ros-simulation / gazebo_ros_demos

Example robots and code for interfacing Gazebo with ROS

Gazebo ROS Demos

• Author: Dave Coleman [email protected]
• License: GNU General Public License, version 3 (GPL-3.0)

Example robots and code for interfacing Gazebo with ROS

Tutorials

ROS URDF

Quick Start

Rviz:

roslaunch rrbot_description rrbot_rviz.launch

Gazebo:

roslaunch rrbot_gazebo rrbot_world.launch

ROS Control:

roslaunch rrbot_control rrbot_control.launch

Example of Moving Joints:

rostopic pub /rrbot/joint2_position_controller/command std_msgs/Float64 "data: -0.9"

Develop and Contribute

We welcome any contributions to this repo and encourage you to fork the project then send pull requests back to this parent repo. Thanks for your help!

gazebo_ros_demos's Issues

README.md is for ROS1, not ROS2 such as Foxy

Basically title.

I tried colcon build as well and it gave me an error like this

Do you want me to update them for you if i found a way to make it work?

Could not find parameter robot_description on parameter server

Let me start with bundle of thanks for writing this wonderful code for the roboticists; it is very useful and helpful.

I am trying to launch a file by the command

roslaunch rrbot_control rrbot_control.launch

but I am getting this error

Could not find parameter robot_description on parameter server.

I tried to follow this method but https://answers.ros.org/question/198929/running-controller_manager-spawner-with-mybotrobot_description/ but it did not workout.

I shall be very thankful to you if you could please put some light on it. It will save lots of my time.

Thank You.

Plz explain Joint_Position_Controller/state parameters

In the Joint_Position_Controller/state , there are several parameters but, it looks like strange when I ran your "gazebo_ros_demo" code.

I tried to find meaning of each parameter, but there is no comment about it. (Even ros wiki)
So, I'd appreciate if you will explain meaning of following parameters.

set_point
process_value
process_value_dot
error
command

Using your gazebo_ros_demos (rrbot), I found that set_point != command . Why? what are the command and set_point?

Process_value is also something strange. Is it joint angle of the joint ? command/data was not same to state/process_value, unlike gazebo's ros control tutorial. (It were totally different each other ;;)

I'd appreciate if you explain each parameter with block diagram.

No tf data. Actual error: Fixed Frame [world] does not exist

The code for the ROS Control tutorial does not work at all on Indigo. Forking this code unmodified and then running the roslaunch commands as specified in the tutorial:

roslaunch rrbot_gazebo rrbot_world.launch
roslaunch rrbot_control rrbot_control.launch
rosservice call /rrbot/controller_manager/load_controller "name: 'joint1_position_controller'"
rosservice call /rrbot/controller_manager/load_controller "name: 'joint2_position_controller'"
rosservice call /rrbot/controller_manager/switch_controller "{start_controllers: ['joint1_position_controller','joint2_position_controller'], stop_controllers: [], strictness: 2}"
rosservice call /rrbot/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['joint1_position_controller','joint2_position_controller'], strictness: 2}"
rosrun rviz rviz

results in a frozen Gazebo window with the simulation frozen half-way consuming 100% CPU, and a blank RViz window. Setting "fixed frame" to world and then adding a RobotModel display type, as specified by the tutorial, results in the error:

No tf data.  Actual error: Fixed Frame [world] does not exist

along with errors in the RobotModel complaining about no tf for every link.

Also, the example commands don't appear to have any effect, although the tutorial doesn't explain what effect the commands are supposed to have, so it's unclear what I should be looking for. If I had to guess, I'd say they were specifying joint angles in radians, but in that case I'd expect the joints to move in Gazebo after I ended those commands, and nothing happened. Is that the expected output?

I did not modify any code from gazebo_ros_demos, so I'm not sure why the results differed so greatly from the written tutorial. The previous sections of the ROS+Gazebo tutorial worked just fine. I tested on Ubuntu 14.04 with Indigo and Gazebo 2.

Output from roslaunch rrbot_gazebo rrbot_world.launch:

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:54352/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.10
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [20232]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ec92b508-0040-11e5-b029-0026bb1b90cc
process[rosout-1]: started with pid [20245]
started core service [/rosout]
process[gazebo-2]: started with pid [20269]
process[gazebo_gui-3]: started with pid [20273]
process[urdf_spawner-4]: started with pid [20279]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1432271457.338698443]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.8.11
[ INFO] [1432271457.369132535]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
spawn_model script started
[INFO] [WallTime: 1432271457.900563] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1432271457.908647] [0.000000] Waiting for service /gazebo/spawn_urdf_model

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.8.11
[ INFO] [1432271458.406589586, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1432271458.464723503, 0.081000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1432271458.542130] [0.153000] Calling service /gazebo/spawn_urdf_model
[ INFO] [1432271459.327209546, 0.325000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[INFO] [WallTime: 1432271459.333244] [0.325000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1432271459.424091635, 0.325000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1432271459.576031346, 0.325000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1432271459.576311137, 0.325000000]: Starting GazeboRosLaser Plugin (ns = /)!
[ INFO] [1432271459.598536987, 0.325000000]: GPU Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1432271459.599036090, 0.325000000]: Loading gazebo_ros_control plugin
[ INFO] [1432271459.603747371, 0.325000000]: Starting gazebo_ros_control plugin in namespace: /rrbot
[ INFO] [1432271459.603947284, 0.325000000]: LoadThread function completed
[ INFO] [1432271459.622785128, 0.325000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1432271460.224092991, 0.325000000]: Loaded gazebo_ros_control.
[urdf_spawner-4] process has finished cleanly
log file: /home/chris/.ros/log/ec92b508-0040-11e5-b029-0026bb1b90cc/urdf_spawner-4*.log
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.

Defining joints with the gazebo reference element tag

Hi,

Thank you for this example. My question is two-fold.

(i) I have a URDF which has parallel linkages and multijoint definitions. I noticed that having a child link with multiple parent links gave unexpected behavior when using the joint_state_publisher gui to move the joints: I could only one joint to move the head I am trying to control. The xacro file is in this link.

(ii) I tried to export my URDF model to gazebo and in light of this, I wrote a separate file as you did in the rrbot example that adds a gazebo element for each link and joint. So I include the superchick_gazebo file within my superchick.xacro file and when I try to load it in gazebo, I notice that all my links come out correctly but the joints are not well placed as an rVIZ simulation showed:

Here's what the interpreted sdf looked like in Gazebo.

In my terminal, I noticed warnings such as

Warning [parser_urdf.cc:346] attempted to add visual to link [base_panel], but it already exists under group [lump::panel_12_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [base_panel], but it already exists under group [lump::panel_3_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [base_panel], but it already exists under group [lump::panel_9_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [base_panel], but it already exists under group [lump::panel_12_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [base_panel], but it already exists under group [lump::panel_3_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [base_panel], but it already exists under group [lump::panel_9_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [table_top], but it already exists under group [lump::base_panel]
Warning [parser_urdf.cc:346] attempted to add visual to link [table_top], but it already exists under group [lump::panel_12_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [table_top], but it already exists under group [lump::panel_3_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [table_top], but it already exists under group [lump::panel_9_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [table_top], but it already exists under group [lump::base_panel]
Warning [parser_urdf.cc:317] attempted to add collision to link [table_top], but it already exists under group [lump::panel_12_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [table_top], but it already exists under group [lump::panel_3_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [table_top], but it already exists under group [lump::panel_9_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [table_top], but it already exists under group [lump::big_bladder_link]
Warning [parser_urdf.cc:317] attempted to add collision to link [table_top], but it already exists under group [lump::big_bladder_link]
Warning [parser_urdf.cc:346] attempted to add visual to link [table_top], but it already exists under group [lump::left_bladder]
Warning [parser_urdf.cc:317] attempted to add collision to link [table_top], but it already exists under group [lump::left_bladder]
Warning [parser_urdf.cc:346] attempted to add visual to link [table_top], but it already exists under group [lump::right_bladder]
Warning [parser_urdf.cc:317] attempted to add collision to link [table_top], but it already exists under group [lump::right_bladder]
Warning [parser_urdf.cc:346] attempted to add visual to link [table_top], but it already exists under group [lump::table_cover]
Warning [parser_urdf.cc:317] attempted to add collision to link [table_top], but it already exists under group [lump::table_cover]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::table_top]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::base_panel]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::big_bladder_link]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::left_bladder]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::panel_12_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::panel_3_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::panel_9_oc]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::right_bladder]
Warning [parser_urdf.cc:346] attempted to add visual to link [right_leg], but it already exists under group [lump::table_cover]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::table_top]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::base_panel]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::big_bladder_link]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::left_bladder]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::panel_12_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::panel_3_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::panel_9_oc]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::right_bladder]
Warning [parser_urdf.cc:317] attempted to add collision to link [right_leg], but it already exists under group [lump::table_cover]
Error [Model.cc:640] can't have two joint with the same name
Exception [Model.cc:641] can't have two joint with the same name

Error [Model.cc:134] LoadJoint Failed
[INFO] [WallTime: 1479666240.902647] Spawn status: SpawnModel: Successfully spawned model
[urdf_spawner-4] process has finished cleanly
log file: /home/lex/.ros/log/817283fc-af4e-11e6-8627-801934199d44/urdf_spawner-4*.log

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.0.0.3
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_control.so: libgazebo_ros_control.so: cannot open shared object file: No such file or directory

I checked my URDF over and over to be sure that no two joints have the same name but every time I do

gzsdf print superchick.urdf > superchick.sdf

I notice there are two joints automatically generated for certain joints.

As a workaround, I think if there is a way to call a clean sdf directly in gazebo, that would be nice. I looked online, there doesn't seem to be a nice tutorial on how this can be achieved.

Are there ways to mitigate this problem?

failed to load controller

Hi everyone, I confront some problems while using Ubuntu 18.04 + ROS Melodic + Gazebo 9.
When I run roslaunch rrbot_control rrbot_control.launch
I get the following error,

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.2
 * /rrbot/joint1_position_controller/joint: joint1
 * /rrbot/joint1_position_controller/pid/d: 10.0
 * /rrbot/joint1_position_controller/pid/i: 0.01
 * /rrbot/joint1_position_controller/pid/p: 100.0
 * /rrbot/joint1_position_controller/type: effort_controller...
 * /rrbot/joint2_position_controller/joint: joint2
 * /rrbot/joint2_position_controller/pid/d: 10.0
 * /rrbot/joint2_position_controller/pid/i: 0.01
 * /rrbot/joint2_position_controller/pid/p: 100.0
 * /rrbot/joint2_position_controller/type: effort_controller...
 * /rrbot/joint_state_controller/publish_rate: 50
 * /rrbot/joint_state_controller/type: joint_state_contr...

NODES
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
  /rrbot/
    controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

process[rrbot/controller_spawner-1]: started with pid [9316]
process[robot_state_publisher-2]: started with pid [9317]
[INFO] [1531792486.803933, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1531792486.809971, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1531792486.816021, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1531792486.819924, 0.000000]: Loading controller: joint_state_controller
[INFO] [1531792486.861847, 29.439000]: Loading controller: joint1_position_controller
[ERROR] [1531792487.873133, 30.435000]: Failed to load joint1_position_controller
[INFO] [1531792487.877248, 30.439000]: Loading controller: joint2_position_controller
[ERROR] [1531792488.891768, 31.440000]: Failed to load joint2_position_controller
[INFO] [1531792488.895309, 31.443000]: Controller Spawner: Loaded controllers: joint_state_controller
[INFO] [1531792488.907590, 31.451000]: Started controllers: joint_state_controller

Does anyone also have this problem?

[TODO] Remove master branch

I've just switched to indigo-devel and kinetic-devel branches, will delete master branch once PRs are merged

Why is rrbot.xml committed into the repo?

This file is autogenerated from rrbot.xacro, why is it in the repo then?

Double Pendulum Reset

I am facing a problem concerning the synchronization between gazebo clock and tf time stamp once the service "Reset Simulation" is called.
So you can reproduce my problem, you have to :
1- launch the simulation by typing in the terminal : roslaunch rrbot_gazebo rrbot_world.launch
2- launch the controllers in another terminal : roslaunch rrbot_control rrbot_control.launch
3- open a third terminal and type : rostopic echo /clock ( you can see the clock has just started counting )
4- type an another terminal : rostopic echo /tf ( you can see the time stamp is following the clock time )
5- once you call the rosservice by typing : rosservice call /gazebo/reset_simulation. you can easily notice a desynchronization between the tf topic and the gazebo clock. the clock resetled to zero after the "reset simulation" whereas the tf time stamp remained equal to the last timestep before reset.

Can anyone help me solve this matter ?

ROS Control Gazebo Plugin

Hello,
I'm new about ROS and Gazebo so I'm sorry if my question can seem trivial.
I follwed the "Gazebo ROS Control Tutorial" at the link: http://gazebosim.org/tutorials/?tut=ros_control.
It is a very good tutorial and I've tested rrbot example. It worked fine.
I've also tried to adapt it to our robot project and it works fine.
In the file "rrbot.gazebo" it is used the plugin "libgazebo_ros_control.so" and it is selected gazebo_ros_control/DefaultRobotHWSim.
Are these type of instructions valid for all type of robots?
If not, must I create a custom "ros_control.so" plugin for my robot?
Thank you.

ROS_control: Controller Spawner couldn't find the expected controller_manager ROS interface.

process[rrbot/controller_spawner-1]: started with pid [17740]
process[robot_state_publisher-2]: started with pid [17741]
[INFO] [1526937150.881932, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1526937150.882767, 0.000000]: wait_for_service(/rrbot/controller_manager/load_controller): failed to contact, will keep trying
[WARN] [1526937181.048728, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rrbot/controller_spawner-1] process has finished cleanly
log file: /home/pennsunglab-01/.ros/log/e33acc58-5d2f-11e8-8dd3-484d7eca7561/rrbot-controller_spawner-1*.lo

It's giving me above error when I run the ros control.
I have installed the controller-manager successfully.
Any idea why?

Problems with ros2 port of rrbot to Gazebo + Moveit2 + ROS 2

Hello,

I built Moveit2 from source. Its demos (moveit_cpp demo and MoveGroup Demo) work fine.

Then, I downloaded the following package and built it.
https://github.com/ros-simulation/gazebo_ros_demos/tree/ahcorde/port/ros2

Then, I ran:
ros2 launch rrbot_moveit_demo_nodes rrbot_demo.launch.py

The output of that is in the following file:
Command_Output.txt

Screen shots of RViZ and Gazebo are as follow:

It seems to me that the packages do not do what they are supposed to.

The culprit might be that no controller is loaded? See below:

[run_moveit_cpp-6] [WARN] [1614898855.549109564] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up
[run_moveit_cpp-6] [ERROR] [1614898860.549334240] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: joint_trajectory_controller/follow_joint_trajectory
[run_moveit_cpp-6] [INFO] [1614898860.553521909] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[run_moveit_cpp-6] [INFO] [1614898860.554275052] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers

and later:

[run_moveit_cpp-6] [ERROR] [1614898863.582072095] [moveit.ros_planning_interface.moveit_cpp]: Execution failed! No active controllers configured for group 'rrbot_arm'

I am wondering how to fix this.

Thanks,
Farbod

Can't get roscontrol to work

When I run

roslaunch rrbot_control rrbot_control.launch

I get the following output :

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.12
 * /rrbot/joint1_position_controller/joint: joint1
 * /rrbot/joint1_position_controller/pid/d: 10.0
 * /rrbot/joint1_position_controller/pid/i: 0.01
 * /rrbot/joint1_position_controller/pid/p: 100.0
 * /rrbot/joint1_position_controller/type: effort_controller...
 * /rrbot/joint2_position_controller/joint: joint2
 * /rrbot/joint2_position_controller/pid/d: 10.0
 * /rrbot/joint2_position_controller/pid/i: 0.01
 * /rrbot/joint2_position_controller/pid/p: 100.0
 * /rrbot/joint2_position_controller/type: effort_controller...
 * /rrbot/joint_state_controller/publish_rate: 50
 * /rrbot/joint_state_controller/type: joint_state_contr...

NODES
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
  /rrbot/
    controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

ERROR: cannot launch node of type [controller_manager/spawner]: controller_manager
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/jeremy/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
process[robot_state_publisher-2]: started with pid [28985]

This is my setup

Ubuntu 16.04
Ros-kinetic

Any help is appreciated. Also, what is this example file supposed to do exactly? I am new to ROS. Thanks for the help.

Incompatible with Jade. (Expects gazebo_ros_control package to be installed)

When launching rrbot_gazebo with Jade, the ros_control plugin is not loaded, nor is the controller manager.
Looking at rrbot_description/urdf/rrbot.gazebo, it is trying to load the plugin "libgazebo_ros_control.so", which appears to be part of gazebo_ros_control and is not on Jade. Needs to be changed to support gazebo_ros_pkgs.

How to apply color using a URDF?

I am trying to assign color to an object in Gazebo from my URDF file, but I don't see what's going wrong. There is either a mistake I am not finding because it fails silently, or something else is not right.

Google turns up threads that go nowhere, or whose solutions don't seem to work, or that contradict the official doc:
http://answers.gazebosim.org/question/6209/gazebo-is-not-displaying-all-the-colours-of-a-urdf-model/
http://answers.gazebosim.org/question/13718/how-to-add-a-colormaterial-to-a-stl-mesh-in-an-urdf-file/

In the documentation, the link to the rrbot.gazebo file is dead (it should go here), and just using the tag in that way does not seem to work either.

When I try to put a tag like this into the top level of my URDF file and start up gazebo, I get WARNING: unrecognized tag gazebo:

  <gazebo reference="robot_base">
    <material>Gazebo/Gray</material>
  </gazebo>

If I add it into the link's description, the part also stays white. What could be the issue? And why do I get that warning even when I don't use the tag? Hm.

'NoneType' object has no attribute 'timeout'

When I try to run:

rosservice call /rrbot/controller_manager/load_controller "name: 'joint1_position_controller'"

from the tutorial, I get the Python traceback:

ok: False
Exception in thread Thread-3 (most likely raised during interpreter shutdown):
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
  File "/usr/lib/python2.7/threading.py", line 763, in run
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 154, in run
<type 'exceptions.AttributeError'>: 'NoneType' object has no attribute 'timeout'

I'm running Ubuntu 14.04 with Indigo and Gazebo 5.

How to run this tutorial? NO movement seen after launching all the files

Hello,
I'm very new to robotics. I want to control a robot in gazebo with the help of moveit framework.
I was exploring gazebo_ros_demos but couldn't see any movement(in rviz and in gazebo) when i launched all the files listed in readme document(with the same sequence).

My plan is to use this demo to do reverse engineering and make a similar structure for panda robot.
Can anybody please tell me how to get this demo running?

My configurations are:
OS- Ubuntu 16.04
Gazebo - 7.0.0
Moveit! - latest version

Gazebo crashes (seg-fault) when running rrbot_control demo

Hi,
I tried to run rrbot_control demo using gazebo-7 & ros-kinetic running on Ubuntu-16.04.
Included rrbot_control launch file at the end if rrbot_world.launch file (by removing comments around 'include' tag). Below is the screen output of roslaunch command. I had to do a Ctrl-C to regain the term.

$ roslaunch rrbot_gazebo rrbot_world.launch
... logging to /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/roslaunch-zither-25885.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://zither:34737/

SUMMARY

PARAMETERS

• /robot_description: <?xml version="1....
• /rosdistro: kinetic
• /rosversion: 1.12.13
• /rrbot/joint1_position_controller/joint: joint1
• /rrbot/joint1_position_controller/pid/d: 10.0
• /rrbot/joint1_position_controller/pid/i: 0.01
• /rrbot/joint1_position_controller/pid/p: 100.0
• /rrbot/joint1_position_controller/type: effort_controller...
• /rrbot/joint2_position_controller/joint: joint2
• /rrbot/joint2_position_controller/pid/d: 10.0
• /rrbot/joint2_position_controller/pid/i: 0.01
• /rrbot/joint2_position_controller/pid/p: 100.0
• /rrbot/joint2_position_controller/type: effort_controller...
• /rrbot/joint_state_controller/publish_rate: 50
• /rrbot/joint_state_controller/type: joint_state_contr...
• /use_sim_time: True

NODES
/rrbot/
controller_spawner (controller_manager/spawner)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [25898]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3918a0b8-c5f0-11e8-975d-7cb0c294311c
process[rosout-1]: started with pid [25912]
started core service [/rosout]
process[gazebo-2]: started with pid [25929]
process[gazebo_gui-3]: started with pid [25941]
process[urdf_spawner-4]: started with pid [25945]
process[rrbot/controller_spawner-5]: started with pid [25947]
process[robot_state_publisher-6]: started with pid [25948]
[ INFO] [1538449618.892794235]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1538449618.909493511]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1538449618.963324, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1538449618.972069895]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1538449618.973917204]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1538449619.432248, 0.000000]: Loading model XML from ros parameter
[INFO] [1538449619.435096, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1538449620.505155917, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1538449620.539891378, 0.057000000]: Physics dynamic reconfigure ready.
[INFO] [1538449620.642872, 0.155000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1538449620.725056976, 0.234000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1538449621.226623938, 0.353000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1538449621.230388673, 0.353000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1538449621.242320340, 0.353000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1538449621.242419631, 0.353000000]: Starting GazeboRosLaser Plugin (ns = /)
[ INFO] [1538449621.246678379, 0.353000000]: GPU Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1538449621.248060133, 0.353000000]: LoadThread function completed
[INFO] [1538449621.268431, 0.353000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1538449621.296642332, 0.353000000]: Loading gazebo_ros_control plugin
[ INFO] [1538449621.296743312, 0.353000000]: Starting gazebo_ros_control plugin in namespace: /rrbot
[ INFO] [1538449621.301909929, 0.353000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1538449621.319334057, 0.353000000]: Physics dynamic reconfigure ready.
[ INFO] [1538449621.423500922, 0.353000000]: Loaded gazebo_ros_control.
Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr
[urdf_spawner-4] process has finished cleanly
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/urdf_spawner-4*.log
[INFO] [1538449621.681938, 0.599000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1538449621.684011, 0.601000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1538449621.686209, 0.603000]: Loading controller: joint_state_controller
[INFO] [1538449621.697816, 0.615000]: Loading controller: joint1_position_controller
[INFO] [1538449621.784003, 0.703000]: Loading controller: joint2_position_controller
[INFO] [1538449621.836942, 0.756000]: Controller Spawner: Loaded controllers: joint_state_controller, joint1_position_controller, joint2_position_controller
[INFO] [1538449621.840627, 0.759000]: Started controllers: joint_state_controller, joint1_position_controller, joint2_position_controller
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 25929, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/kiran/roswork/gazebo_ros_demos/src/rrbot_gazebo/worlds/rrbot.world __name:=gazebo __log:=/home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo-2.log].
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo-2.log*
[gazebo_gui-3] process has finished cleanly
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo_gui-3*.log
^C[robot_state_publisher-6] killing on exit
[rrbot/controller_spawner-5] killing on exit
[INFO] [1538449907.702371, 0.760000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1538449907.703927, 0.760000]: Stopping all controllers...
[WARN] [1538449907.712064, 0.760000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

No matching hardware interface

Hello,

I am using ros indigo, I was following the ros_control tutorials and when I cloned gazebo_ros_demos and run
roslaunch rrbot_gazebo rrbot_world.launch
I got the following error:
"No matching hardware interface found for 'hardware_interface/EffortJointInterface"
Does anyone know what the reason for this could be?
Thank you.

No publisher plugin available for RQT

Under the "Use RQT To Send Commands" section of the tutorial it says:

Add the 'Publisher' plugin then choose the topic from the drop down box that commands any particular controller that you want to publish to.

but there are no drop down boxes. The only things rendered are the File, Plugins, Running, Perspectives and Help menus, none of which allow the user to add a "Publisher" plugin. In fact, most of these menus appear to do nothing at all. Ironically, selecting the help menu causes the program to crash.

I tested this on Indigo running on Ubuntu 14.04.

ros_control: I cant move my robot in gazebo

I am using ROS kinetic on Ubuntu 16.04.
I created a 2R URDF model using Solidworks. I added Transmission tags, Gazebo plugin.
A controller.yaml file in config folder and a launch file in launch folder.
while launching
**

roslaunch rr controller_gazebo.launch
I can see controllers using rostopic echo

But the model in gazebo dosent move
why so??

I have installed ros_controller package too

**

why i had published camera topic but I don't get any message?

when i command "roslaunch rrbot_gazebo rrbot_world.launch" , "rostopic list"
i got topic list like it.

but i command "rostopic echo " get "no messages received and simulated time is active."
so i cannot see any thing on rviz

i got a error like this

how can i solve it????
PS. i use ros-kinetic and gazebo 7.0.0

Imported target "dart" includes non-existent path "/include" in its INTERFACE_INCLUDE_DIRECTORIES.

Im getting the following error running catkin_make on ROS1 noetic

CMake Error in gazebo_ros_demos/gazebo_tutorials/CMakeLists.txt:
Imported target "dart" includes non-existent path

"/include"

in its INTERFACE_INCLUDE_DIRECTORIES. Possible reasons include:

• The path was deleted, renamed, or moved to another location.

• An install or uninstall procedure did not complete successfully.

• The installation package was faulty and references files it does not
  provide.

i did a text search for INTERFACE_INCLUDE_DIRECTORIES and for /include

and im seeing at line 60 of /usr/lib/x86_64-linux-gnu/cmake/assimp-5.0/assimpTargets.cmake
which i think is termed cmake "module" ....

set_target_properties(assimp::assimp PROPERTIES
COMPATIBLE_INTERFACE_STRING "assimp_MAJOR_VERSION"
INTERFACE_assimp_MAJOR_VERSION "1"
INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include"
......
)

at src/gazebo_ros_demos/gazebo_tutorials/CMakeLists.txt

i see
find_package(gazebo REQUIRED)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})

so how do i debug the cmake process? especially since its not even directly running cmake im using a tool that builds cmake called catkin_make?

I dont just want an answer to the issue. im sure the answer is not to use these packages as they are not rated to run against newer versions of ROS. I can see your latest branch is kinetic-devel. thats fine. I need to learn cmake and catkin_make and this is a great way to solve future problems so if you can give me some insight as to the nature of the problem as well as how to debug it for myself also.

Controller Spawner couldn't find the expected controller_manager ROS interface.

Dave
Hi, my name is Yuan and I'm following the tutorial Gazebo ROS demo, I have a smooth experience on following the tutorial except for the rrbot_control package. When I type 'roslaunch rrbot_control rrbot_control.launch' , I didn't get expected behaviour. Instead I get a warning message: [WARN] [WallTime: 1529028805.545238] [835.983000] Controller Spawner couldn't find the expected controller_manager ROS interface.
When I type rosservise list, I didn't see control/manager at all.
I download the ROS demo pkg directly from github into my workspace and 'catkin build' the package. I'm using ROS-indigo on Ubuntu 14.04. I also have Gazebo 7 installed. What can be wrong? Do you have similar experience?
Looking forward your respond!
Best

Broken Link

This link from the README is dead: http://gazebosim.org/wiki/Tutorials#ROS_Integration

Perhaps this one is better: http://gazebosim.org/tutorials?cat=connect_ros

Problem loading controller_manager when starting Moveit2 and gazebo_ros2_control

Hello everyone, I have 2 robotic manipulators in my open source project. I fully configured the first robot to run perfectly using this combination. Despite the fact that both robots are identical in terms of URDF. After configuring the second robot, I encountered unexpected behavior. The launch of the program is accompanied by the controller_manager error:

[spawner.py-4] [ERROR] [1641352939.900824847] [spawner_neptun_arm_controller]: Controller manager not available
[spawner.py-3] [ERROR] [1641352939.918730349] [spawner_joint_state_broadcaster]: Controller manager not available

If the source files of the robot are required, then they can be found at this link

The complete log file is presented below (not from this branch 👆)

1641352928.3674600 [INFO] [launch]: All log files can be found below /home/bill-finger/.ros/log/2022-01-05-07-22-08-322172-billfinger-pc-108235
1641352928.3677945 [INFO] [launch]: Default logging verbosity is set to INFO
1641352929.3657432 [INFO] [ros2_control_node-1]: process started with pid [108255]
1641352929.3659594 [INFO] [robot_state_publisher-2]: process started with pid [108257]
1641352929.3660595 [INFO] [spawner.py-3]: process started with pid [108259]
1641352929.3661454 [INFO] [spawner.py-4]: process started with pid [108261]
1641352929.3662262 [INFO] [gzserver-5]: process started with pid [108263]
1641352929.3663056 [INFO] [gzclient   -6]: process started with pid [108266]
1641352929.3663816 [INFO] [spawn_entity.py-7]: process started with pid [108269]
1641352929.3664567 [INFO] [rviz2-8]: process started with pid [108291]
1641352929.3665392 [INFO] [move_group-9]: process started with pid [108293]
1641352929.8530796 [spawner.py-4] �[0m[INFO] [1641352929.852578625] [spawner_neptun_arm_controller]: Waiting for /controller_manager services�[0m
1641352929.8731923 [spawner.py-3] �[0m[INFO] [1641352929.872901646] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services�[0m
1641352929.8755083 [ERROR] [ros2_control_node-1]: process has died [pid 108255, exit code -6, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_1aa5y1ta --params-file /home/bill-finger/rasms_ws/install/neptun_moveit_config/share/neptun_moveit_config/config/neptun_controllers.yaml'].
1641352930.5930386 [rviz2-8] Qt: Session management error: Could not open network socket
1641352931.8601594 [spawner.py-4] �[0m[INFO] [1641352931.859851964] [spawner_neptun_arm_controller]: Waiting for /controller_manager services�[0m
1641352931.8805783 [spawner.py-3] �[0m[INFO] [1641352931.880262050] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services�[0m
1641352931.9548535 [INFO] [spawn_entity.py-7]: process has finished cleanly [pid 108269]
1641352932.0512435 [rviz2-8] �[0m[INFO] [1641352932.050918999] [rviz2]: Stereo is NOT SUPPORTED�[0m
1641352932.0518618 [rviz2-8] �[0m[INFO] [1641352932.051044298] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)�[0m
1641352932.1977348 [rviz2-8] �[0m[INFO] [1641352932.197424416] [rviz2]: Stereo is NOT SUPPORTED�[0m
1641352932.3061819 [rviz2-8] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
1641352932.3065999 [rviz2-8]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
1641352933.8702288 [spawner.py-4] �[0m[INFO] [1641352933.869935892] [spawner_neptun_arm_controller]: Waiting for /controller_manager services�[0m
1641352933.8911695 [spawner.py-3] �[0m[INFO] [1641352933.890868360] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services�[0m
1641352935.3258474 [rviz2-8] �[31m[ERROR] [1641352935.325450149] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available�[0m
1641352935.4578655 [rviz2-8] Parsing robot urdf xml string.
1641352935.4587970 [rviz2-8] �[0m[INFO] [1641352935.457074712] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00124859 seconds�[0m
1641352935.4591789 [rviz2-8] �[0m[INFO] [1641352935.457136677] [moveit_robot_model.robot_model]: Loading robot model 'neptun'...�[0m
1641352935.4594257 [rviz2-8] �[0m[INFO] [1641352935.457156042] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint�[0m
1641352935.5860350 [rviz2-8] Link base_link had 1 children
1641352935.5869553 [rviz2-8] Link link1 had 1 children
1641352935.5884221 [rviz2-8] Link link2 had 1 children
1641352935.5896580 [rviz2-8] Link link3 had 1 children
1641352935.5914223 [rviz2-8] Link link4 had 1 children
1641352935.5921044 [rviz2-8] Link link5 had 1 children
1641352935.5925164 [rviz2-8] Link link6 had 0 children
1641352935.5972986 [rviz2-8] �[33m[WARN] [1641352935.597043268] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.�[0m
1641352935.8817580 [spawner.py-4] �[0m[INFO] [1641352935.881462396] [spawner_neptun_arm_controller]: Waiting for /controller_manager services�[0m
1641352935.9029191 [spawner.py-3] �[0m[INFO] [1641352935.902485761] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services�[0m
1641352935.9759324 [rviz2-8] �[0m[INFO] [1641352935.975663313] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor�[0m
1641352935.9772580 [rviz2-8] �[0m[INFO] [1641352935.977056592] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'�[0m
1641352936.6356039 [rviz2-8] �[0m[INFO] [1641352936.635299723] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor�[0m
1641352936.6364915 [rviz2-8] �[0m[INFO] [1641352936.635806910] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'�[0m
1641352936.6755645 [rviz2-8] �[0m[INFO] [1641352936.675200640] [interactive_marker_display_94345384387520]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic�[0m
1641352936.7155459 [rviz2-8] Link base_link had 1 children
1641352936.7157085 [rviz2-8] Link link1 had 1 children
1641352936.7157681 [rviz2-8] Link link2 had 1 children
1641352936.7158198 [rviz2-8] Link link3 had 1 children
1641352936.7158685 [rviz2-8] Link link4 had 1 children
1641352936.7159150 [rviz2-8] Link link5 had 1 children
1641352936.7159669 [rviz2-8] Link link6 had 0 children
1641352936.7588644 [rviz2-8] �[0m[INFO] [1641352936.757631806] [interactive_marker_display_94345384387520]: Sending request for interactive markers�[0m
1641352936.7920895 [rviz2-8] �[0m[INFO] [1641352936.791813827] [interactive_marker_display_94345384387520]: Service response received for initialization�[0m
1641352937.8936553 [spawner.py-4] �[0m[INFO] [1641352937.893377338] [spawner_neptun_arm_controller]: Waiting for /controller_manager services�[0m
1641352937.9104257 [spawner.py-3] �[0m[INFO] [1641352937.910139528] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services�[0m
1641352939.9012055 [spawner.py-4] �[31m[ERROR] [1641352939.900824847] [spawner_neptun_arm_controller]: Controller manager not available�[0m
1641352939.9194984 [spawner.py-3] �[31m[ERROR] [1641352939.918730349] [spawner_joint_state_broadcaster]: Controller manager not available�[0m
1641352939.9371300 [ERROR] [spawner.py-4]: process has died [pid 108261, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py neptun_arm_controller -c /controller_manager --ros-args'].
1641352939.9567206 [ERROR] [spawner.py-3]: process has died [pid 108259, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
1641352941.6368887 [rviz2-8] �[0m[INFO] [1641352941.636623698] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?�[0m
1641352941.7179387 [rviz2-8] �[0m[INFO] [1641352941.717568295] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?�[0m
1641352941.7196949 [rviz2-8] �[0m[INFO] [1641352941.717662699] [moveit_ros_visualization.motion_planning_frame]: group neptun_arm_group�[0m
1641352941.7208910 [rviz2-8] �[0m[INFO] [1641352941.717670269] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'neptun_arm_group' in namespace ''�[0m
1641352941.7293777 [rviz2-8] �[0m[INFO] [1641352941.729121150] [move_group_interface]: Ready to take commands for planning group neptun_arm_group.�[0m
1641352941.7301033 [rviz2-8] �[0m[INFO] [1641352941.729164051] [move_group_interface]: Looking around: no�[0m
1641352941.7301991 [rviz2-8] �[0m[INFO] [1641352941.729176362] [move_group_interface]: Replanning: no�[0m
1641353500.1197989 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
1641353500.1377134 [rviz2-8] �[0m[INFO] [1641353500.122321697] [rclcpp]: signal_handler(signal_value=2)�[0m
1641353500.1435847 [rviz2-8] �[33m[WARN] [1641353500.133163942] [interactive_marker_display_94345384387520]: Server not available while running, resetting�[0m
1641353500.1634634 [INFO] [move_group-9]: process has finished cleanly [pid 108293]
1641353500.1727631 [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 108257]
1641353500.2374523 [rviz2-8] 
1641353500.2376561 [rviz2-8] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
1641353500.2377291 [rviz2-8] This error state is being overwritten:
1641353500.2377932 [rviz2-8] 
1641353500.2378542 [rviz2-8]   'rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/node.c:441'
1641353500.2379131 [rviz2-8] 
1641353500.2379708 [rviz2-8] with this new error message:
1641353500.2380273 [rviz2-8] 
1641353500.2381430 [rviz2-8]   'publisher's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/publisher.c:423'
1641353500.2382045 [rviz2-8] 
1641353500.2382596 [rviz2-8] rcutils_reset_error() should be called after error handling to avoid this.
1641353500.2383440 [rviz2-8] <<<
1641353500.2408717 [rviz2-8] �[0m[INFO] [1641353500.240590081] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor�[0m
1641353500.2499344 [rviz2-8] �[0m[INFO] [1641353500.249202211] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor�[0m
1641353500.3003180 [ERROR] [gzserver-5]: process has died [pid 108263, exit code -2, cmd 'gzserver                                                                       -s libgazebo_ros_init.so   -s libgazebo_ros_factory.so   -s libgazebo_ros_force_system.so       '].
1641353500.3908882 [ERROR] [gzclient   -6]: process has died [pid 108266, exit code -2, cmd 'gzclient   '].
1641353500.4720025 [INFO] [rviz2-8]: process has finished cleanly [pid 108291]

This link provides an example based on which I made the configuration of both robots

After getting errors like this, I'm really confused. I would be grateful for any help provided

---

My environment

• Ubuntu 20.04
• ROS2 Foxy (binary install)
• Moveit2 (binary install)
• Gazebo 11

P.S. If you think I wrote to the wrong repository, please direct me to the correct repository.

---

Update

I forgot to add that after about 2-3 minutes gazebo_ros2_control is loaded, but this is not the time at which I would like to expect it to start. At the same time, Gazebo itself starts up but without a visible robot model.

The problem about the rviz and gazebo in gazebo_ros_demos package

I have a problem about the package gazebo_ros_demos.

When I use roslaunch rrbot_description rrbot_rviz.launch then roslaunch rrbot_control rrbot_control.launch, it shows the warn that is [WARN] [1597821207.287022]: Controller Spawner couldn't find the expected controller_manager ROS interface .

When I use roslaunch rrbot_gazebo rrbot_world.launch then roslaunch rrbot_control rrbot_control.launch, it's ok.

And I compare the result of rosservice list , it shows the former one doesn't have controller_manager . That's why ?

No valid hardware interface element found in joint 'joint1'.

A couple of unexpected message in the log:

...
[ INFO] [1406374462.071298512, 0.311000000]: LoadThread function completed
[ERROR] [1406374462.155496998, 0.311000000]: No valid hardware interface element found in joint 'joint1'.
[ERROR] [1406374462.155596103, 0.311000000]: Failed to load joints for transmission 'tran1'.
[ERROR] [1406374462.155802205, 0.311000000]: No valid hardware interface element found in joint 'joint2'.
[ERROR] [1406374462.155920027, 0.311000000]: Failed to load joints for transmission 'tran2'.
[ INFO] [1406374462.366003516, 0.311000000]: Loaded gazebo_ros_control.
...

The controller does not load properly.

See also:

http://answers.gazebosim.org/question/6654/gazeboos-x-109-no-valid-hardware-interface-element/
http://answers.ros.org/question/186681/no-valid-hardware-interface-element-found-in-joint/

Not sure whether the .xacro file is no longer compliant with gazebo_ros_control or there is a regression.