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[Jammy] Controllers are not loaded properly #62

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AndrejOrsula opened this issue Jun 2, 2022 · 1 comment
Closed

[Jammy] Controllers are not loaded properly #62

AndrejOrsula opened this issue Jun 2, 2022 · 1 comment
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@AndrejOrsula
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AndrejOrsula commented Jun 2, 2022 •
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Hello. I wanted to try the new version of gz_ros2_control on Ubuntu Jammy with humble/rolling, but I ran into the following issue with controllers. The issue occurs both when trying robotic arms (panda_ign_moveit2) and demos from ign_ros2_control_demos. Both of these worked previously using d653017 on focal with galactic (and rolling at some point :D). I still have the working setup on my focal machine if any more info is required.

[ign gazebo-1] [ERROR] [1654181056.506945303] [joint_state_broadcaster]: None of requested interfaces exist. Controller will not run.
[ign gazebo-1] [ERROR] [1654181057.407352076] [controller_manager]: Can't activate controller 'joint_trajectory_controller': Command interface with 'slider_to_cart/position' does not exist
[ros2-5] Sucessfully loaded controller joint_trajectory_controller into state active  ##Not sure why this says "successful"##
...
## <Manually sent goal> ##
[ign gazebo-1] [INFO] [1654181407.856324391] [joint_trajectory_controller]: Received new action goal
[ign gazebo-1] [ERROR] [1654181407.856371822] [joint_trajectory_controller]: Can't accept new action goals. Controller is not running.

Note: Only tested with Docker, so I hope that is not the origin of the issue...

Environment

  • OS Version: Docker with Ubuntu 22.04 (jammy)
  • ROS distro: humble and rolling
  • Source or binary build? [see Dockerfile below]
    • gz_ros2_control -> source
    • Everything else -> binary

Description

  • Expected behavior: Keeping up with rolling is easy and completely effortless.
  • Actual behavior: Robots relying on ign_ros2_control cannot be controlled because controllers are not loaded properly.

Steps to reproduce

  1. Build Docker image (e.g. docker build . -t ${USER}/gz_ros2_control:rolling)
# Both `rolling` and `humble` have the same issue
ARG ROS_DISTRO=rolling 
FROM ros:${ROS_DISTRO}-ros-base

ENV TERM xterm

### Install Gazebo
ARG IGNITION_VERSION=fortress
ENV IGNITION_VERSION=${IGNITION_VERSION}
RUN apt-get update && \
    apt-get install -yq --no-install-recommends \
    ignition-${IGNITION_VERSION} && \
    rm -rf /var/lib/apt/lists/*

### Clone gz_ros2_control
WORKDIR /root/ws/src
RUN git clone https://github.com/gazebosim/gz_ros2_control.git -b main

### Build gz_ros2_control
WORKDIR /root/ws
RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
    rosdep update && \
    apt-get update && \
    rosdep install -r --from-paths src -yi --rosdistro ${ROS_DISTRO} && \
    rm -rf /var/lib/apt/lists/* && \
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF --ament-cmake-args -DCMAKE_BUILD_TYPE=Release

### Update /ros_entrypoint.sh
RUN sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#/root/ws/install/setup.sh#g" /ros_entrypoint.sh
  1. Run container (e.g. docker run ${FANCY_DOCKER_ARGS} ${USER}/gz_ros2_control:rolling)
  2. Launch any demo (e.g. ros2 launch ign_ros2_control_demos cart_example_position.launch.py)

Note: Use ogre render engine if ogre2 does not provide rendering for 3D view (gz-sim#1492)

Output

Full output log:

Click to expand! 
~/ws# ros2 launch ign_ros2_control_demos cart_example_position.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-06-02-16-44-15-034148-pp1929-47
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [48]
[INFO] [robot_state_publisher-2]: process started with pid [50]
[INFO] [create-3]: process started with pid [53]
[robot_state_publisher-2] Link slideBar had 1 children
[robot_state_publisher-2] Link cart had 0 children
[robot_state_publisher-2] [INFO] [1654181055.151467124] [robot_state_publisher]: got segment cart
[robot_state_publisher-2] [INFO] [1654181055.151526069] [robot_state_publisher]: got segment slideBar
[robot_state_publisher-2] [INFO] [1654181055.151531999] [robot_state_publisher]: got segment world
[create-3] [INFO] [1654181055.162256825] [ros_ign_gazebo]: Requesting list of world names.
[ign gazebo-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/PluginMenu.qml:61:11: QML Image: Error decoding: qrc:/qml/images/search.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[create-3] [INFO] [1654181055.633441615] [ros_ign_gazebo]: Requested creation of entity.
[create-3] [INFO] [1654181055.633496932] [ros_ign_gazebo]: OK creation of entity.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[INFO] [create-3]: process has finished cleanly [pid 53]
[INFO] [ros2-4]: process started with pid [133]
[ign gazebo-1] [Msg] Ignition Gazebo GUI    v6.9.0
[ign gazebo-1] [Dbg] [Application.cc:90] Initializing application.
[ign gazebo-1] [GUI] [Dbg] [Application.cc:511] Create main window
[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ign gazebo-1] [GUI] [Dbg] [Gui.cc:156] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[ign gazebo-1] [GUI] [Dbg] [Gui.cc:215] Requesting GUI from [/world/empty/gui/info]...
[ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/empty/state]...
[ign gazebo-1] [GUI] [Msg] Copied installed config [/usr/share/ignition/ignition-gazebo6/gui/gui.config] to default config [/root/.ignition/gazebo/6/gui.config].
[ign gazebo-1] [GUI] [Msg] Loading config [/root/.ignition/gazebo/6/gui.config]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [MinimalScene]
[ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [EntityContextMenuPlugin]
[ign gazebo-1] [GUI] [Msg] Added plugin [Entity Context Menu] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [GzSceneManager]
[ign gazebo-1] [GUI] [Msg] Added plugin [Scene Manager] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [InteractiveViewControl]
[ign gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[ign gazebo-1] [GUI] [Msg] Added plugin [] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [CameraTracking]
[ign gazebo-1] [GUI] [Msg] Added plugin [Camera tracking] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [MarkerManager]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [Marker Manager] to main window
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [SelectEntities]
[ign gazebo-1] [GUI] [Msg] Added plugin [Select entities] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [Spawn]
[ign gazebo-1] [GUI] [Msg] Added plugin [Spawn] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [VisualizationCapabilities]
[ign gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
[ign gazebo-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[ign gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com]
[ign gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia]
[ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ign gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints]
[ign gazebo-1] [GUI] [Msg] View frames service on [/gui/view/frames]
[ign gazebo-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [WorldControl]
[ign gazebo-1] [GUI] [Msg] Using world control service [/world/empty/control]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[ign gazebo-1] [GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [WorldStats]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [Shapes]
[ign gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Screenshot/Screenshot.qml:33:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/ComponentInspector.qml:183:22: QML Image: Error decoding: qrc:/Gazebo/images/unlock.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Msg] [Msg] Ignition Gazebo Server v6.9.0
[ign gazebo-1] [Msg] Loading SDF world file[/usr/share/ignition/ignition-gazebo6/worlds/empty.sdf].
[ign gazebo-1] [Dbg] [Physics.cc:801] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[ign gazebo-1] [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[ign gazebo-1] [Msg] Create service on [/world/empty/create]
[ign gazebo-1] [Msg] Remove service on [/world/empty/remove]
[ign gazebo-1] [Msg] Pose service on [/world/empty/set_pose]
[ign gazebo-1] [Msg] Pose service on [/world/empty/set_pose_vector]
[ign gazebo-1] [Msg] Light configuration service on [/world/empty/light_config]
[ign gazebo-1] [Msg] Physics service on [/world/empty/set_physics]
[ign gazebo-1] [Msg] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
[ign gazebo-1] [Msg] Enable collision service on [/world/empty/enable_collision]
[ign gazebo-1] [Msg] Disable collision service on [/world/empty/disable_collision]
[ign gazebo-1] [Msg] Material service on [/world/empty/visual_config]
[ign gazebo-1] [Msg] Material service on [/world/empty/wheel_slip]
[ign gazebo-1] [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[ign gazebo-1] [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[ign gazebo-1] [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::Contact] for entity [1]
[ign gazebo-1] [Msg] Loaded level [3]
[ign gazebo-1] [Msg] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
[ign gazebo-1] [Msg] Serving GUI information on [/world/empty/gui/info]
[ign gazebo-1] [Msg] World [empty] initialized with [1ms] physics profile.
[ign gazebo-1] [Msg] Serving world SDF generation service on [/world/empty/generate_world_sdf]
[ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds]
[ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ign gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ign gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[ign gazebo-1] [Msg] Server control service on [/server_control].
[ign gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
[ign gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
[ign gazebo-1] [Dbg] [SimulationRunner.cc:491] Creating PostUpdate worker threads: 3
[ign gazebo-1] [INFO] [1654181056.324552803] [ignition_ros_control]: [ign_ros2_control] Fixed joint [world_to_base] (Entity=14)] is skipped
[ign gazebo-1] [INFO] [1654181056.327931756] [ignition_ros_control]: connected to service!! robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1654181056.328213018] [ignition_ros_control]: Received URDF from param server
[ign gazebo-1] [INFO] [1654181056.330923568] [ignition_ros_control]: Loading joint: slider_to_cart
[ign gazebo-1] [INFO] [1654181056.330944119] [ignition_ros_control]:    State:
[ign gazebo-1] [INFO] [1654181056.330950076] [ignition_ros_control]:             position
[ign gazebo-1] [INFO] [1654181056.330958123] [ignition_ros_control]:                     found initial value: -5.000000
[ign gazebo-1] [INFO] [1654181056.330965808] [ignition_ros_control]:             velocity
[ign gazebo-1] [INFO] [1654181056.330970391] [ignition_ros_control]:             effort
[ign gazebo-1] [INFO] [1654181056.330976035] [ignition_ros_control]:    Command:
[ign gazebo-1] [INFO] [1654181056.330980159] [ignition_ros_control]:             position
[ign gazebo-1] [INFO] [1654181056.331011520] [resource_manager]: Initialize hardware 'IgnitionSystem' 
[ign gazebo-1] [WARN] [1654181056.331017717] [ignition_ros_control]: On init...
[ign gazebo-1] [INFO] [1654181056.331043776] [resource_manager]: Successful initialization of hardware 'IgnitionSystem'
[ign gazebo-1] [INFO] [1654181056.331056118] [ignition_ros_control]: Loading controller_manager
[ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized.
[ign gazebo-1] [WARN] [1654181056.352353557] [ignition_ros_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[ign gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[ign gazebo-1] [INFO] [1654181056.488169388] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1654181056.498048630] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1654181056.498177356] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ign gazebo-1] [ERROR] [1654181056.506945303] [joint_state_broadcaster]: None of requested interfaces exist. Controller will not run.
[ign gazebo-1] [WARN] [1654181056.506973398] []: Error occurred while doing error handling.
[ign gazebo-1] [ERROR] [1654181056.506989445] [controller_manager]: After activating, controller 'joint_state_broadcaster' is in state 'unconfigured', expected Active
[ros2-4] Sucessfully loaded controller joint_state_broadcaster into state active
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/Vector3d.qml:83:5: QML Image: Error decoding: file::/ComponentInspector/plottable_icon.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/Vector3d.qml:83:5: QML Image: Error decoding: file::/ComponentInspector/plottable_icon.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/Vector3d.qml:83:5: QML Image: Error decoding: file::/ComponentInspector/plottable_icon.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/Vector3d.qml:83:5: QML Image: Error decoding: file::/ComponentInspector/plottable_icon.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/Vector3d.qml:83:5: QML Image: Error decoding: file::/ComponentInspector/plottable_icon.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/Vector3d.qml:83:5: QML Image: Error decoding: file::/ComponentInspector/plottable_icon.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/Physics.qml:89:5: QML Image: Error decoding: file::/ComponentInspector/plottable_icon.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/ComponentInspector/Physics.qml:89:5: QML Image: Error decoding: file::/ComponentInspector/plottable_icon.svg: Unsupported image format
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityTree/EntityTree.qml:328:9: QML Image: Error decoding: qrc:/Gazebo/images/chevron-right.svg: Unsupported image format
[ign gazebo-1] libEGL warning: DRI2: failed to create dri screen
[ign gazebo-1] libEGL warning: DRI2: failed to create dri screen
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityTree/EntityTree.qml:328:9: QML Image: Error decoding: qrc:/Gazebo/images/chevron-right.svg: Unsupported image format
[INFO] [ros2-4]: process has finished cleanly [pid 133]
[INFO] [ros2-5]: process started with pid [365]
[ign gazebo-1] [GUI] [Wrn] [Ogre2RenderTarget.cc:575] Anti-aliasing level of '8' is not supported; valid FSAA levels are: [ 0 ]. Setting to 0
[ign gazebo-1] [Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (0)Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [Lights]
[ign gazebo-1] [GUI] [Msg] Added plugin [Lights] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [TransformControl]
[ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:219] Legacy mode is disabled; this plugin must be used with MinimalScene.
[ign gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [Screenshot]
[ign gazebo-1] [GUI] [Msg] Screenshot service on [/gui/screenshot]
[ign gazebo-1] [GUI] [Msg] Added plugin [Screenshot] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [CopyPaste]
[ign gazebo-1] [GUI] [Msg] Added plugin [Copy/Paste] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [ComponentInspector]
[ign gazebo-1] [GUI] [Msg] Added plugin [Component inspector] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [EntityTree]
[ign gazebo-1] [GUI] [Msg] Added plugin [Entity tree] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:264] Loading window config
[ign gazebo-1] [GUI] [Msg] Using server control service [/server_control]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:525] Applying config
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Dbg] [MinimalScene.cc:534] Create scene [scene]
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:528] TransformControl plugin is using camera [scene::Camera(65527)]
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [INFO] [1654181057.360232564] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ign gazebo-1] [INFO] [1654181057.382854186] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ign gazebo-1] [INFO] [1654181057.382994650] [joint_trajectory_controller]: Command interfaces are [position] and and state interfaces are [position velocity].
[ign gazebo-1] [INFO] [1654181057.383803117] [joint_trajectory_controller]: Controller state will be published at 50.00 Hz.
[ign gazebo-1] [INFO] [1654181057.384459316] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ign gazebo-1] [ERROR] [1654181057.407352076] [controller_manager]: Can't activate controller 'joint_trajectory_controller': Command interface with 'slider_to_cart/position' does not exist
[ros2-5] Sucessfully loaded controller joint_trajectory_controller into state active
[INFO] [ros2-5]: process has finished cleanly [pid 365]
## <Manually sent goal> ##
[ign gazebo-1] [INFO] [1654181407.856324391] [joint_trajectory_controller]: Received new action goal
[ign gazebo-1] [ERROR] [1654181407.856371822] [joint_trajectory_controller]: Can't accept new action goals. Controller is not running.
@AndrejOrsula AndrejOrsula added the bug Something isn't working label Jun 2, 2022
@AndrejOrsula AndrejOrsula mentioned this issue Jun 6, 2022
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This was referenced Jun 20, 2022
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@peterdavidfagan peterdavidfagan mentioned this issue Jun 20, 2022
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@AndrejOrsula AndrejOrsula mentioned this issue Jun 29, 2022
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Thank you @ahcorde for resolving this issue (#68)! I confirm ign_ros2_control_demos now works under humble and rolling using the Docker setup above.

@azeey azeey moved this to Done in Core development Jul 24, 2023
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