Ros2 Examples

[becketps]

Affected ROS2 Driver version(s)

Humble with Polyscope X

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

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.

URSim in docker

Robot SW / URSim version(s)

URSim 10.9

How is the ROS driver used.

Headless without using the teach pendant

Issue details

Summary

Short introduction to the issue and how it impact you and why

I tested the Ros2 examples on this page with ursim 10.9 and the started ros2 controll build from source to check the example_move.py
The example_move worked the first example not yet.

I successfully connected to the external control.

Issue details

Detailed description help us understand the problem. Code are welcome!

I successfully started the ROS 2 driver and again pressed play on the browser and then executed:

  ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py

The Robot was in the right joint position to check as this page describes.

This resulted in the following output without movement:

INFO] [launch]: All log files can be found below /home/aut-laptop/.ros/log/2025-07-06-23-18-55-974899-msi-152191
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [publisher_joint_trajectory_controller-1]: process started with pid [152193]
[publisher_joint_trajectory_controller-1] [INFO] [1751836736.200865891] [publisher_scaled_joint_trajectory_controller]: Goal "pos1" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.785, -1.57, 0.785, 0.785, 0.785, 0.785], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))

Steps to Reproduce

Make simple example to reproduce the issue. Try to remove dependencies to other hardware and software components, if it is possible.

Start URSim 10.9 for polyscope

  ./start_ursim.sh -v 10.9.0 -m ur15

Start the ros2 from source and source it or just start it with the binary installation.

ros2 launch ur_robot_driver ur_control.launch.py \
  ur_type:=ur15 \
  robot_ip:=192.168.56.101 \
  launch_rviz:=true

do not forget to click on play again it always stops and then run the example move

 ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py

Expected Behavior

What did you expect and why?

I did expect that the robot moves. Are there tests where I can do a simple movememnt via a publisher command for example move 2cm down? Is it possible with inverse kinematic to check the position for testing?

Actual Behavior

What did you observe? If possible please attach relevant information.

No movement and the output mentioned on the top.

Does it have an influence if I run it on a jetson orin or normal PC? I did it only with a PC with Ubuntu 22.04 so far. Thanks in advance.

Relevant log output

ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py
[INFO] [launch]: All log files can be found below /home/aut-laptop/.ros/log/2025-07-06-23-18-55-974899-msi-152191
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [publisher_joint_trajectory_controller-1]: process started with pid [152193]
[publisher_joint_trajectory_controller-1] [INFO] [1751836736.200865891] [publisher_scaled_joint_trajectory_controller]: Goal "pos1" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.785, -1.57, 0.785, 0.785, 0.785, 0.785], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))
[publisher_joint_trajectory_controller-1] [INFO] [1751836736.201729257] [publisher_scaled_joint_trajectory_controller]: Goal "pos2" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, 0.0, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))
[publisher_joint_trajectory_controller-1] [INFO] [1751836736.202444471] [publisher_scaled_joint_trajectory_controller]: Goal "pos3" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, -0.785, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))
[publisher_joint_trajectory_controller-1] [INFO] [1751836736.203138739] [publisher_scaled_joint_trajectory_controller]: Goal "pos4" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, 0.0, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))
[publisher_joint_trajectory_controller-1] [INFO] [1751836736.203282791] [publisher_scaled_joint_trajectory_controller]: Publishing 4 goals on topic "/scaled_joint_trajectory_controller/joint_trajectory" every {wait_sec_between_publish} s
[publisher_joint_trajectory_controller-1] [WARN] [1751836742.204955867] [publisher_scaled_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1751836748.204904724] [publisher_scaled_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1751836754.205041529] [publisher_scaled_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1751836760.204926011] [publisher_scaled_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1751836766.204650496] [publisher_scaled_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1751836772.205093504] [publisher_scaled_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1751836778.205177555] [publisher_scaled_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!

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[urfeex]

I can reproduce this. (Only tested on Humble).

If I first execute a trajectory using the action interface (e.g. through the example move) and then use the test that uses the topic interface, it works. I suspect a regression in the JTC?

Edit: Cannot reproduce this on Rolling

[becketps]

I also use Humble. The example move is correct yes but the section above does not work. Always the error as above is shown even near to the position when executing. It does it each time. How do you think to fix it with the JTC?

       ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py

ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [publisher_joint_trajectory_controller-1]: process started with pid [21985]
[publisher_joint_trajectory_controller-1] [INFO] [1752444474.906415419] [publisher_scaled_joint_trajectory_controller]: Goal "pos1" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.785, -1.57, 0.785, 0.785, 0.785, 0.785], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))
[publisher_joint_trajectory_controller-1] [INFO] [1752444474.907297669] [publisher_scaled_joint_trajectory_controller]: Goal "pos2" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, 0.0, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))
[publisher_joint_trajectory_controller-1] [INFO] [1752444474.908078087] [publisher_scaled_joint_trajectory_controller]: Goal "pos3" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, -0.785, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))
[publisher_joint_trajectory_controller-1] [INFO] [1752444474.908817635] [publisher_scaled_joint_trajectory_controller]: Goal "pos4" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, 0.0, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))
[publisher_joint_trajectory_controller-1] [INFO] [1752444474.908970034] [publisher_scaled_joint_trajectory_controller]: Publishing 4 goals on topic "/scaled_joint_trajectory_controller/joint_trajectory" every {wait_sec_between_publish} s
[publisher_joint_trajectory_controller-1] [WARN] [1752444474.910400123] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint shoulder_lift_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1752444474.910576520] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint elbow_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1752444474.910739530] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint wrist_1_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1752444474.910909337] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint wrist_2_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1752444474.911081952] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint wrist_3_joint !