Joint Tracking controller not reacting to /joint_tracking_controller/joint_trajectory message

[GiantMGG]

Affected ROS2 Driver version(s)

2.8.1-1 jammy

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Docker

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

UR E-series robot, URSim in docker

Robot SW / URSim version(s)

5.21

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

I am using the joint trajectory controller for a UR5e. I am planning joint trajectories in a MPC (model predictive control) manner with 20 Hz which I send over the /joint_trajectory_controller/joint_trajectory controller. Most of the time this works well. But sometimes the joint_trajectory_controller does not react to the messages I send, but there is no error message. A pure restart solves the issue. I cannot reliably reproduce this issue.

Issue details

I am using this command "ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=xxx.xxx.xxx.xxx initial_joint_controller:=joint_trajectory_controller use_fake_hardware:=true launch_rviz:=true" to start the mockup robot. The same issue also persists when using the real robot, though.

On the topic /joint_trajectory_controller/controller_state, the desired trajectories are not displayed. In the case, when the controller reacts to my trajectories, I can see my trajectories under "desired". So listening to this topic is the only way I found so far to narrow down the problem to the joint_trajectory_controller.
With "ros2 control list_controllers", the joint_trajectory_controller is listed as active.

I am running everything inside a docker container with Ubuntu 22. My setup used to work reliably until I made some changes recently, including upgrading from an old ROS2 UR_driver version.

I have also tried to send just a single trajectory to the controller via cli, but that did not get the controller to accept the trajectory.

Steps to Reproduce

I cannot reliably reproduce this issue. Most of the time rebuilding the docker container solves the issue. Most of the time just restarting the ROS node for the UR_driver solves the issue as well.

Expected Behavior

I would expect the joint trajectory controller to accept and execute the trajectories it recieves, or at least print error messages.

Actual Behavior

I attached 2 log outputs: One in the case where the controller reacted to commanded trajectories, and one, where it did not react.

Workaround Suggestion

Restarting or rebuilding the docker container

Relevant log output

In this case, the controller did not react to the commanded trajectories:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=xxx.xxx.xxx.xxx initial_joint_controller:=joint_trajectory_controller use_fake_hardware:=true launch_rviz:=true
groot@ess-kerbin:~/telemanipulation_ws$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=xxx.xxx.xxx.xxx initial_joint_controller:=joint_trajectory_controller use_fake_hardware:=true launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/groot/.ros/log/2025-07-18-11-44-16-390348-ess-kerbin-26048
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [26237]
[INFO] [urscript_interface-2]: process started with pid [26239]
[INFO] [robot_state_publisher-3]: process started with pid [26241]
[INFO] [rviz2-4]: process started with pid [26243]
[INFO] [spawner-5]: process started with pid [26245]
[INFO] [spawner-6]: process started with pid [26247]
[ros2_control_node-1] [WARN] [1752839056.768995170] [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.
[ros2_control_node-1] [INFO] [1752839056.769339519] [resource_manager]: Loading hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839056.769693358] [resource_manager]: Initialize hardware 'ur5e'
[ros2_control_node-1] [WARN] [1752839056.769719168] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-1] [WARN] [1752839056.769795218] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example:
[ros2_control_node-1] <state_interface name="velocity">
[ros2_control_node-1]   <param name="initial_value">0.0</param>
[ros2_control_node-1] </state_interface>
[ros2_control_node-1] [INFO] [1752839056.769801218] [resource_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839056.769994458] [resource_manager]: 'configure' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839056.770000998] [resource_manager]: Successful 'configure' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839056.770027897] [resource_manager]: 'activate' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839056.770032147] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839056.774404258] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1752839056.774430618] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1752839056.774872388] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[robot_state_publisher-3] [INFO] [1752839056.783701079] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1752839056.784070918] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1752839056.784077548] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1752839056.784082938] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1752839056.784087418] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1752839056.784091278] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-3] [INFO] [1752839056.784094918] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1752839056.784098578] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1752839056.784102188] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1752839056.784105938] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1752839056.784109818] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1752839056.784113718] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1752839056.784117348] [robot_state_publisher]: got segment wrist_3_link
[rviz2-4] [INFO] [1752839056.940960191] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1752839056.941107831] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[ros2_control_node-1] [INFO] [1752839056.978616363] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1752839056.986455507] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1752839056.993500892] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[ros2_control_node-1] [WARN] [1752839056.994471270] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[rviz2-4] [INFO] [1752839056.996685805] [rviz2]: Stereo is NOT SUPPORTED
[spawner-5] [INFO] [1752839057.000627497] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1752839057.001662475] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1752839057.001796735] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1752839057.010302647] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1752839057.011173805] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1752839057.011303975] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1752839057.011320615] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1752839057.011341475] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[spawner-5] [INFO] [1752839057.011839084] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1752839057.011954824] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-1] [INFO] [1752839057.013147271] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1752839057.017529632] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1752839057.023143740] [controller_manager]: Loading controller 'forward_velocity_controller'
[spawner-5] [INFO] [1752839057.023682249] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1752839057.029078198] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-6] [INFO] [1752839057.029646567] [spawner_scaled_joint_trajectory_controller]: Loaded forward_velocity_controller
[ros2_control_node-1] [INFO] [1752839057.031230743] [controller_manager]: Configuring controller 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1752839057.031753112] [forward_velocity_controller]: configure successful
[spawner-5] [INFO] [1752839057.042178221] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ros2_control_node-1] [INFO] [1752839057.042267340] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-6] [INFO] [1752839057.049669215] [spawner_scaled_joint_trajectory_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1752839057.049794605] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1752839057.059647224] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[ros2_control_node-1] [INFO] [1752839057.061405501] [controller_manager]: Configuring controller 'forward_position_controller'
[spawner-5] [INFO] [1752839057.061918440] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1752839057.062520068] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1752839057.063255457] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1752839057.063289167] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [INFO] [1752839057.069110355] [controller_manager]: Loading controller 'force_mode_controller'
[spawner-5] [INFO] [1752839057.069557094] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[spawner-6] [INFO] [1752839057.075899720] [spawner_scaled_joint_trajectory_controller]: Loaded force_mode_controller
[ros2_control_node-1] [INFO] [1752839057.076083560] [controller_manager]: Configuring controller 'force_mode_controller'
[ros2_control_node-1] [INFO] [1752839057.081168359] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-5] [INFO] [1752839057.089774571] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1752839057.089993461] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1752839057.093257504] [controller_manager]: Loading controller 'passthrough_trajectory_controller'
[spawner-6] [INFO] [1752839057.101719397] [spawner_scaled_joint_trajectory_controller]: Loaded passthrough_trajectory_controller
[ros2_control_node-1] [INFO] [1752839057.107746004] [controller_manager]: Configuring controller 'passthrough_trajectory_controller'
[spawner-5] [INFO] [1752839057.108422723] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1752839057.112626744] [controller_manager]: Loading controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1752839057.121609385] [controller_manager]: Loading controller 'freedrive_mode_controller'
[spawner-5] [INFO] [1752839057.122437823] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1752839057.131168625] [controller_manager]: Configuring controller 'ur_configuration_controller'
[spawner-6] [INFO] [1752839057.131959564] [spawner_scaled_joint_trajectory_controller]: Loaded freedrive_mode_controller
[ros2_control_node-1] [INFO] [1752839057.133168591] [controller_manager]: Configuring controller 'freedrive_mode_controller'
[spawner-5] [INFO] [1752839057.139958617] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [INFO] [1752839057.142496902] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-1] [WARN] [1752839057.154521907] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-1] [INFO] [1752839057.155377755] [controller_manager]: Loading controller 'tool_contact_controller'
[spawner-5] [INFO] [1752839057.155831444] [spawner_joint_state_broadcaster]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1752839057.163301898] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1752839057.163437748] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1752839057.163452938] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1752839057.163463368] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1752839057.163840037] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[spawner-6] [INFO] [1752839057.163910857] [spawner_scaled_joint_trajectory_controller]: Loaded tool_contact_controller
[ros2_control_node-1] [INFO] [1752839057.164971935] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1752839057.169219336] [controller_manager]: Configuring controller 'tool_contact_controller'
[spawner-5] [INFO] [1752839057.180063473] [spawner_joint_state_broadcaster]: Configured and activated joint_trajectory_controller
[INFO] [spawner-6]: process has finished cleanly [pid 26247]
[INFO] [spawner-5]: process has finished cleanly [pid 26245]





In this case the robot DID react to the commanded trajectories:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=xxx.xxx.xxx.xxx initial_joint_controller:=joint_trajectory_controller use_fake_hardware:=true launch_rviz:=true
groot@ess-kerbin:~/telemanipulation_ws$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=xxx.xxx.xxx.xxx initial_joint_controller:=joint_trajectory_controller use_fake_hardware:=true launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/groot/.ros/log/2025-07-18-11-45-40-650448-ess-kerbin-27437
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [27636]
[INFO] [urscript_interface-2]: process started with pid [27638]
[INFO] [robot_state_publisher-3]: process started with pid [27640]
[INFO] [rviz2-4]: process started with pid [27642]
[INFO] [spawner-5]: process started with pid [27644]
[INFO] [spawner-6]: process started with pid [27646]
[ros2_control_node-1] [WARN] [1752839141.106630657] [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.
[ros2_control_node-1] [INFO] [1752839141.107050256] [resource_manager]: Loading hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839141.107497705] [resource_manager]: Initialize hardware 'ur5e'
[ros2_control_node-1] [WARN] [1752839141.107527835] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-1] [WARN] [1752839141.107615265] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example:
[ros2_control_node-1] <state_interface name="velocity">
[ros2_control_node-1]   <param name="initial_value">0.0</param>
[ros2_control_node-1] </state_interface>
[ros2_control_node-1] [INFO] [1752839141.107623855] [resource_manager]: Successful initialization of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839141.107843525] [resource_manager]: 'configure' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839141.107851985] [resource_manager]: Successful 'configure' of hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839141.107881214] [resource_manager]: 'activate' hardware 'ur5e'
[ros2_control_node-1] [INFO] [1752839141.107886364] [resource_manager]: Successful 'activate' of hardware 'ur5e'
[robot_state_publisher-3] [INFO] [1752839141.119808729] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1752839141.119896769] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1752839141.119902479] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1752839141.119906289] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1752839141.119909889] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1752839141.119917339] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-3] [INFO] [1752839141.119920959] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1752839141.119924569] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1752839141.119927979] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1752839141.119931269] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1752839141.119934599] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1752839141.119937889] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1752839141.119941349] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-1] [INFO] [1752839141.423489094] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1752839141.423518784] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1752839141.423614264] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] [INFO] [1752839141.428567884] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1752839141.439297781] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[ros2_control_node-1] [WARN] [1752839141.441802055] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-1] [INFO] [1752839141.450329657] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1752839141.461266624] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1752839141.462051392] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1752839141.462218832] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1752839141.462237512] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1752839141.462256042] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1752839141.463312810] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-1] [INFO] [1752839141.465367175] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1752839141.470563644] [controller_manager]: Loading controller 'forward_velocity_controller'
[spawner-5] [INFO] [1752839141.474838725] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1752839141.477928779] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1752839141.477978669] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1752839141.478449188] [spawner_scaled_joint_trajectory_controller]: Loaded forward_velocity_controller
[ros2_control_node-1] [INFO] [1752839141.479880595] [controller_manager]: Configuring controller 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1752839141.480432633] [forward_velocity_controller]: configure successful
[spawner-5] [INFO] [1752839141.486467261] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1752839141.486489921] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-6] [INFO] [1752839141.494530404] [spawner_scaled_joint_trajectory_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1752839141.494546664] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1752839141.502225237] [controller_manager]: Configuring controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1752839141.502868716] [forward_position_controller]: configure successful
[spawner-5] [INFO] [1752839141.502907476] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1752839141.504421383] [controller_manager]: Configuring controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1752839141.510146750] [controller_manager]: Loading controller 'force_mode_controller'
[spawner-6] [INFO] [1752839141.534508419] [spawner_scaled_joint_trajectory_controller]: Loaded force_mode_controller
[rviz2-4] [INFO] [1752839141.543169720] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1752839141.543382450] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[ros2_control_node-1] [INFO] [1752839141.543333110] [controller_manager]: Configuring controller 'force_mode_controller'
[spawner-5] [INFO] [1752839141.543835819] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ros2_control_node-1] [INFO] [1752839141.548677159] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1752839141.554866605] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[ros2_control_node-1] [INFO] [1752839141.556085093] [controller_manager]: Loading controller 'passthrough_trajectory_controller'
[spawner-5] [INFO] [1752839141.556619012] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1752839141.563926566] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1752839141.563976096] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[spawner-6] [INFO] [1752839141.564565955] [spawner_scaled_joint_trajectory_controller]: Loaded passthrough_trajectory_controller
[ros2_control_node-1] [INFO] [1752839141.565945732] [controller_manager]: Configuring controller 'passthrough_trajectory_controller'
[spawner-5] [INFO] [1752839141.574545494] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1752839141.575307062] [controller_manager]: Loading controller 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1752839141.581994148] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-6] [INFO] [1752839141.582621337] [spawner_scaled_joint_trajectory_controller]: Loaded freedrive_mode_controller
[rviz2-4] [INFO] [1752839141.585038361] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-1] [INFO] [1752839141.590033411] [controller_manager]: Configuring controller 'freedrive_mode_controller'
[spawner-5] [INFO] [1752839141.590576500] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1752839141.591973877] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1752839141.597943264] [controller_manager]: Loading controller 'tool_contact_controller'
[spawner-5] [INFO] [1752839141.598444403] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[spawner-6] [INFO] [1752839141.604504370] [spawner_scaled_joint_trajectory_controller]: Loaded tool_contact_controller
[ros2_control_node-1] [INFO] [1752839141.604713910] [controller_manager]: Configuring controller 'tool_contact_controller'
[ros2_control_node-1] [INFO] [1752839141.609889489] [controller_manager]: Loading controller 'ur_configuration_controller'
[spawner-5] [INFO] [1752839141.618475200] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1752839141.618781010] [controller_manager]: Configuring controller 'ur_configuration_controller'
[spawner-5] [INFO] [1752839141.626358774] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [INFO] [1752839141.627450041] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-1] [WARN] [1752839141.636709482] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-5] [INFO] [1752839141.638624108] [spawner_joint_state_broadcaster]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1752839141.638995857] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1752839141.639100357] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1752839141.639111077] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1752839141.639121167] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1752839141.639770375] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-1] [INFO] [1752839141.641866021] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-5] [INFO] [1752839141.652789508] [spawner_joint_state_broadcaster]: Configured and activated joint_trajectory_controller
[INFO] [spawner-6]: process has finished cleanly [pid 27646]
[INFO] [spawner-5]: process has finished cleanly [pid 27644]

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[urfeex]

Just for clarification: You use the command topic, not the action interface, right? It appears that there are issues with the controller's command topic, as reported in #1459 and #1446. Is this potentially a duplicate of one of these?

Currently, to me this looks like a regression in the controller, not necessarily the driver. Especially since you seem to be able to reproduce that using mock hardware.

[GiantMGG]

Yes, I am using the command topic.

I had a look at those two issues. It seems that they might describe the same problem.

I now can reproduce the following in case, when the JTC does not react to the topic command. I switched to the scaled JTC for these tests:

1. Running "ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py" did not lead to a movement.
2. Running "ros2 run ur_robot_driver example_move.py" --> Robot moved.
3. Running 1. again worked now as well.

So it seems to be correct, that the JTC starts reacting to topic commands after an action command.

Would you suggest to migrate back to an older version of the control package?

[urfeex]

I would suggest opening an issue at ros2_controllers, preferably with a less complex system. Since you seem to be able to reproduce this with mock hardware, it might be interesting to reproduce it with a simpler / dummy URDF. That would clearly pinpoint it to the controller.

[urfeex]

Update: This has already been reported and fixed in ros-controls/ros2_controllers#1749 (or ros-controls/ros2_controllers#1765 for Humble). There is a new sync coming up today containing this fix. So, you should be able to update tomorrow to get that problem fixed.

[GiantMGG]

Thanks for the support. The problem seems to be fixed now.

The sync is (to my understanding) still pending. So I installed the latest JTC from source (https://github.com/ros-controls/ros2_controllers/tree/f1bc4f8cd7d3ba9f5e2c79ca2515f28c32c4691d).

This issue can be closed.

[urfeex]

Thank you for coming back to this.