slave on op mode can not control moter

[11wanqin]

Ethercat enters OP mode from the slave, but the motor cannot move。

[467480903]

check the motor's current position by igh command:

ethercat upload --position 0 --type int32 0x6064 0x00 #查看位置

check if the motor is in position 10000 already ,

or you can check the position by rostopic echo /joints_status , I fogert the topic name , some like this.

and send the command once , don't send it cyclely,

[11wanqin]

the motor position is not on 10000 . #没有在1000
/joints_status positions is change #位置值一直在变化

[11wanqin]

vendor_id: 0x00000009
product_id: 0x00009253
assign_activate: 0x0300 # DC Synch register
auto_fault_reset: false # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
sdo:

• { index: 0x6060, sub_index: 0, type: int8, value: 0 }
• { index: 0x6060, sub_index: 0, type: int8, value: 8 }
• { index: 0x6040, sub_index: 0, type: int16, value: 6 }
• { index: 0x6040, sub_index: 0, type: int16, value: 7 }
• { index: 0x6040, sub_index: 0, type: int16, value: 15 }

sdo: # sdo data to be transferred at drive startup

- { index: 0x1C32, sub_index: 0, type: int16, value: 2 }

- { index: 0x1C33, sub_index: 0, type: int16, value: 2 }

rpdo: # RxPDO = receive PDO 4 Mapping

• index: 0x1601
  channels:
  • { index: 0x60FF, sub_index: 0, type: int32,command_interface: velocity, default: 500 } # Control word
  • { index: 0x607A, sub_index: 0,type: int32,command_interface: position, default: .nan} # Target position
  • { index: 0x6071, sub_index: 0, type: int16, default: 0 } # Target velocity
  • { index: 0x6040, sub_index: 0, type: uint16,command_interface: controlword, default: 0} # Target torque
  • { index: 0x6081, sub_index: 0, type: int16, default: 8 } # Mode of operation
  • { index: 0x6060, sub_index: 0, type: int8, default: 0 } # Mode of operation
  • { index: 0x0000, sub_index: 0, type: int8, default: 0 } # Mode of operation
    tpdo: # TxPDO = transmit PDO 4 Mapping
• index: 0x1a00
  channels:
  • { index: 0x6064, sub_index: 0, type: int32 , state_interface: position } # Status word
  • { index: 0x6077, sub_index: 0, type: int16} # Position actual value
  • { index: 0x603F, sub_index: 0, type: uint16 } # Torque actual value
  • { index: 0x6041, sub_index: 0, type: uint16 } # Mode of operation display
  • { index: 0x6020, sub_index: 3, type: int16 , state_interface: effort} # Digital Input Functionalities State
  • { index: 0x6061, sub_index: 0, type: int8, default: 0 } # Mode of operation
  • { index: 0x0000, sub_index: 0, type: int8, default: 0 } # Mode of operation
• index: 0x1a02
  channels:
  • { index: 0x6020, sub_index: 1, type: int16 } # Status word
  • { index: 0x6020, sub_index: 2, type: int32 } # Position actual value
  • { index: 0x6000, sub_index: 2, type: int32 } # Torque actual value
  • { index: 0x6000, sub_index: 3, type: int32 } # Mode of operation display
    #this is my config file 我的配置文件

[467480903]

must wait until the servo's mode in running mode ,
then send the ros topic command to make the servo run to some position,

during the ininiting process, there are some consoles woudl displayed ,

you can paste these ros output here , to disgnositc well

[11wanqin]

qin@qin:$ ros2 launch ethercat_motor_drive motor_drive.launch.py --debug
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/qin/.ros/log/2025-03-11-18-01-08-508771-qin-8797
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f1cff1aae30>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f1cff1aae30>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7f1cfda93c40>'
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.160 seconds
[INFO] [ros2_control_node-1]: process started with pid [8800]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [robot_state_publisher-2]: process started with pid [8802]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [spawner-3]: process started with pid [8804]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [spawner-4]: process started with pid [8806]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f1cfd7e8c10>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f1cfd7ea8c0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f1cfd7ea380>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd802530>'
[robot_state_publisher-2] [INFO] [1741687268.696512308] [robot_state_publisher]: got segment world
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [WARN] [1741687268.696961339] [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-1] [INFO] [1741687268.697067405] [resource_manager]: Loading hardware 'motor_drive'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd7ea470>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd7ea470>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687268.698058416] [resource_manager]: Initialize hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.698090358] [EthercatDriver]: joints
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687268.699402773] [EthercatDriver]: Got 1 modules
[ros2_control_node-1] [INFO] [1741687268.699427206] [resource_manager]: Successful initialization of hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.699462790] [resource_manager]: 'configure' hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.699468761] [resource_manager]: Successful 'configure' of hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.699471977] [resource_manager]: 'activate' hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.699474654] [EthercatDriver]: Starting ...please wait...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x60ff, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x607a, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6071, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6040, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6081, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6060, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6064, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6077, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x603f, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6041, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6020, 0x3}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6061, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6020, 0x1}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6020, 0x2}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6000, 0x2}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6000, 0x3}
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687268.741733164] [EthercatDriver]: Activated EcMaster!
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd803dc0>'
[spawner-4] [INFO] [1741687268.889970884] [spawner_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd802bc0>'
[spawner-3] [INFO] [1741687268.890257846] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.742354815] [EthercatDriver]: updated!
[ros2_control_node-1] [INFO] [1741687269.742542314] [EthercatDriver]: System Successfully started!
[ros2_control_node-1] [INFO] [1741687269.742615691] [resource_manager]: Successful 'activate' of hardware 'motor_drive'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.751968293] [controller_manager]: update rate is 100 Hz
[ros2_control_node-1] [INFO] [1741687269.751996824] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [WARN] [1741687269.752124808] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.893741949] [controller_manager]: Loading controller 'trajectory_controller'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [WARN] [1741687269.901141005] [trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.902560552] [controller_manager]: Loading controller 'joint_state_broadcaster'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd803dc0>'
[spawner-4] [INFO] [1741687269.903244322] [spawner_trajectory_controller]: Loaded trajectory_controller
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.912508582] [controller_manager]: Configuring controller 'trajectory_controller'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.912710374] [trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1741687269.912743155] [trajectory_controller]: Command interfaces are [position] and state interfaces are [position].
[ros2_control_node-1] [INFO] [1741687269.912771780] [trajectory_controller]: Using 'splines' interpolation method.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd802bc0>'
[spawner-3] [INFO] [1741687269.913597163] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.915097503] [trajectory_controller]: Controller state will be published at 50.00 Hz.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.917433187] [trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.922637559] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.922736665] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd803dc0>'
[spawner-4] [INFO] [1741687269.953375382] [spawner_trajectory_controller]: Configured and activated trajectory_controller
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd802bc0>'
[spawner-3] [INFO] [1741687269.973309599] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-4]: process has finished cleanly [pid 8806]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f1cfd803be0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f1cfd803cd0>'
[INFO] [spawner-3]: process has finished cleanly [pid 8804]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8037c0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8037c0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f1cfd802da0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8037c0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f1cfd802cb0>'

this is the consoles displayed