During the connection setup between the real robot and ROS2 running in Docker, the system does not establish a connection after sending the launch command. I configured the robot (m1509) IP address as 192.168.100.100, and a ping test to this address was successful.
It seems possible that the issue is related to the robot's remote control mode. I attempted to configure the remote emergency port; however, as shown in the image, the pendant does not allow setting the port. Following the tutorial video, I also tried sending a PLC signal by activating joint (EM1), but this approach did not resolve the issue. How can I connect ROS2 and robot. Below is the log after launch command.
ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=virtual host:=192.168.100.100 model:
=m1509
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-03-20-01-08-27-383276-docker-desktop-797
[INFO] [launch]: Default logging verbosity is set to INFO
[dsr_controller2] Loaded update_rate from YAML: 100
[Git Info] unknown | humble@c3c8c61 (root=/root/ros2_ws/src/doosan-robot2)
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /root/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/joint_state_broadcaster.yaml
[INFO] [run_emulator-1]: process started with pid [804]
[INFO] [gazebo_connection-2]: process started with pid [806]
[INFO] [robot_state_publisher-3]: process started with pid [808]
[INFO] [spawner-4]: process started with pid [810]
[INFO] [spawner-5]: process started with pid [812]
[INFO] [ros2_control_node-6]: process started with pid [814]
[ros2_control_node-6] [WARN] [1773968908.387128441] [dsr01.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-6] [INFO] [1773968908.387512429] [resource_manager]: Loading hardware 'm1509'
[ros2_control_node-6] [INFO] [1773968908.407630144] [resource_manager]: Initialize hardware 'm1509'
[ros2_control_node-6] [INFO] [1773968908.407794408] [dsr_hw_interface2]: model : m1509
[ros2_control_node-6] [INFO] [1773968908.407800369] [dsr_hw_interface2]: mode : virtual
[ros2_control_node-6] [INFO] [1773968908.407802572] [dsr_hw_interface2]: update_rate : 100
[ros2_control_node-6] [INFO] [1773968908.407808682] [dsr_hw_interface2]: port : 12345
[ros2_control_node-6] [INFO] [1773968908.407810721] [dsr_hw_interface2]: rt_host : 192.168.137.50
[ros2_control_node-6] [INFO] [1773968908.407812550] [dsr_hw_interface2]: host : 192.168.100.100
[ros2_control_node-6] [INFO] [1773968908.407837883] [dsr_hw_interface2]: [on_init] Hardware name : m1509, type : system, class type : dsr_hardware2/DRHWInterface
[ros2_control_node-6] [INFO] [1773968908.407880784] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-6]
[ros2_control_node-6] [INFO] [1773968908.407882839] [dsr_hw_interface2]: INITAILIZE
[ros2_control_node-6] [INFO] [1773968908.407884407] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-6]
[ros2_control_node-6] [INFO] [1773968908.545000961] [dsr_hw_interface2]: Connecting failure.. retry...
[robot_state_publisher-3] [INFO] [1773968908.746039170] [dsr01.robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1773968908.746253640] [dsr01.robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1773968908.746262502] [dsr01.robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1773968908.746267392] [dsr01.robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1773968908.746271470] [dsr01.robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1773968908.746275443] [dsr01.robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1773968908.746279316] [dsr01.robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1773968908.746283035] [dsr01.robot_state_publisher]: got segment world
[run_emulator-1] Run Emulator of the Doosan Robot Controller
[run_emulator-1] dirname: /root/ros2_ws/install/dsr_common2/share/dsr_common2/bin/run_drcf.sh
[run_emulator-1] server_port: 12345
[run_emulator-1] robot model: M1509
[run_emulator-1] ns: dsr01
[run_emulator-1] run : 'dsr01_emulator' ...
[run_emulator-1] /root/ros2_ws/install/dsr_common2/share/dsr_common2/bin/run_drcf.sh: line 32: docker: command not found
[run_emulator-1] /root/ros2_ws/install/dsr_common2/share/dsr_common2/bin/run_drcf.sh: line 37: docker: command not found
[run_emulator-1] ARCH: 64-bit
[ros2_control_node-6] [INFO] [1773968909.171622790] [dsr_hw_interface2]: Connecting failure.. retry...
[spawner-4] [INFO] [1773968909.272164058] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-5] [INFO] [1773968909.340105934] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[ros2_control_node-6] [INFO] [1773968909.812502992] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968910.450902511] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968911.077771764] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968911.706796093] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968912.350841828] [dsr_hw_interface2]: Connecting failure.. retry...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2_control_node-6] [INFO] [1773968912.866929280] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[robot_state_publisher-3] [INFO] [1773968912.868107246] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[run_emulator-1] sh: 1: docker: not found
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[robot_state_publisher-3] [INFO] [1773968912.881980135] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[spawner-4] Traceback (most recent call last):
[spawner-4] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[spawner-4] sys.exit(load_entry_point('controller-manager==2.53.1', 'console_scripts', 'spawner')())
[spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 361, in main
[ros2_control_node-6] [INFO] [1773968912.883784334] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[gazebo_connection-2] Traceback (most recent call last):
[gazebo_connection-2] File "/root/ros2_ws/install/dsr_bringup2/lib/dsr_bringup2/gazebo_connection", line 33, in
[gazebo_connection-2] sys.exit(load_entry_point('dsr-bringup2==0.1.2', 'console_scripts', 'gazebo_connection')())
[gazebo_connection-2] File "/root/ros2_ws/install/dsr_bringup2/lib/python3.10/site-packages/dsr_bringup2/gazebo_connection.py", line 77, in main
[spawner-5] Traceback (most recent call last):
[spawner-5] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[spawner-5] sys.exit(load_entry_point('controller-manager==2.53.1', 'console_scripts', 'spawner')())
[spawner-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 361, in main
[spawner-4] node.destroy_node()
[spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1691, in destroy_node
[spawner-5] node.destroy_node()
[spawner-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1696, in destroy_node
[gazebo_connection-2] node.destroy_node()
[gazebo_connection-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1685, in destroy_node
[run_emulator-1] stop_cmd : docker ps -a --filter name=dsr01_emulator -q | xargs -r docker rm -f
[spawner-5] self.__node.destroy_when_not_in_use()
[spawner-5] KeyboardInterrupt
[gazebo_connection-2] self.destroy_publisher(self._publishers[0])
[gazebo_connection-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1565, in destroy_publisher
[gazebo_connection-2] publisher.destroy()
[gazebo_connection-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/publisher.py", line 99, in destroy
[spawner-4] self.destroy_service(self._services[0])
[spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1615, in destroy_service
[spawner-4] service.destroy()
[spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/service.py", line 93, in destroy
[spawner-4] self.__service.destroy_when_not_in_use()
[spawner-4] KeyboardInterrupt
[gazebo_connection-2] self.__publisher.destroy_when_not_in_use()
[gazebo_connection-2] KeyboardInterrupt
[ERROR] [spawner-5]: process has died [pid 812, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --ros-args -r __ns:=/dsr01'].
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 808]
[ERROR] [gazebo_connection-2]: process has died [pid 806, exit code -2, cmd '/root/ros2_ws/install/dsr_bringup2/lib/dsr_bringup2/gazebo_connection --ros-args -r __ns:=/dsr01 --params-file /tmp/launch_params_584dhu6j'].
[ERROR] [spawner-4]: process has died [pid 810, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner dsr_controller2 -c controller_manager --ros-args -r __ns:=/dsr01'].
[ros2_control_node-6] [INFO] [1773968913.009310096] [dsr_hw_interface2]: Connecting failure.. retry...
[INFO] [run_emulator-1]: process has finished cleanly [pid 804]
[ros2_control_node-6] [INFO] [1773968913.633565596] [dsr_hw_interface2]: Connecting failure.. retry...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ros2_control_node-6] [INFO] [1773968913.653491063] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[ros2_control_node-6] [INFO] [1773968914.269477295] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968914.896721315] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968915.604256277] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968916.230569176] [dsr_hw_interface2]: Connecting failure.. retry...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ros2_control_node-6] [INFO] [1773968916.572464243] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[ros2_control_node-6] [INFO] [1773968916.854126845] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968917.473217882] [dsr_hw_interface2]: Connecting failure.. retry...
[ERROR] [ros2_control_node-6]: process[ros2_control_node-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [ros2_control_node-6]: sending signal 'SIGTERM' to process[ros2_control_node-6]
[ros2_control_node-6] [INFO] [1773968917.898020896] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[ros2_control_node-6] [INFO] [1773968918.106492734] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968918.740572892] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968919.365637405] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968919.993290085] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968920.622090221] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [ERROR] [1773968921.122571115] [dsr_hw_interface2]: DSRInterface::init() DRCF connecting ERROR!!!
[ros2_control_node-6] [INFO] [1773968921.122655389] [resource_manager]: Failed to initialize hardware 'm1509'
[ros2_control_node-6] [WARN] [1773968921.122662862] [resource_manager]: System hardware component 'm1509' from plugin 'dsr_hardware2/DRHWInterface' failed to initialize.
[ros2_control_node-6] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-6] what(): Wrong state or command interface configuration.
[ros2_control_node-6] missing state interfaces:
[ros2_control_node-6] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-6] missing command interfaces:
[ros2_control_node-6] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-6] Stack trace (most recent call last):
[ros2_control_node-6] #15 Object "", at 0xffffffffffffffff, in
[ros2_control_node-6] #14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5b477d2f5ec4, in
[ros2_control_node-6] #13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d79882e3f, in __libc_start_main
[ros2_control_node-6] #12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d79882d8f, in
[ros2_control_node-6] #11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5b477d2f536f, in
[ros2_control_node-6] #10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7b0d79f9981a, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-6] #9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7b0d79f947af, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-6] #8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7b0d7974f334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-6] #7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7b0d7972b723, in
[ros2_control_node-6] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b0d79b504d7, in __cxa_throw
[ros2_control_node-6] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b0d79b50276, in std::terminate()
[ros2_control_node-6] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b0d79b5020b, in
[ros2_control_node-6] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b0d79b44b9d, in
[ros2_control_node-6] #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d798817f2, in abort
[ros2_control_node-6] #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d7989b475, in raise
[ros2_control_node-6] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d798ef9fc, in pthread_kill
[ros2_control_node-6] Aborted (Signal sent by tkill() 814 0)
[ERROR] [ros2_control_node-6]: process[ros2_control_node-6] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [ros2_control_node-6]: sending signal 'SIGKILL' to process[ros2_control_node-6]
[ERROR] [ros2_control_node-6]: process has died [pid 814, exit code -9, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/dsr01 --params-file /tmp/launch_params_lw9gpwh5 --params-file /root/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/dsr_controller2.yaml'].
During the connection setup between the real robot and ROS2 running in Docker, the system does not establish a connection after sending the launch command. I configured the robot (m1509) IP address as 192.168.100.100, and a ping test to this address was successful.
It seems possible that the issue is related to the robot's remote control mode. I attempted to configure the remote emergency port; however, as shown in the image, the pendant does not allow setting the port. Following the tutorial video, I also tried sending a PLC signal by activating joint (EM1), but this approach did not resolve the issue. How can I connect ROS2 and robot. Below is the log after launch command.
ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=virtual host:=192.168.100.100 model:
=m1509
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-03-20-01-08-27-383276-docker-desktop-797
[INFO] [launch]: Default logging verbosity is set to INFO
[dsr_controller2] Loaded update_rate from YAML: 100
[Git Info] unknown | humble@c3c8c61 (root=/root/ros2_ws/src/doosan-robot2)
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /root/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/joint_state_broadcaster.yaml
[INFO] [run_emulator-1]: process started with pid [804]
[INFO] [gazebo_connection-2]: process started with pid [806]
[INFO] [robot_state_publisher-3]: process started with pid [808]
[INFO] [spawner-4]: process started with pid [810]
[INFO] [spawner-5]: process started with pid [812]
[INFO] [ros2_control_node-6]: process started with pid [814]
[ros2_control_node-6] [WARN] [1773968908.387128441] [dsr01.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-6] [INFO] [1773968908.387512429] [resource_manager]: Loading hardware 'm1509'
[ros2_control_node-6] [INFO] [1773968908.407630144] [resource_manager]: Initialize hardware 'm1509'
[ros2_control_node-6] [INFO] [1773968908.407794408] [dsr_hw_interface2]: model : m1509
[ros2_control_node-6] [INFO] [1773968908.407800369] [dsr_hw_interface2]: mode : virtual
[ros2_control_node-6] [INFO] [1773968908.407802572] [dsr_hw_interface2]: update_rate : 100
[ros2_control_node-6] [INFO] [1773968908.407808682] [dsr_hw_interface2]: port : 12345
[ros2_control_node-6] [INFO] [1773968908.407810721] [dsr_hw_interface2]: rt_host : 192.168.137.50
[ros2_control_node-6] [INFO] [1773968908.407812550] [dsr_hw_interface2]: host : 192.168.100.100
[ros2_control_node-6] [INFO] [1773968908.407837883] [dsr_hw_interface2]: [on_init] Hardware name : m1509, type : system, class type : dsr_hardware2/DRHWInterface
[ros2_control_node-6] [INFO] [1773968908.407880784] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-6]
[ros2_control_node-6] [INFO] [1773968908.407882839] [dsr_hw_interface2]: INITAILIZE
[ros2_control_node-6] [INFO] [1773968908.407884407] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-6]
[ros2_control_node-6] [INFO] [1773968908.545000961] [dsr_hw_interface2]: Connecting failure.. retry...
[robot_state_publisher-3] [INFO] [1773968908.746039170] [dsr01.robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1773968908.746253640] [dsr01.robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1773968908.746262502] [dsr01.robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1773968908.746267392] [dsr01.robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1773968908.746271470] [dsr01.robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1773968908.746275443] [dsr01.robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1773968908.746279316] [dsr01.robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1773968908.746283035] [dsr01.robot_state_publisher]: got segment world
[run_emulator-1] Run Emulator of the Doosan Robot Controller
[run_emulator-1] dirname: /root/ros2_ws/install/dsr_common2/share/dsr_common2/bin/run_drcf.sh
[run_emulator-1] server_port: 12345
[run_emulator-1] robot model: M1509
[run_emulator-1] ns: dsr01
[run_emulator-1] run : 'dsr01_emulator' ...
[run_emulator-1] /root/ros2_ws/install/dsr_common2/share/dsr_common2/bin/run_drcf.sh: line 32: docker: command not found
[run_emulator-1] /root/ros2_ws/install/dsr_common2/share/dsr_common2/bin/run_drcf.sh: line 37: docker: command not found
[run_emulator-1] ARCH: 64-bit
[ros2_control_node-6] [INFO] [1773968909.171622790] [dsr_hw_interface2]: Connecting failure.. retry...
[spawner-4] [INFO] [1773968909.272164058] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-5] [INFO] [1773968909.340105934] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[ros2_control_node-6] [INFO] [1773968909.812502992] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968910.450902511] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968911.077771764] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968911.706796093] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968912.350841828] [dsr_hw_interface2]: Connecting failure.. retry...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2_control_node-6] [INFO] [1773968912.866929280] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[robot_state_publisher-3] [INFO] [1773968912.868107246] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[run_emulator-1] sh: 1: docker: not found
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[robot_state_publisher-3] [INFO] [1773968912.881980135] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[spawner-4] Traceback (most recent call last):
[spawner-4] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[spawner-4] sys.exit(load_entry_point('controller-manager==2.53.1', 'console_scripts', 'spawner')())
[spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 361, in main
[ros2_control_node-6] [INFO] [1773968912.883784334] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[gazebo_connection-2] Traceback (most recent call last):
[gazebo_connection-2] File "/root/ros2_ws/install/dsr_bringup2/lib/dsr_bringup2/gazebo_connection", line 33, in
[gazebo_connection-2] sys.exit(load_entry_point('dsr-bringup2==0.1.2', 'console_scripts', 'gazebo_connection')())
[gazebo_connection-2] File "/root/ros2_ws/install/dsr_bringup2/lib/python3.10/site-packages/dsr_bringup2/gazebo_connection.py", line 77, in main
[spawner-5] Traceback (most recent call last):
[spawner-5] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[spawner-5] sys.exit(load_entry_point('controller-manager==2.53.1', 'console_scripts', 'spawner')())
[spawner-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 361, in main
[spawner-4] node.destroy_node()
[spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1691, in destroy_node
[spawner-5] node.destroy_node()
[spawner-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1696, in destroy_node
[gazebo_connection-2] node.destroy_node()
[gazebo_connection-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1685, in destroy_node
[run_emulator-1] stop_cmd : docker ps -a --filter name=dsr01_emulator -q | xargs -r docker rm -f
[spawner-5] self.__node.destroy_when_not_in_use()
[spawner-5] KeyboardInterrupt
[gazebo_connection-2] self.destroy_publisher(self._publishers[0])
[gazebo_connection-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1565, in destroy_publisher
[gazebo_connection-2] publisher.destroy()
[gazebo_connection-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/publisher.py", line 99, in destroy
[spawner-4] self.destroy_service(self._services[0])
[spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1615, in destroy_service
[spawner-4] service.destroy()
[spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/service.py", line 93, in destroy
[spawner-4] self.__service.destroy_when_not_in_use()
[spawner-4] KeyboardInterrupt
[gazebo_connection-2] self.__publisher.destroy_when_not_in_use()
[gazebo_connection-2] KeyboardInterrupt
[ERROR] [spawner-5]: process has died [pid 812, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --ros-args -r __ns:=/dsr01'].
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 808]
[ERROR] [gazebo_connection-2]: process has died [pid 806, exit code -2, cmd '/root/ros2_ws/install/dsr_bringup2/lib/dsr_bringup2/gazebo_connection --ros-args -r __ns:=/dsr01 --params-file /tmp/launch_params_584dhu6j'].
[ERROR] [spawner-4]: process has died [pid 810, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner dsr_controller2 -c controller_manager --ros-args -r __ns:=/dsr01'].
[ros2_control_node-6] [INFO] [1773968913.009310096] [dsr_hw_interface2]: Connecting failure.. retry...
[INFO] [run_emulator-1]: process has finished cleanly [pid 804]
[ros2_control_node-6] [INFO] [1773968913.633565596] [dsr_hw_interface2]: Connecting failure.. retry...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ros2_control_node-6] [INFO] [1773968913.653491063] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[ros2_control_node-6] [INFO] [1773968914.269477295] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968914.896721315] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968915.604256277] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968916.230569176] [dsr_hw_interface2]: Connecting failure.. retry...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ros2_control_node-6] [INFO] [1773968916.572464243] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[ros2_control_node-6] [INFO] [1773968916.854126845] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968917.473217882] [dsr_hw_interface2]: Connecting failure.. retry...
[ERROR] [ros2_control_node-6]: process[ros2_control_node-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [ros2_control_node-6]: sending signal 'SIGTERM' to process[ros2_control_node-6]
[ros2_control_node-6] [INFO] [1773968917.898020896] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[ros2_control_node-6] [INFO] [1773968918.106492734] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968918.740572892] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968919.365637405] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968919.993290085] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [INFO] [1773968920.622090221] [dsr_hw_interface2]: Connecting failure.. retry...
[ros2_control_node-6] [ERROR] [1773968921.122571115] [dsr_hw_interface2]: DSRInterface::init() DRCF connecting ERROR!!!
[ros2_control_node-6] [INFO] [1773968921.122655389] [resource_manager]: Failed to initialize hardware 'm1509'
[ros2_control_node-6] [WARN] [1773968921.122662862] [resource_manager]: System hardware component 'm1509' from plugin 'dsr_hardware2/DRHWInterface' failed to initialize.
[ros2_control_node-6] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-6] what(): Wrong state or command interface configuration.
[ros2_control_node-6] missing state interfaces:
[ros2_control_node-6] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-6] missing command interfaces:
[ros2_control_node-6] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-6] Stack trace (most recent call last):
[ros2_control_node-6] #15 Object "", at 0xffffffffffffffff, in
[ros2_control_node-6] #14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5b477d2f5ec4, in
[ros2_control_node-6] #13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d79882e3f, in __libc_start_main
[ros2_control_node-6] #12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d79882d8f, in
[ros2_control_node-6] #11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5b477d2f536f, in
[ros2_control_node-6] #10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7b0d79f9981a, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-6] #9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7b0d79f947af, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-6] #8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7b0d7974f334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-6] #7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7b0d7972b723, in
[ros2_control_node-6] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b0d79b504d7, in __cxa_throw
[ros2_control_node-6] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b0d79b50276, in std::terminate()
[ros2_control_node-6] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b0d79b5020b, in
[ros2_control_node-6] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b0d79b44b9d, in
[ros2_control_node-6] #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d798817f2, in abort
[ros2_control_node-6] #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d7989b475, in raise
[ros2_control_node-6] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0d798ef9fc, in pthread_kill
[ros2_control_node-6] Aborted (Signal sent by tkill() 814 0)
[ERROR] [ros2_control_node-6]: process[ros2_control_node-6] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [ros2_control_node-6]: sending signal 'SIGKILL' to process[ros2_control_node-6]
[ERROR] [ros2_control_node-6]: process has died [pid 814, exit code -9, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/dsr01 --params-file /tmp/launch_params_lw9gpwh5 --params-file /root/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/dsr_controller2.yaml'].