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Pipeline overflow - ROS control ur5 #207

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runeg96 opened this issue Oct 4, 2018 · 13 comments
Closed

Pipeline overflow - ROS control ur5 #207

runeg96 opened this issue Oct 4, 2018 · 13 comments
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kinetic Issues with the refactor in Kinetic

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@runeg96
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runeg96 commented Oct 4, 2018 •
edited by gavanderhoorn
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When using ros_control for the ur5 with the following command roslaunch ur_modern_driver ur5_ros_control.launch robot_ip:='robot ip'. An issue happen where the robot starts moving/vibrating while given the error "Pipeline producer overflowed! " in the terminal. I don't know what is causing this problem.

This is tried on the ur firmware 3.5.4.10845 (Apr 13 2018), with ros-kinetic
A screenshot of the terminal:

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@gavanderhoorn
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gavanderhoorn commented Oct 4, 2018 •
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I think this is a duplicate of https://github.com/Zagitta/ur_modern_driver/issues/14?

Not that that was resolved, but just making sure we keep things linked.

Also: irrespective of the pipeline overflow issue: the velocity controller is not necessarily stable afaik (but I haven't used it myself).

@runeg96
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runeg96 commented Oct 4, 2018 •
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I can confirm by switching the controller from "vel_based_pos_traj_controller" to pos_based_pos_traj_controller" the pipeline overflow stops, and the robot can be moved through moveit

@gavanderhoorn
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Ok. Also not a solution, but at least a work-around.

@gavanderhoorn gavanderhoorn added the kinetic Issues with the refactor in Kinetic label Oct 5, 2018
@Obbart
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Obbart commented Feb 21, 2019 •
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Hi, I have the same problem described above but with the ur10_ros_control.launch and pos_based_pos_traj_controller.
The robot can be moved for a certain ammount of time even if the error appears, then either it stops either the motion becomes jerky.
In my application the coordinates are sent to the controller from the jog_arm package but the overflow occours even if the jog_arm_server is not running.
Unfortunately this link seems to be broken -> https://github.com/Zagitta/ur_modern_driver/issues/14

@danielkruse
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Hi I'm receiving the same output when attempting to run the ros-control velocity controller. I am seeing the spew of "Pipeline producer overflowed!" output on the terminal.

On the teach pendant (UR5 running polyscope 3.0.xx) I am getting a popup message "Type error: speedj takes exactly 3 arguments (2 given)" and will frequently cause the robot to Fault.

Has there been any work on this / is this the current recommended method for real time control of the robot through ur modern driver?

@gavanderhoorn
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UR5 running polyscope 3.0.xx

Due to inactivity this was not resolved I believe, but versions 3.0 of the system software have been problematic in the past.

Would you have the possibility of upgrading to at least 3.2?

@ThomHordijk
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Hi we are experiencing the same error however for us it happens when we press the emergency stop while the arm is executing its path. It is not possible to recover without turning off the entire program.
Is it possible to terminate the path being executed? Or would the issue be caused by something else?

@danielkruse
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UR5 running polyscope 3.0.xx

Due to inactivity this was not resolved I believe, but versions 3.0 of the system software have been problematic in the past.

Would you have the possibility of upgrading to at least 3.2?

I will upgrade to the most recent 3.2.xxx and get back to you. I guess the arm hadn't received an update since 2014...

@danielkruse
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I updated to 3.2.xx, but ran into 136 so I went ahead and updated to 3.5.xx as the recommended Polyscope target from that thread, but I'm still seeing the "Pipeline producer overflowed!" message when running the ros-control launch.

I seem to be able to actually pass commands to the robot controller now without crashing the robot firmware, but the commands are extremely delayed (on the order of seconds).

@gavanderhoorn
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gavanderhoorn commented Jun 18, 2019 •
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This is probably going to need some proper debugging.

Can you start by copy-pasting a verbatim example of the error? There should be a pipeline name mentioned in the error message. Is it also RTPacket?

Edit: actually: please copy all output from driver start up-to and including the error message.

Please also show the exact roslaunch command you use.

@danielkruse
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This is the full verbose output of roslaunch. The "Pipeline producer overflowed" message started about 5-10 seconds after launch.

roslaunch ur_modern_driver ur5_ros_control.launch robot_ip:=192.168.3.100

started roslaunch server http://localadmin-Precision-5820-Tower:42457/

SUMMARY

PARAMETERS

  • /force_torque_sensor_controller/publish_rate: 125
  • /force_torque_sensor_controller/type: force_torque_sens...
  • /hardware_control_loop/loop_hz: 125
  • /hardware_interface/joints: ['shoulder_pan_jo...
  • /joint_group_vel_controller/joints: ['shoulder_pan_jo...
  • /joint_group_vel_controller/type: velocity_controll...
  • /joint_state_controller/publish_rate: 125
  • /joint_state_controller/type: joint_state_contr...
  • /pos_based_pos_traj_controller/action_monitor_rate: 10
  • /pos_based_pos_traj_controller/constraints/elbow_joint/goal: 0.1
  • /pos_based_pos_traj_controller/constraints/elbow_joint/trajectory: 0.1
  • /pos_based_pos_traj_controller/constraints/goal_time: 0.6
  • /pos_based_pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /pos_based_pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
  • /pos_based_pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /pos_based_pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
  • /pos_based_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
  • /pos_based_pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
  • /pos_based_pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
  • /pos_based_pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
  • /pos_based_pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
  • /pos_based_pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
  • /pos_based_pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
  • /pos_based_pos_traj_controller/joints: ['shoulder_pan_jo...
  • /pos_based_pos_traj_controller/state_publish_rate: 125
  • /pos_based_pos_traj_controller/stop_trajectory_duration: 0.5
  • /pos_based_pos_traj_controller/type: position_controll...
  • /robot_description: <?xml version="1....
  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /ur_hardware_interface/base_frame: base
  • /ur_hardware_interface/max_payload: 3.0
  • /ur_hardware_interface/max_velocity: 10.0
  • /ur_hardware_interface/min_payload: 0.0
  • /ur_hardware_interface/prefix:
  • /ur_hardware_interface/reverse_ip_address:
  • /ur_hardware_interface/reverse_port: 50001
  • /ur_hardware_interface/robot_ip_address: 192.168.3.100
  • /ur_hardware_interface/servoj_gain: 750.0
  • /ur_hardware_interface/shutdown_on_disconnect: True
  • /ur_hardware_interface/tool_frame: tool0_controller
  • /ur_hardware_interface/use_ros_control: True
  • /vel_based_pos_traj_controller/action_monitor_rate: 10
  • /vel_based_pos_traj_controller/constraints/elbow_joint/goal: 0.1
  • /vel_based_pos_traj_controller/constraints/elbow_joint/trajectory: 0.1
  • /vel_based_pos_traj_controller/constraints/goal_time: 0.6
  • /vel_based_pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /vel_based_pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
  • /vel_based_pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /vel_based_pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
  • /vel_based_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
  • /vel_based_pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
  • /vel_based_pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
  • /vel_based_pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
  • /vel_based_pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
  • /vel_based_pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
  • /vel_based_pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
  • /vel_based_pos_traj_controller/gains/elbow_joint/d: 0.1
  • /vel_based_pos_traj_controller/gains/elbow_joint/i: 0.01
  • /vel_based_pos_traj_controller/gains/elbow_joint/i_clamp: 1
  • /vel_based_pos_traj_controller/gains/elbow_joint/p: 1.2
  • /vel_based_pos_traj_controller/gains/shoulder_lift_joint/d: 0.1
  • /vel_based_pos_traj_controller/gains/shoulder_lift_joint/i: 0.01
  • /vel_based_pos_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
  • /vel_based_pos_traj_controller/gains/shoulder_lift_joint/p: 1.2
  • /vel_based_pos_traj_controller/gains/shoulder_pan_joint/d: 0.1
  • /vel_based_pos_traj_controller/gains/shoulder_pan_joint/i: 0.01
  • /vel_based_pos_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
  • /vel_based_pos_traj_controller/gains/shoulder_pan_joint/p: 1.2
  • /vel_based_pos_traj_controller/gains/wrist_1_joint/d: 0.1
  • /vel_based_pos_traj_controller/gains/wrist_1_joint/i: 0.01
  • /vel_based_pos_traj_controller/gains/wrist_1_joint/i_clamp: 1
  • /vel_based_pos_traj_controller/gains/wrist_1_joint/p: 1.2
  • /vel_based_pos_traj_controller/gains/wrist_2_joint/d: 0.1
  • /vel_based_pos_traj_controller/gains/wrist_2_joint/i: 0.01
  • /vel_based_pos_traj_controller/gains/wrist_2_joint/i_clamp: 1
  • /vel_based_pos_traj_controller/gains/wrist_2_joint/p: 1.2
  • /vel_based_pos_traj_controller/gains/wrist_3_joint/d: 0.1
  • /vel_based_pos_traj_controller/gains/wrist_3_joint/i: 0.01
  • /vel_based_pos_traj_controller/gains/wrist_3_joint/i_clamp: 1
  • /vel_based_pos_traj_controller/gains/wrist_3_joint/p: 1.2
  • /vel_based_pos_traj_controller/joints: ['shoulder_pan_jo...
  • /vel_based_pos_traj_controller/state_publish_rate: 125
  • /vel_based_pos_traj_controller/stop_trajectory_duration: 0.5
  • /vel_based_pos_traj_controller/type: velocity_controll...
  • /vel_based_pos_traj_controller/velocity_ff/elbow_joint: 1.0
  • /vel_based_pos_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
  • /vel_based_pos_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
  • /vel_based_pos_traj_controller/velocity_ff/wrist_1_joint: 1.0
  • /vel_based_pos_traj_controller/velocity_ff/wrist_2_joint: 1.0
  • /vel_based_pos_traj_controller/velocity_ff/wrist_3_joint: 1.0

NODES
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ros_control_controller_manager (controller_manager/controller_manager)
ros_control_controller_spawner (controller_manager/spawner)
ur_hardware_interface (ur_modern_driver/ur_driver)

auto-starting new master
process[master]: started with pid [9896]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ed771b14-9207-11e9-bf24-54bf64a327d6
process[rosout-1]: started with pid [9909]
started core service [/rosout]
process[ur_hardware_interface-2]: started with pid [9926]
process[ros_control_controller_spawner-3]: started with pid [9927]
process[ros_control_controller_manager-4]: started with pid [9928]
process[robot_state_publisher-5]: started with pid [9937]
[INFO] [1560889836.939756]: Controller Spawner: Waiting for service controller_manager/load_controller
Loaded pos_based_pos_traj_controller
Loaded joint_group_vel_controller
[INFO] [1560889837.244148]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1560889837.246657]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1560889837.248709]: Loading controller: joint_state_controller
[INFO] [1560889837.256904]: Loading controller: force_torque_sensor_controller
[INFO] [1560889837.263650]: Loading controller: vel_based_pos_traj_controller
[ros_control_controller_manager-4] process has finished cleanly
log file: /home/e31098/.ros/log/ed771b14-9207-11e9-bf24-54bf64a327d6/ros_control_controller_manager-4*.log
[INFO] [1560889837.556886]: Controller Spawner: Loaded controllers: joint_state_controller, force_torque_sensor_controller, vel_based_pos_traj_controller
[INFO] [1560889837.587212]: Started controllers: joint_state_controller, force_torque_sensor_controller, vel_based_pos_traj_controller
[ERROR] [1560889875.121085676]: Pipeline producer overflowed! [ERROR] [1560889875.129009870]: Pipeline producer overflowed!
[ERROR] [1560889875.1369
95574]: Pipeline producer overflowed!
[ERROR] [1560889875.145098228]: Pipeline producer overflowed!
[ERROR] [1560889875.153102114]: Pipeline producer overflowed!
[ERROR] [1560889875.161103043]: Pipeline producer overflowed!
[ERROR] [1560889875.169108359]: Pipeline producer overflowed!
[ERROR] [1560889875.177085054]: Pipeline producer overflowed!
[ERROR] [1560889875.185102811]: Pipeline producer overflowed!

etc...

@gavanderhoorn gavanderhoorn added the wrid19 World ROS-Industrial Day 2019 label Jun 28, 2019
@gavanderhoorn gavanderhoorn removed the wrid19 World ROS-Industrial Day 2019 label Jul 17, 2019
@gavanderhoorn
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I'm closing this as we've officially deprecated this package.

Refer to the announcement on ROS Discourse.

@gavanderhoorn
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UniversalRobots/Universal_Robots_ROS_Driver#6 seems like a similar issue in ur_robot_driver that should have been fixed in UniversalRobots/Universal_Robots_ROS_Driver#18.

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@danielkruse @gavanderhoorn @Obbart @runeg96 @ThomHordijk