UR10e bringup.launch does not print Robot ready to receive control commands

[LeoPits]

Affected ROS Driver version(s)

ROS Noetic ubuntu 20.04

Used ROS distribution.

Noetic

Which combination of platform is the ROS driver running on.

Linux without realtime patch

How is the UR ROS Driver installed.

Build both the ROS driver and UR Client Library from source

Which robot platform is the driver connected to.

UR E-series robot

Robot SW / URSim version(s)

universal robot version: 5.11

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

UR10e bringup.launch does not print Robot ready to receive control commands

Summary

ROS Driver version: noetic, ubuntu 20.04
Affected Robot Software Version(s): 5.11
Affected Robot Hardware Version(s): ur10e

I just followed this repo's README (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver )
and how to setup e-series (except real time settings. but i followedd rest of instruction and there wasn't problem.).
And I was able to launch bringup, but
it does not print "Robot ready to receive control commands".

Issue details

after i launch roslaunch ur_robot_driver ur10e_bringup.launch remains in condition started controllers but the README say should print output Robot ready to receive control commands.
i try to launch rosrun ur_robot_driver test_move but i receive error Robot control is currently inactive

Relevant log output

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[urfeex]

Did you start a program with the external control node on the teach pendant? See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver?tab=readme-ov-file#i-started-everything-but-i-cannot-control-the-robot for details.

[LeoPits]

Yes, the external control it's installed!

[urfeex]

Yes, but did you start the program?

[LeoPits]

yes, i start the program
for example i can read rostopic echo /robot_ur10e/current_pose
but if i try to publish rostopic
rostopic pub -r 100 /robot_ur10e/command geometry_msgs/PoseStamped
the robot remains stuck, in the controller manager i have this situation

[urfeex]

Your screenshot shows a typical situation where the robot program is not started. Before trying to send any commands, let's verify that following the steps below work:

1. Start the driver using roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=<your-robot's-ip>. That should successfully connect to the robot. From your previous screenshots it seems like this works.
2. Setup your ROS machine's IP address in the robot's installation for the External Control URCap as explained here. Is your ROS machine's IP address really 192.168.56.1?
3. Generate a program containing the "External Control" node (as you seem to have done)
4. Start that program on the teach pendant. Does it start correctly? Does it keep running?
5. Now you should see the following output in your driver's shell

   [ INFO] [1739171594.884835872]: Robot requested program
   [ INFO] [1739171594.884904006]: Sent program to robot
   [ INFO] [1739171594.938975129]: Robot connected to reverse interface. Ready to receive control commands.
   

6. Now you should be able to use the robot.

If any of the above steps don't succeed, please don't proceed, as not everything will be working. If any of the steps fail, please post the exact commands that you use with their full output.