFactory]: Reading timeout...
[ur_ros2_control_node-1] [INFO] [1727077977.848480238] [DefaultSerialFactory]: timeout: 0.500000s
[ur_ros2_control_node-1] [INFO] [1727077977.848565975] [resource_manager]: Successful initialization of hardware 'gripper'
[ur_ros2_control_node-1] [INFO] [1727077977.848879682] [resource_manager]: 'configure' hardware 'gripper' 
[ur_ros2_control_node-1] [ERROR] [1727077977.848948203] [RobotiqGripperHardwareInterface]: Cannot configure the Robotiq gripper: IO Exception (2): No such file or directory, file /root/ros2_workspace/gripper_ws/src/serial/src/impl/unix.cc, line 151.
[ur_ros2_control_node-1] [INFO] [1727077977.848956779] [resource_manager]: Failed to 'configure' hardware 'gripper'
[ur_ros2_control_node-1] [INFO] [1727077977.848964818] [resource_manager]: 'configure' hardware 'ur3' 
[ur_ros2_control_node-1] [INFO] [1727077977.848971215] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1727077977.848988833] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [INFO] [1727077977.850845509] [UR_Client_Library:]: SCHED_FIFO OK, priority 99
[rviz2-7] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[robot_state_publisher-6] [INFO] [1727077977.860404245] [robot_state_publisher]: got segment base
[robot_state_publisher-6] [INFO] [1727077977.860547179] [robot_state_publisher]: got segment base_link
[robot_state_publisher-6] [INFO] [1727077977.860567336] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-6] [INFO] [1727077977.860581954] [robot_state_publisher]: got segment base_table
[robot_state_publisher-6] [INFO] [1727077977.860594578] [robot_state_publisher]: got segment box1
[robot_state_publisher-6] [INFO] [1727077977.860606912] [robot_state_publisher]: got segment box2
[robot_state_publisher-6] [INFO] [1727077977.860618739] [robot_state_publisher]: got segment box3
[robot_state_publisher-6] [INFO] [1727077977.860630081] [robot_state_publisher]: got segment box4
[robot_state_publisher-6] [INFO] [1727077977.860642263] [robot_state_publisher]: got segment ee_link
[robot_state_publisher-6] [INFO] [1727077977.860655621] [robot_state_publisher]: got segment flange
[robot_state_publisher-6] [INFO] [1727077977.860669404] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-6] [INFO] [1727077977.860683389] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-6] [INFO] [1727077977.860725228] [robot_state_publisher]: got segment left_inner_finger
[robot_state_publisher-6] [INFO] [1727077977.860740203] [robot_state_publisher]: got segment left_inner_finger_pad
[robot_state_publisher-6] [INFO] [1727077977.860754627] [robot_state_publisher]: got segment left_inner_knuckle
[robot_state_publisher-6] [INFO] [1727077977.860768244] [robot_state_publisher]: got segment left_outer_finger
[robot_state_publisher-6] [INFO] [1727077977.860781675] [robot_state_publisher]: got segment left_outer_knuckle
[robot_state_publisher-6] [INFO] [1727077977.860795173] [robot_state_publisher]: got segment profile1
[robot_state_publisher-6] [INFO] [1727077977.860808413] [robot_state_publisher]: got segment right_inner_finger
[robot_state_publisher-6] [INFO] [1727077977.860822509] [robot_state_publisher]: got segment right_inner_finger_pad
[robot_state_publisher-6] [INFO] [1727077977.860836028] [robot_state_publisher]: got segment right_inner_knuckle
[robot_state_publisher-6] [INFO] [1727077977.860850059] [robot_state_publisher]: got segment right_outer_finger
[robot_state_publisher-6] [INFO] [1727077977.860863646] [robot_state_publisher]: got segment right_outer_knuckle
[robot_state_publisher-6] [INFO] [1727077977.860876979] [robot_state_publisher]: got segment robotiq_140_base_link
[robot_state_publisher-6] [INFO] [1727077977.860890468] [robot_state_publisher]: got segment robotiq_base_link
[robot_state_publisher-6] [INFO] [1727077977.860903712] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-6] [INFO] [1727077977.860917140] [robot_state_publisher]: got segment tool0
[robot_state_publisher-6] [INFO] [1727077977.860931250] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-6] [INFO] [1727077977.860944597] [robot_state_publisher]: got segment upper_camera_bottom_screw_frame
[robot_state_publisher-6] [INFO] [1727077977.860958541] [robot_state_publisher]: got segment upper_camera_link
[robot_state_publisher-6] [INFO] [1727077977.860971920] [robot_state_publisher]: got segment wall1
[robot_state_publisher-6] [INFO] [1727077977.860984755] [robot_state_publisher]: got segment wall2
[robot_state_publisher-6] [INFO] [1727077977.860997655] [robot_state_publisher]: got segment world
[robot_state_publisher-6] [INFO] [1727077977.861011572] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-6] [INFO] [1727077977.861024919] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-6] [INFO] [1727077977.861038920] [robot_state_publisher]: got segment wrist_3_link
[tool_communication.py-3] [INFO] [1727077977.939777019] [ur_tool_comm]: 172.30.1.193
[tool_communication.py-3] [INFO] [1727077977.941194109] [ur_tool_comm]: Remote device is available at '/tmp/ttyUR'
[tool_communication.py-3] [INFO] [1727077977.941608830] [ur_tool_comm]: Starting socat with following command:
[tool_communication.py-3] socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:172.30.1.193:63352
[rviz2-7] [INFO] [1727077978.196465864] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1727077978.196587356] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[ur_ros2_control_node-1] [INFO] [1727077978.221714540] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1727077978.223108820] [UR_Client_Library:]: Setting up RTDE communication with frequency 125.000000
[rviz2-7] [INFO] [1727077978.226887650] [rviz2]: Stereo is NOT SUPPORTED
[spawner-9] [INFO] [1727077979.986816619] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1727077980.005252107] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1727077980.032449638] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [ERROR] [1727077980.296296932] [UR_Client_Library:]: Could not get response to RTDE communication pause request from robot
[ur_ros2_control_node-1] [FATAL] [1727077981.234680869] [URPositionHardwareInterface]: See parameter use_tool_communication
[ur_ros2_control_node-1] [INFO] [1727077981.234778076] [resource_manager]: Failed to 'configure' hardware 'ur3'
[controller_stopper_node-4] [INFO] [1727077981.242370950] [Controller stopper]: Service available
[controller_stopper_node-4] [INFO] [1727077981.242399667] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-4] [INFO] [1727077981.242416755] [Controller stopper]: Service available
[ur_ros2_control_node-1] [INFO] [1727077981.412623678] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-9] [INFO] [1727077981.431163826] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1727077981.432755091] [controller_manager]: Loading controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1727077981.454835110] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1727077981.455250832] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-10] [INFO] [1727077981.455433239] [spawner_forward_position_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1727077981.469801053] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [WARN] [1727077981.483761912] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ur_ros2_control_node-1] [INFO] [1727077981.485641675] [controller_manager]: Configuring controller 'forward_position_controller'
[spawner-8] [INFO] [1727077981.486488309] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1727077981.486933787] [forward_position_controller]: configure successful
[ur_ros2_control_node-1] [INFO] [1727077981.493920818] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1727077981.494388392] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1727077981.494755275] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1727077981.494958202] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ur_ros2_control_node-1] [INFO] [1727077981.496465951] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1727077981.498137858] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] [ERROR] [1727077981.509469188] [joint_state_broadcaster]: None of requested interfaces exist. Controller will not run.
[ur_ros2_control_node-1] [WARN] [1727077981.509523988] [joint_state_broadcaster]: Error occurred while doing error handling.
[ur_ros2_control_node-1] [ERROR] [1727077981.509547392] [controller_manager]: After activation, controller 'joint_state_broadcaster' is in state 'unconfigured' (1), expected 'active' (3).
[ur_ros2_control_node-1] [ERROR] [1727077981.517786801] [resource_manager]: Not acceptable command interfaces combination: 
[ur_ros2_control_node-1] Start interfaces: 
[ur_ros2_control_node-1] [
[ur_ros2_control_node-1]   shoulder_pan_joint/position
[ur_ros2_control_node-1]   shoulder_lift_joint/position
[ur_ros2_control_node-1]   elbow_joint/position
[ur_ros2_control_node-1]   wrist_1_joint/position
[ur_ros2_control_node-1]   wrist_2_joint/position
[ur_ros2_control_node-1]   wrist_3_joint/position
[ur_ros2_control_node-1] ]
[ur_ros2_control_node-1] Stop interfaces: 
[ur_ros2_control_node-1] [
[ur_ros2_control_node-1] ]
[ur_ros2_control_node-1] Not available: 
[ur_ros2_control_node-1] [
[ur_ros2_control_node-1]  shoulder_pan_joint/position
[ur_ros2_control_node-1]  shoulder_lift_joint/position
[ur_ros2_control_node-1]  elbow_joint/position
[ur_ros2_control_node-1]  wrist_1_joint/position
[ur_ros2_control_node-1]  wrist_2_joint/position
[ur_ros2_control_node-1]  wrist_3_joint/position
[ur_ros2_control_node-1] ]
[ur_ros2_control_node-1] 
[ur_ros2_control_node-1] [ERROR] [1727077981.517814645] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected.
[spawner-8] [ERROR] [1727077981.518455183] [spawner_scaled_joint_trajectory_controller]: Failed to activate controller
[spawner-9] [INFO] [1727077981.518461047] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1727077981.521756008] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-9] [INFO] [1727077981.534402298] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1727077981.535282233] [controller_manager]: Configuring controller 'io_and_status_controller'
[ur_ros2_control_node-1] [ERROR] [1727077981.543046541] [resource_manager]: Not acceptable command interfaces combination: 
[ur_ros2_control_node-1] Start interfaces: 
[ur_ros2_control_node-1] [
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_0
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_1
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_2
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_3
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_4
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_5
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_6
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_7
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_8
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_9
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_10
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_11
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_12
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_13
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_14
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_15
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_16
[ur_ros2_control_node-1]   gpio/standard_digital_output_cmd_17
[ur_ros2_control_node-1]   gpio/standard_analog_output_cmd_0
[ur_ros2_control_node-1]   gpio/standard_analog_output_cmd_1
[ur_ros2_control_node-1]   gpio/tool_voltage_cmd
[ur_ros2_control_node-1]   gpio/io_async_success
[ur_ros2_control_node-1]   speed_scaling/target_speed_fraction_cmd
[ur_ros2_control_node-1]   speed_scaling/target_speed_fraction_async_success
[ur_ros2_control_node-1]   resend_robot_program/resend_robot_program_cmd
[ur_ros2_control_node-1]   resend_robot_program/resend_robot_program_async_success
[ur_ros2_control_node-1]   payload/mass
[ur_ros2_control_node-1]   payload/cog.x
[ur_ros2_control_node-1]   payload/cog.y
[ur_ros2_control_node-1]   payload/cog.z
[ur_ros2_control_node-1]   payload/payload_async_success
[ur_ros2_control_node-1]   zero_ftsensor/zero_ftsensor_cmd
[ur_ros2_control_node-1]   zero_ftsensor/zero_ftsensor_async_success
[ur_ros2_control_node-1]   hand_back_control/hand_back_control_cmd
[ur_ros2_control_node-1]   hand_back_control/hand_back_control_async_success
[ur_ros2_control_node-1] ]
[ur_ros2_control_node-1] Stop interfaces: 
[ur_ros2_control_node-1] [
[ur_ros2_control_node-1] ]
[ur_ros2_control_node-1] Not available: 
[ur_ros2_control_node-1] [
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_0
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_1
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_2
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_3
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_4
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_5
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_6
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_7
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_8
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_9
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_10
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_11
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_12
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_13
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_14
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_15
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_16
[ur_ros2_control_node-1]  gpio/standard_digital_output_cmd_17
[ur_ros2_control_node-1]  gpio/standard_analog_output_cmd_0
[ur_ros2_control_node-1]  gpio/standard_analog_output_cmd_1
[ur_ros2_control_node-1]  gpio/tool_voltage_cmd
[ur_ros2_control_node-1]  gpio/io_async_success
[ur_ros2_control_node-1]  speed_scaling/target_speed_fraction_cmd
[ur_ros2_control_node-1]  speed_scaling/target_speed_fraction_async_success
[ur_ros2_control_node-1]  resend_robot_program/resend_robot_program_cmd
[ur_ros2_control_node-1]  resend_robot_program/resend_robot_program_async_success
[ur_ros2_control_node-1]  payload/mass
[ur_ros2_control_node-1]  payload/cog.x
[ur_ros2_control_node-1]  payload/cog.y
[ur_ros2_control_node-1]  payload/cog.z
[ur_ros2_control_node-1]  payload/payload_async_success
[ur_ros2_control_node-1]  zero_ftsensor/zero_ftsensor_cmd
[ur_ros2_control_node-1]  zero_ftsensor/zero_ftsensor_async_success
[ur_ros2_control_node-1]  hand_back_control/hand_back_control_cmd
[ur_ros2_control_node-1]  hand_back_control/hand_back_control_async_success
[ur_ros2_control_node-1] ]
[ur_ros2_control_node-1] 
[ur_ros2_control_node-1] [ERROR] [1727077981.543107424] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected.
[spawner-9] [ERROR] [1727077981.544187866] [spawner_joint_state_broadcaster]: Failed to activate controller
[ERROR] [spawner-9]: process has died [pid 139634, exit code 1, cmd '/root/ros2_workspace/ur_ws/install/controller_manager/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster robotiq_gripper_controller --ros-args'].
[INFO] [spawner-10]: process has finished cleanly [pid 139636]
[ERROR] [spawner-8]: process has died [pid 139632, exit code 1, cmd '/root/ros2_workspace/ur_ws/install/controller_manager/lib/controller_manager/spawner scaled_joint_trajectory_controller -c /controller_manager --controller-manager-timeout 10 --ros-args'].

Relevant log output

No response

Accept Public visibility

• I agree to make this context public