No error reported but also no action with the UR3 manipulator while running test_joint_trajectory_controller.launch.py

[FYM1602]

When I input the command 'ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3 robot_ip:=192.168.1.102 launch_rviz:=true
' and 'ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py', there is no error reported. However, the UR3 manipulator which is correctly configured and connected to my PC kept absolutely still. I guess that I might have made a rookie mistake, but I was certainly stuck for quite a while. QAQ The output of 'ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py' is partially given as follows:
$ ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py [INFO] [launch]: All log files can be found below /home/yiming/.ros/log/2023-10-26-18-58-49-139835-Victus-16594 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [publisher_joint_trajectory_controller-1]: process started with pid [16595] [publisher_joint_trajectory_controller-1] [INFO] [1698317929.720233946] [publisher_joint_trajectory_controller]: Goal "pos1" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.785, -1.57, 0.785, 0.785, 0.785, 0.785], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0)) [publisher_joint_trajectory_controller-1] [INFO] [1698317929.721301035] [publisher_joint_trajectory_controller]: Goal "pos2" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, 0.0, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0)) [publisher_joint_trajectory_controller-1] [INFO] [1698317929.722246191] [publisher_joint_trajectory_controller]: Goal "pos3" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, -0.785, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0)) [publisher_joint_trajectory_controller-1] [INFO] [1698317929.723465229] [publisher_joint_trajectory_controller]: Goal "pos4" has definition trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.0, -1.57, 0.0, 0.0, 0.0, 0.0], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=4, nanosec=0))

[FYM1602]

I believe that the communication between PC and UR3 is valid because when I launch 'ur_control.launch.py', and move the UR3, the model of UR3 in rviz also moves.