Driver on jazzy doesn't work when using use_mock_hardware flag

[PietroValerio]

Affected ROS2 Driver version(s)

3.0.0-1noble.20241228.020252 amd64

Used ROS distribution.

Other

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

UR E-series robot, Real robot, URSim in docker

Robot SW / URSim version(s)

5.19

How is the ROS driver used.

Others

Issue details

Summary

When launching the launchfile for starting the controller, i get all the messages reported below, also trying to start moveit servo via their cpp api, doesn't work because you get this message [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation when the same code used to work on binary version 2.4.13

Steps to Reproduce

Run the driver launch file with the flag use_mock_hardware:=true, also try it on the example cell configuration https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials you get the same errors

Expected Behavior

No errors because in the last version my code worked in simulation and i tested it on real hardware (ur10e)

Actual Behavior

The errors shown below and servoing not working

Relevant log output

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.166.43.22 use_mock_hardware:=true launch_rviz:=false
[INFO] [launch]: All log files can be found below /home/pietro/.ros/log/2025-01-11-22-09-23-432808-pietro-86197
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [86201]
[INFO] [robot_state_publisher-2]: process started with pid [86202]
[INFO] [spawner-3]: process started with pid [86203]
[INFO] [spawner-4]: process started with pid [86204]
[robot_state_publisher-2] [INFO] [1736629763.730426005] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1736629763.749630194] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1736629763.749740622] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1736629763.749746503] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1736629763.749822416] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). 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] [1736629763.759884468] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] [INFO] [1736629763.764349807] [controller_manager.resource_manager]: Loading hardware 'ur10e' 
[ros2_control_node-1] [INFO] [1736629763.765096996] [controller_manager.resource_manager]: Loaded hardware 'ur10e' from plugin 'mock_components/GenericSystem'
[ros2_control_node-1] [INFO] [1736629763.765131582] [controller_manager.resource_manager]: Initialize hardware 'ur10e' 
[ros2_control_node-1] [INFO] [1736629763.765350925] [controller_manager.resource_manager]: Successful initialization of hardware 'ur10e'
[ros2_control_node-1] [WARN] [1736629763.765462135] [controller_manager.resource_manager]: Importing state interfaces for the hardware 'ur10e' returned no state interfaces.
[ros2_control_node-1] [INFO] [1736629763.765667692] [resource_manager]: 'configure' hardware 'ur10e' 
[ros2_control_node-1] [INFO] [1736629763.765674185] [resource_manager]: Successful 'configure' of hardware 'ur10e'
[ros2_control_node-1] [INFO] [1736629763.765701456] [resource_manager]: 'activate' hardware 'ur10e' 
[ros2_control_node-1] [INFO] [1736629763.765705544] [resource_manager]: Successful 'activate' of hardware 'ur10e'
[ros2_control_node-1] [INFO] [1736629763.765716484] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[ros2_control_node-1] [INFO] [1736629763.969198314] [controller_manager]: Loading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
[ros2_control_node-1] [INFO] [1736629763.969232519] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1736629763.973713207] [controller_manager]: Controller 'joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[ros2_control_node-1] [INFO] [1736629763.990142675] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1736629763.990172260] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1736629763.992644762] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[spawner-4] [INFO] [1736629764.000983144] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1736629764.002205859] [controller_manager]: Configuring controller: 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1736629764.002367865] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1736629764.002391760] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1736629764.002427758] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1736629764.006755357] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1736629764.011636992] [controller_manager]: Loading controller : 'forward_velocity_controller' of type 'velocity_controllers/JointGroupVelocityController'
[ros2_control_node-1] [INFO] [1736629764.011654024] [controller_manager]: Loading controller 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1736629764.012726746] [controller_manager]: Controller 'forward_velocity_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[spawner-3] [INFO] [1736629764.013411578] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1736629764.020081664] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1736629764.020116950] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-4] [INFO] [1736629764.020723714] [spawner_joint_trajectory_controller]: Loaded forward_velocity_controller
[ros2_control_node-1] [INFO] [1736629764.026221290] [controller_manager]: Configuring controller: 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1736629764.026950615] [forward_velocity_controller]: configure successful
[ros2_control_node-1] [INFO] [1736629764.028110913] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[spawner-3] [INFO] [1736629764.032817808] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1736629764.033333079] [controller_manager]: Loading controller : 'forward_position_controller' of type 'position_controllers/JointGroupPositionController'
[ros2_control_node-1] [INFO] [1736629764.033359459] [controller_manager]: Loading controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1736629764.034224841] [controller_manager]: Controller 'forward_position_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[spawner-4] [INFO] [1736629764.042746548] [spawner_joint_trajectory_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1736629764.043088533] [controller_manager]: Loading controller : 'io_and_status_controller' of type 'ur_controllers/GPIOController'
[ros2_control_node-1] [INFO] [1736629764.043115013] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1736629764.047636809] [controller_manager]: Controller 'io_and_status_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[ros2_control_node-1] [INFO] [1736629764.056077584] [controller_manager]: Configuring controller: 'forward_position_controller'
[ros2_control_node-1] [INFO] [1736629764.056493177] [forward_position_controller]: configure successful
[spawner-3] [INFO] [1736629764.056811317] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1736629764.058166893] [controller_manager]: Configuring controller: 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1736629764.060752178] [controller_manager]: Activating controllers: [ io_and_status_controller ]
[ros2_control_node-1] [INFO] [1736629764.069395685] [controller_manager]: Loading controller : 'force_mode_controller' of type 'ur_controllers/ForceModeController'
[ros2_control_node-1] [INFO] [1736629764.069416234] [controller_manager]: Loading controller 'force_mode_controller'
[ros2_control_node-1] [INFO] [1736629764.069545157] [controller_manager]: Controller 'force_mode_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[spawner-3] [INFO] [1736629764.070074304] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[spawner-4] [INFO] [1736629764.078660794] [spawner_joint_trajectory_controller]: Loaded force_mode_controller
[ros2_control_node-1] [INFO] [1736629764.078961711] [controller_manager]: Loading controller : 'speed_scaling_state_broadcaster' of type 'ur_controllers/SpeedScalingStateBroadcaster'
[ros2_control_node-1] [INFO] [1736629764.078977090] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1736629764.079110782] [controller_manager]: Controller 'speed_scaling_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[ros2_control_node-1] [INFO] [1736629764.086168169] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[ros2_control_node-1] [INFO] [1736629764.088160195] [controller_manager]: Configuring controller: 'force_mode_controller'
[spawner-3] [INFO] [1736629764.088969621] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1736629764.096144920] [controller_manager]: Configuring controller: 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1736629764.096181820] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [INFO] [1736629764.099519673] [controller_manager]: Loading controller : 'passthrough_trajectory_controller' of type 'ur_controllers/PassthroughTrajectoryController'
[ros2_control_node-1] [INFO] [1736629764.099543338] [controller_manager]: Loading controller 'passthrough_trajectory_controller'
[ros2_control_node-1] [INFO] [1736629764.099704221] [controller_manager]: Controller 'passthrough_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[ros2_control_node-1] [INFO] [1736629764.110316801] [controller_manager]: Activating controllers: [ speed_scaling_state_broadcaster ]
[spawner-4] [INFO] [1736629764.111198724] [spawner_joint_trajectory_controller]: Loaded passthrough_trajectory_controller
[ros2_control_node-1] [INFO] [1736629764.114039881] [controller_manager]: Configuring controller: 'passthrough_trajectory_controller'
[spawner-3] [INFO] [1736629764.114939467] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1736629764.119506538] [controller_manager]: Loading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'
[ros2_control_node-1] [INFO] [1736629764.119524843] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1736629764.120818231] [controller_manager]: Controller 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[ros2_control_node-1] [INFO] [1736629764.130193418] [controller_manager]: Loading controller : 'freedrive_mode_controller' of type 'ur_controllers/FreedriveModeController'
[ros2_control_node-1] [INFO] [1736629764.130220299] [controller_manager]: Loading controller 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1736629764.130424083] [controller_manager]: Controller 'freedrive_mode_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[spawner-3] [INFO] [1736629764.131184196] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1736629764.140275748] [controller_manager]: Configuring controller: 'force_torque_sensor_broadcaster'
[spawner-4] [INFO] [1736629764.141119168] [spawner_joint_trajectory_controller]: Loaded freedrive_mode_controller
[ros2_control_node-1] [INFO] [1736629764.142148369] [controller_manager]: Configuring controller: 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1736629764.144284537] [controller_manager]: Activating controllers: [ force_torque_sensor_broadcaster ]
[spawner-3] [INFO] [1736629764.149247605] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1736629764.152937081] [controller_manager]: Loading controller : 'tcp_pose_broadcaster' of type 'pose_broadcaster/PoseBroadcaster'
[ros2_control_node-1] [INFO] [1736629764.152960255] [controller_manager]: Loading controller 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1736629764.154047945] [controller_manager]: Controller 'tcp_pose_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[spawner-3] [INFO] [1736629764.165073925] [spawner_joint_state_broadcaster]: Loaded tcp_pose_broadcaster
[ros2_control_node-1] [INFO] [1736629764.166114427] [controller_manager]: Configuring controller: 'tcp_pose_broadcaster'
[ros2_control_node-1] [INFO] [1736629764.169414719] [controller_manager]: Activating controllers: [ tcp_pose_broadcaster ]
[ros2_control_node-1] [ERROR] [1736629764.172241088] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.172277337] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[spawner-3] [INFO] [1736629764.173028754] [spawner_joint_state_broadcaster]: Configured and activated tcp_pose_broadcaster
[ros2_control_node-1] [ERROR] [1736629764.174422451] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.174436498] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [INFO] [1736629764.175265521] [controller_manager]: Loading controller : 'ur_configuration_controller' of type 'ur_controllers/URConfigurationController'
[ros2_control_node-1] [INFO] [1736629764.175281401] [controller_manager]: Loading controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1736629764.175413420] [controller_manager]: Controller 'ur_configuration_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[ros2_control_node-1] [ERROR] [1736629764.176066601] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.176353031] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.178299311] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.178312025] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.179977045] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.180001140] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.182176512] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.182193093] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.184401577] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.184414060] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[spawner-3] [INFO] [1736629764.185347160] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1736629764.185964093] [controller_manager]: Configuring controller: 'ur_configuration_controller'
[ros2_control_node-1] [ERROR] [1736629764.186069241] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.186088858] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.188306860] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.188322930] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [INFO] [1736629764.189766743] [controller_manager]: Activating controllers: [ ur_configuration_controller ]
[ros2_control_node-1] [ERROR] [1736629764.189984453] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.189998029] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.192182137] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.192198989] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[spawner-3] [INFO] [1736629764.193945241] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [ERROR] [1736629764.194412943] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.194433011] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.196056622] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.196068044] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [INFO] [1736629764.197648253] [controller_manager]: Loading controller : 'scaled_joint_trajectory_controller' of type 'ur_controllers/ScaledJointTrajectoryController'
[ros2_control_node-1] [INFO] [1736629764.197665386] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1736629764.197819366] [controller_manager]: Controller 'scaled_joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_a9r6a7ix 
[ros2_control_node-1] [ERROR] [1736629764.198289022] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.198303299] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.199971123] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.199992473] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.202168226] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.202184015] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.204406636] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.204421314] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [INFO] [1736629764.205058185] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[ros2_control_node-1] [ERROR] [1736629764.206054273] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.206068810] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.208285069] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.208296581] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.209962842] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.209978502] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.212182618] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.212209428] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[spawner-3] [INFO] [1736629764.213510722] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1736629764.214244415] [controller_manager]: Configuring controller: 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1736629764.214330888] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1736629764.214339685] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1736629764.214347059] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [ERROR] [1736629764.214434463] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.214450884] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [INFO] [1736629764.215125597] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [ERROR] [1736629764.216131423] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.216152032] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.218378760] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.218392386] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.220071552] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.220088414] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [INFO] [1736629764.222064810] [controller_manager]: Activating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [ERROR] [1736629764.222312427] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.222328478] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.223974441] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.223987566] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.226176663] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.226193285] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[spawner-3] [INFO] [1736629764.227577815] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[ros2_control_node-1] [ERROR] [1736629764.228407159] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.228423740] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.230065115] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.230082738] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.232282946] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.232296913] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.234498183] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.234510136] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.236174574] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.236190895] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.238406312] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.238426961] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.240063116] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.240077363] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.242305995] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.242322626] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.243969381] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.243980492] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.246166614] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.246188094] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.248403271] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.248420023] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.250065645] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.250078259] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.252296221] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.252308424] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.253962082] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.253971901] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.256165106] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.256177109] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.258391634] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.258402775] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.260049390] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.260058988] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)
[ros2_control_node-1] [ERROR] [1736629764.262278072] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan)

Accept Public visibility

• I agree to make this context public

[urfeex]

Thank you for posting this. We are in fact currently working on this. #1226 disables launching the pose_broadcaster (which was producing this error output) and should help finding other things that don't work with mock_hardware.

In the meantime we've added some documentation listing non-working features in mock_hardware in #1227.

@URJala will create a separate PR having https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/1226/files#diff-5fcec6b0bfc65068dc83b8bbb2bce993d9cac3a54be670dcee8be6fb1b70e2afR185-R187 available earlier which should prevent the issue you've been experiencing.

[PietroValerio]

Thanks! If it can be helpful i've noticed that on 2.4.13 was possible to make servoing (simulated and real configuration) via MoveIt2 cpp api, sending the commands directly to the scaled_joint_trajectory_controller, moveit gives the possibility to generate a trajectory_msgs::msg::JointTrajectory using composeTrajectoryMessage(). In the current version of the driver is not possible to do this because you get from the driver scaled_joint_trajectory_controller]: Holding position due to state tolerance violation, instead using forward_velocity_controller makes the servo work, but in my opinion it was simpler and more easily adaptable to use in any case scaled_joint_trajectory_controller to compose planned movements with servo movements

[urfeex]

Thank you for the input. The original problem should be resolved by #1229.

Regarding moveit_servo I don't think that the scaled JTC would be the right interface. Though it might be possible to use it from an interface perspective, there's a significant delay between sending a command and the robot actually doing a motion. The forward_velocity_controller has a significantly lower delay which is why I think it is much more suitable for the application.

If you want, we can further discuss this in another issue / discussion. Keep in mind, however, that the scaled JTC will be replaced with the upstream JTC as soon as I find the time to finish writing some tests for that.