ur_ros2_control_node not found #1457
Description
Affected ROS2 Driver version(s)
jazzy
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
Robot SW / URSim version(s)
Polyscope 5.22
How is the ROS driver used.
Headless without using the teach pendant, Through the robot teach pendant using External Control URCap
Issue details
Summary
We are trying to launch the UR drivers on Polyscope 5.22 but using ROS2 Jazzy instead of ROS2 Humble.
We realized that the ur_ros2_control_node node inside the ur_robot_driver package does not exist anymore.
Could you help us in pointing out why the change was made and what we should do to properly launch the ur driver now ?
Our earlier code looked like this:
ur_control_node = Node(
package='ur_robot_driver',
executable='ur_ros2_control_node',
parameters=[
robot_description,
update_rate_config_file,
ParameterFile(initial_joint_controllers, allow_substs=True),
ParameterFile(robotiq_gripper_controllers, allow_substs=True),
],
output='screen',
on_exit=Shutdown(),
)
Issue details
Detailed description help us understand the problem. Code are welcome!
Steps to Reproduce
Make simple example to reproduce the issue. Try to remove dependencies to other hardware and software components, if it is possible.
Expected Behavior
What did you expect and why?
Actual Behavior
What did you observe? If possible please attach relevant information.
Workaround Suggestion
If a workaround has been found, you are welcome to share it.
Relevant log output
[tool_communication.py-1] [INFO] [1752017837.261150633] [tool_communication]: 192.56.1.2
[tool_communication.py-1] [INFO] [1752017837.262513545] [tool_communication]: Remote device is available at '/tmp/ttyUR'
[tool_communication.py-1] [INFO] [1752017837.263205417] [tool_communication]: Starting socat with following command:
[tool_communication.py-1] socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.56.1.2:54321
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'ur_ros2_control_node' not found on the libexec directory '/opt/ros/jazzy/lib/ur_robot_driver'Accept Public visibility
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