CONTROLLER MANAGER NOT AVAILABLE

[chytra3]

I did all the installations properly and all the controller packages are present but i am getting this error as controller manager is not available and also some error in Loading parameter files panda_controller.yaml " an error string (message, file name, or formatted message) will be truncated [gzserver-1] [ERROR] [1712762426.399338901] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ? "

but the same files when my friends are running in their system , there is no such error

The terminal log is :

ros2 launch panda_ros2_moveit2 panda_interface.launch.py [INFO] [launch]: All log files can be found below /home/chytra/.ros/log/2024-04-10-20-50-15-816998-chytra-30077 [INFO] [launch]: Default logging verbosity is set to INFO

--- Cranfield University --- (c) IFRA Group

ros2_RobotSimulation --> PANDA ROBOT Launch file -> panda_interface.launch.py

Robot configuration:

• Cell layout:

  • Option N1: PANDA ROBOT alone.
  • Option N2: PANDA ROBOT on top of a pedestal. Please select: 1

• End-effector:

  • No EE variants for this robot. [INFO] [gzserver-1]: process started with pid [30078] [INFO] [gzclient-2]: process started with pid [30080] [INFO] [spawn_entity.py-3]: process started with pid [30082] [INFO] [static_transform_publisher-4]: process started with pid [30084] [INFO] [robot_state_publisher-5]: process started with pid [30086] [static_transform_publisher-4] [WARN] [1712762422.478853131] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-4] [INFO] [1712762422.517003713] [static_transform_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-4] from 'world' to 'base_link' [robot_state_publisher-5] [INFO] [1712762422.559233237] [robot_state_publisher]: got segment end_effector_frame [robot_state_publisher-5] [INFO] [1712762422.559639404] [robot_state_publisher]: got segment panda_hand [robot_state_publisher-5] [INFO] [1712762422.559688412] [robot_state_publisher]: got segment panda_leftfinger [robot_state_publisher-5] [INFO] [1712762422.559720011] [robot_state_publisher]: got segment panda_link0 [robot_state_publisher-5] [INFO] [1712762422.559747348] [robot_state_publisher]: got segment panda_link1 [robot_state_publisher-5] [INFO] [1712762422.559773791] [robot_state_publisher]: got segment panda_link2 [robot_state_publisher-5] [INFO] [1712762422.559800464] [robot_state_publisher]: got segment panda_link3 [robot_state_publisher-5] [INFO] [1712762422.559826760] [robot_state_publisher]: got segment panda_link4 [robot_state_publisher-5] [INFO] [1712762422.559852680] [robot_state_publisher]: got segment panda_link5 [robot_state_publisher-5] [INFO] [1712762422.559879619] [robot_state_publisher]: got segment panda_link6 [robot_state_publisher-5] [INFO] [1712762422.559905156] [robot_state_publisher]: got segment panda_link7 [robot_state_publisher-5] [INFO] [1712762422.559930500] [robot_state_publisher]: got segment panda_link8 [robot_state_publisher-5] [INFO] [1712762422.559956524] [robot_state_publisher]: got segment panda_rightfinger [robot_state_publisher-5] [INFO] [1712762422.559983152] [robot_state_publisher]: got segment world [spawn_entity.py-3] [INFO] [1712762423.663336869] [spawn_entity]: Spawn Entity started [spawn_entity.py-3] [INFO] [1712762423.664368659] [spawn_entity]: Loading entity published on topic robot_description [spawn_entity.py-3] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-3] warnings.warn( [spawn_entity.py-3] [INFO] [1712762423.669789230] [spawn_entity]: Waiting for entity xml on robot_description [spawn_entity.py-3] [INFO] [1712762423.682461718] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-3] [INFO] [1712762423.683465258] [spawn_entity]: Waiting for service /spawn_entity [gzserver-1] [WARN] [1712762425.645150010] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead. [gzserver-1] [WARN] [1712762425.645884793] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead. [gzserver-1] [INFO] [1712762425.669927246] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states] [gzserver-1] [INFO] [1712762425.671777571] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states] [spawn_entity.py-3] [INFO] [1712762425.696032370] [spawn_entity]: Calling service /spawn_entity [spawn_entity.py-3] [INFO] [1712762426.265439714] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [panda] [gzserver-1] [INFO] [1712762426.371852073] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-1] [INFO] [1712762426.383758528] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-1] [INFO] [1712762426.383949624] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-1] [INFO] [1712762426.394198297] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-1] [INFO] [1712762426.396132022] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-1] [INFO] [1712762426.396355166] [gazebo_ros2_control]: Loading parameter files /home/chytra/dev_ws/install/panda_ros2_gazebo/share/panda_ros2_gazebo/config/panda_controller.yaml [gzserver-1] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated [gzserver-1] [ERROR] [1712762426.399338901] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?>transmission_interface/SimpleTransmissionhardware_interface/PositionJointInterface1transmission_interface/SimpleTransmissionhardware_interface/PositionJointInterface1</transmissi, at ./src/rcl/arguments.c:343 [gzserver-1] [INFO] [spawn_entity.py-3]: process has finished cleanly [pid 30082] [INFO] [spawner-6]: process started with pid [30238] [spawner-6] [INFO] [1712762429.989689920] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-6] [INFO] [1712762432.010950208] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-6] [INFO] [1712762434.030649837] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-6] [INFO] [1712762436.052943414] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-6] [ERROR] [1712762438.073568862] [spawner_joint_state_broadcaster]: Controller manager not available [ERROR] [spawner-6]: process has died [pid 30238, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args']. [INFO] [spawner-7]: process started with pid [30288] [spawner-7] [INFO] [1712762441.936157430] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1712762443.955729383] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1712762445.979329911] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1712762448.001306249] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist [spawner-7] [ERROR] [1712762450.021742045] [spawner_panda_arm_controller]: Controller manager not available [ERROR] [spawner-7]: process has died [pid 30288, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_arm_controller -c /controller_manager --ros-args']. [INFO] [spawner-8]: process started with pid [30329] [spawner-8] [INFO] [1712762453.554101046] [spawner_panda_handleft_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1712762455.573604561] [spawner_panda_handleft_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1712762457.594105775] [spawner_panda_handleft_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1712762459.614263799] [spawner_panda_handleft_controller]: Waiting for '/controller_manager' node to exist [spawner-8] [ERROR] [1712762461.636650464] [spawner_panda_handleft_controller]: Controller manager not available [ERROR] [spawner-8]: process has died [pid 30329, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_handleft_controller -c /controller_manager --ros-args']. [INFO] [spawner-9]: process started with pid [30371] [spawner-9] [INFO] [1712762465.244838456] [spawner_panda_handright_controller]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1712762467.270624642] [spawner_panda_handright_controller]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1712762469.293777957] [spawner_panda_handright_controller]: Waiting for '/controller_manager' node to exist [spawner-9] [INFO] [1712762471.315332582] [spawner_panda_handright_controller]: Waiting for '/controller_manager' node to exist [spawner-9] [ERROR] [1712762473.336833637] [spawner_panda_handright_controller]: Controller manager not available [ERROR] [spawner-9]: process has died [pid 30371, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_handright_controller -c /controller_manager --ros-args']. [INFO] [moveJs_action-10]: process started with pid [30422] [ERROR] [moveJs_action-10]: process has died [pid 30422, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveJs_action --ros-args -r node:=moveJs_action --params-file /tmp/launch_params_cnzlvory --params-file /tmp/launch_params_vg7z7r5z --params-file /tmp/launch_params_injx5idf --params-file /tmp/launch_params_yfiuqqtx --params-file /tmp/launch_params_39tw1u91']. [INFO] [moveG_action-11]: process started with pid [30424] [ERROR] [moveG_action-11]: process has died [pid 30424, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveG_action --ros-args -r __node:=moveG_action --params-file /tmp/launch_params_98e24b_q --params-file /tmp/launch_params_zz6y2x6j --params-file /tmp/launch_params_fo721929 --params-file /tmp/launch_params_p9_0ctv7 --params-file /tmp/launch_params_99f7y28b']. [INFO] [moveL_action-12]: process started with pid [30426] [ERROR] [moveL_action-12]: process has died [pid 30426, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveL_action --ros-args -r node:=moveL_action --params-file /tmp/launch_params_cf861v5u --params-file /tmp/launch_params_qhi7g7zi --params-file /tmp/launch_params_qesb5kje --params-file /tmp/launch_params_pjbeg5s7 --params-file /tmp/launch_paramsdhl6t1t']. [INFO] [moveRs_action-13]: process started with pid [30428] [ERROR] [moveRs_action-13]: process has died [pid 30428, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveRs_action --ros-args -r node:=moveRs_action --params-file /tmp/launch_params_0xpmwvnn --params-file /tmp/launch_params_ycy7_o6r --params-file /tmp/launch_params_oowt1mbp --params-file /tmp/launch_params_lcphfjzj --params-file /tmp/launch_params_ukfup4dq']. [INFO] [moveXYZ_action-14]: process started with pid [30430] [ERROR] [moveXYZ_action-14]: process has died [pid 30430, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveXYZ_action --ros-args -r node:=moveXYZ_action --params-file /tmp/launch_params_a48ju8p3 --params-file /tmp/launch_params_phfizuus --params-file /tmp/launch_params_4mjl30oo --params-file /tmp/launch_params_0gw7ghri --params-file /tmp/launch_params_e383iqzc']. [INFO] [moveXYZW_action-15]: process started with pid [30432] [ERROR] [moveXYZW_action-15]: process has died [pid 30432, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveXYZW_action --ros-args -r node:=moveXYZW_action --params-file /tmp/launch_params_7ivyzydo --params-file /tmp/launch_params_agw5gj2t --params-file /tmp/launch_params_ob70g6yd --params-file /tmp/launch_params_5cfjjtma --params-file /tmp/launch_params_q3lr_a7o']. [INFO] [moveYPR_action-16]: process started with pid [30434] [ERROR] [moveYPR_action-16]: process has died [pid 30434, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveYPR_action --ros-args -r node:=moveYPR_action --params-file /tmp/launch_params_kuxbihi6 --params-file /tmp/launch_params_8cg5yx9w --params-file /tmp/launch_params_fz8jiwt6 --params-file /tmp/launch_params_9pr9wyjz --params-file /tmp/launch_params_sc0zqcbu']. [INFO] [moveROT_action-17]: process started with pid [30436] [ERROR] [moveROT_action-17]: process has died [pid 30436, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveROT_action --ros-args -r node:=moveROT_action --params-file /tmp/launch_params_h94yd1lk --params-file /tmp/launch_params_9s7h5bmi --params-file /tmp/launch_params_dyt1u58l --params-file /tmp/launch_params_b86_qbtz --params-file /tmp/launch_params_d7ocwqct']. [INFO] [moveRP_action-18]: process started with pid [30438] [ERROR] [moveRP_action-18]: process has died [pid 30438, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveRP_action --ros-args -r node:=moveRP_action --params-file /tmp/launch_params_ywn58f50 --params-file /tmp/launch_params_jrxgbjr9 --params-file /tmp/launch_params_gyr0jfph --params-file /tmp/launch_params_zesxmfll --params-file /tmp/launch_params_6cks045n']. [INFO] [attacher_action.py-19]: process started with pid [30440] [moveJs_action-10] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveJs_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [moveG_action-11] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveG_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [moveL_action-12] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveL_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [moveRs_action-13] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveRs_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [moveXYZ_action-14] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveXYZ_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [moveXYZW_action-15] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveXYZW_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [moveYPR_action-16] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveYPR_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [moveROT_action-17] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveROT_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [moveRP_action-18] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveRP_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory [INFO] [rviz2-20]: process started with pid [30461] [INFO] [move_group-21]: process started with pid [30463]

---

[lxd551326]

i have some question ,did you solve it?

[lxd551326]

you can try install gazebo_humble_ros2_controler version=0.4.6,if you are using 0.4.7, i had a same question

[Rostemelov]

Were you able to solve it?

you can try install gazebo_humble_ros2_controler version=0.4.6,if you are using 0.4.7, i had a same question

[RitishShailly]

you can try install gazebo_humble_ros2_controler version=0.4.6,if you are using 0.4.7, i had a same question

How did you install gazebo_humble_ros2_controler version=0.4.6?

[cncowboy]

first uninstall sudo apt remove gazebo_humble_ros2_controler then cd ros2_ws/src git clone -b 0.4.6 https://github.com/ros-controls/gazebo_ros2_control.git cd .. colcon build

[mm0dev]

@chytra3, I'm encountering the same issues. Up until a month ago, the simulation was running smoothly; however, for the past ten days, I've faced the parser error and the controller manager error.

It appears to be a recurring problem with this repository. A similar issue concerning parser problems has been documented here: https://github.com/IFRA-Cranfield/ros2_RobotSimulation/issues/27

first uninstall sudo apt remove gazebo_humble_ros2_controler then cd ros2_ws/src git clone -b 0.4.6 https://github.com/ros-controls/gazebo_ros2_control.git cd .. colcon build

I am about to try the solution proposed by @cncowboy. Fingers crossed.

Update: It works.

[HR-ES]

Try removing all of the comments in your URDF/xacro files. This is what fixed it for me.

[chytra3]

first uninstall sudo apt remove gazebo_humble_ros2_controler then cd ros2_ws/src git clone -b 0.4.6 https://github.com/ros-controls/gazebo_ros2_control.git cd .. colcon build

thank youu this worked !!! this is the only difference that i found between the working system (left one) and mine (right one )