kinetic, ursim3.12.It compiles fine, and I can run the launch file, but then get this;
ljx912912 opened this issue · comments
... logging to /home/ljx/.ros/log/8a0d28b8-3140-11ec-bd80-9cda3ed5910c/roslaunch-ljx-Inspiron-14-7000-Gaming-5399.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ljx-Inspiron-14-7000-Gaming:42105/
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.17
* /ur_driver/base_frame: base
* /ur_driver/max_joint_difference: 0.01
* /ur_driver/max_payload: 10.0
* /ur_driver/max_velocity: 10.0
* /ur_driver/max_waiting_time: 2.0
* /ur_driver/min_payload: 0.0
* /ur_driver/prefix:
* /ur_driver/require_activation: Never
* /ur_driver/reverse_ip_address:
* /ur_driver/reverse_port: 50001
* /ur_driver/robot_ip_address: 127.0.0.1
* /ur_driver/servoj_gain: 100.0
* /ur_driver/servoj_lookahead_time: 1.0
* /ur_driver/servoj_time: 0.008
* /ur_driver/servoj_time_waiting: 0.001
* /ur_driver/shutdown_on_disconnect: True
* /ur_driver/time_interval: 0.008
* /ur_driver/tool_frame: tool0_controller
* /ur_driver/use_lowbandwidth_trajectory_follower: False
* /ur_driver/use_ros_control: False
NODES
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ur_driver (ur_modern_driver/ur_driver)
auto-starting new master
process[master]: started with pid [5412]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8a0d28b8-3140-11ec-bd80-9cda3ed5910c
process[rosout-1]: started with pid [5425]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [5442]
process[ur_driver-3]: started with pid [5443]
[ INFO] [1634691381.308216799]: Setting up connection: 127.0.0.1:30003
[ INFO] [1634691381.308290106]: Connection established for 127.0.0.1:30003
[ INFO] [1634691381.308315159]: Setting up connection: 127.0.0.1:30001
[ INFO] [1634691381.308342012]: Connection established for 127.0.0.1:30001
[ INFO] [1634691381.351920261]: Got VersionMessage:
[ INFO] [1634691381.351971701]: project name: URControl
[ INFO] [1634691381.351991117]: version: 3.12.1
[ INFO] [1634691381.352007243]: build date: 17-02-2020, 15:18:24
[ INFO] [1634691381.352027658]: Disconnecting from 127.0.0.1:30001
[ INFO] [1634691381.370509425]: ActionServer enabled
[ INFO] [1634691381.370588571]: Use standard trajectory follower
[ INFO] [1634691381.374325646]: Setting up connection: :50001
[ INFO] [1634691381.374592454]: Connection established for :50001
[ INFO] [1634691381.374745780]: Initializing ur_driver/URScript subscriber
[ INFO] [1634691381.382048076]: The ur_driver/URScript initialized
[ INFO] [1634691381.382109976]: Notifier: Pipeline disconnect will shutdown the node
[ INFO] [1634691381.392612498]: Service 'ur_driver/robot_enable' activation mode: Never
[ INFO] [1634691381.392676523]: Starting main loop
[ INFO] [1634691381.392985421]: Setting up connection: 127.0.0.1:30003
[ INFO] [1634691381.393063094]: Starting pipeline RTPacket
[ INFO] [1634691381.393131991]: Connection established for 127.0.0.1:30003
[ INFO] [1634691381.393245223]: Setting up connection: 127.0.0.1:30002
[ INFO] [1634691381.393347987]: Starting pipeline StatePacket
[ INFO] [1634691381.393402422]: Connection established for 127.0.0.1:30002
[ INFO] [1634691381.396468488]: Starting ActionServer
[ INFO] [1634691381.396861156]: Trajectory thread started
[ERROR] [1634691381.409427430]: Sub-package of type 3 was not parsed completely!
[ INFO] [1634691381.409503596]: Disconnecting from 127.0.0.1:30002
[ INFO] [1634691381.409565781]: Shutting down on stopped pipeline StatePacket
[ur_driver-3] process has died [pid 5443, exit code -11, cmd /home/ljx/li/devel/lib/ur_modern_driver/ur_driver __name:=ur_driver __log:=/home/ljx/.ros/log/8a0d28b8-3140-11ec-bd80-9cda3ed5910c/ur_driver-3.log].
log file: /home/ljx/.ros/log/8a0d28b8-3140-11ec-bd80-9cda3ed5910c/ur_driver-3*.log
Could you please confirm you've seen the deprecation notice in the readme?
For anything which is not a CB2, you should not be using this driver.
Please use UniversalRobots/Universal_Robots_ROS_Driver instead.