State interface with key 'speed_scaling/speed_scaling_factor' does not exist

[a1ibekov]

Hello, I am trying to use UR10e robot inside gazebo with /scaled_joint_trajectory_controller. I updated the launch file to include these nodes:

speed_scaling_state_broadcaster_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=[
        "speed_scaling_state_broadcaster",
        "--controller-manager", "/controller_manager",
    ],
)

scaled_joint_trajectory_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=[
        "scaled_joint_trajectory_controller",
        "--controller-manager", "/controller_manager",
    ],
)

However, I get error saying:
[gzserver-5] [ERROR] [1734357530.794557889] [controller_manager]: Can't activate controller 'speed_scaling_state_broadcaster': State interface with key 'speed_scaling/speed_scaling_factor' does not exist
[spawner-4] [INFO] [1734357530.809461966] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[spawner-3] [INFO] [1734357530.834605196] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-4]: process has finished cleanly [pid 2357684]
[INFO] [spawner-8]: process started with pid [2357944]
[INFO] [spawner-3]: process has finished cleanly [pid 2357682]
[gzserver-5] [INFO] [1734357531.273342213] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[gzserver-5] [WARN] [1734357531.290917571] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-8] [INFO] [1734357531.320266509] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[gzserver-5] [INFO] [1734357531.321320079] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[gzserver-5] [INFO] [1734357531.321932920] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-5] [INFO] [1734357531.322049004] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-5] [INFO] [1734357531.322178325] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[gzserver-5] [INFO] [1734357531.325648942] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[gzserver-5] [INFO] [1734357531.329743775] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[gzserver-5] [ERROR] [1734357531.359925255] [controller_manager]: Can't activate controller 'scaled_joint_trajectory_controller': State interface with key 'speed_scaling/speed_scaling_factor' does not exist
[spawner-8] [INFO] [1734357531.371764289] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller
[INFO] [spawner-8]: process has finished cleanly [pid 2357944]
[INFO] [gzclient-6]: process has finished cleanly [pid 2357688]

As i understood "speed_scaling/speed_scaling_factor comes from the real robot's teach pedant. Does it mean that I can't use this controller in gazebo?

[a1ibekov]

I tried to install everything from scratch. So i run this commands on a clean workspace:

• git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation.git src/ur_simulation_gz
• rosdep update && rosdep install --ignore-src --from-paths src -y

Update the "initial_joint_controller" to be "scaled_joint_trajectory_controller". But still get this problem:

[urfeex]

On Humble, the scaled controllers are indeed not available in GZ sim. Currently, there is no scaling interface in Gazebo, so we can't use it.

For Jazzy and above we modified the scaled JTC to make the scaling interface optional, this has not been backported to Humble, though. On Humble you will have to stick with the non-scaled joint_trajectory_controller in simulation.

If you just need a simulated robot and no other sensory of physics information, you might consider another simulation method, such as URSim. Please see our simulation section in the driver's documentation.

[urfeex]

I think I have to correct myself. That change was backported to Humble. It just has not been released, yet.