The test_joint_trajectory_controller not work with ur_robot_driver for Humble but work with Foxy about universal_robots_ros2_driver HOT 2 CLOSED

I can't recall how we did things with Foxy, but we use the scaled joint trajectory controller as default since quite a while, so you would need to use the test_scaled_joint_trajectory_controller.launch.py file.

Please note (If anyone else reads this issue, since @nqduy35 seems to have done that correctly judging from the screenshots) that you will have to move the robot to a valid start pose (upright pose as in the screenshot) and have to make sure that the external_control program is actually running.

@nqduy35 If using the scaled version doesn't work for you, could you please post the output of ros2 control list_controllers? It should look as follows (when the external_control program is running)

forward_position_controller[position_controllers/JointGroupPositionController] inactive  
speed_scaling_state_broadcaster[ur_controllers/SpeedScalingStateBroadcaster] active    
scaled_joint_trajectory_controller[ur_controllers/ScaledJointTrajectoryController] active    
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active    
io_and_status_controller[ur_controllers/GPIOController] active    
force_torque_sensor_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active

from universal_robots_ros2_driver.

Thank @fmauch for the answer. It works with test_scaled_joint_trajectory_controller. The output of running $ros2 control list_controllers is the same as the above.

from universal_robots_ros2_driver.