Hi sorry for the late reply I have tried a few things. It seems that all apps get by default a CPU affinity for the first two cores 0 and 1. The ROS2-UR driver consists of several processes each reflecting a specific node. In this case the node "ros2_control_node" causes problems, because due to the CPU load of the two standard cores it comes to the fact that the connection breaks. To solve this problem I assigned the node to another CPU, in my case core 3. This works with the Python "os-commands", using os.sched_setaffinity(0, {3}) , I can assign my current Python Skipr to the not heavily used CPU 3 and then start my launch file as a subprocess in it. The subprocess is then automatically assigned to the respective CPU of the Python script. The not so time critical nodes like a trajectory planner e.g. "move_group" can be executed on the busy CPUs. This has significantly improved the stability of my application but not completely fixed it. For a complete solution it would have to be assigned to a realtime priority, but as far as I found out there is no plug&play solution for this. (only possible via root access and SSH).
... View more
