mm0dev
commented
7 months ago I am facing the same problem. Additionally, I am also encountering the 'controller manager not available' issue, which can apparently be resolved by installing an older version of gazebo_humble_ros2_controller. Therefore, I suspect that the issue you're dealing with is similar: the latest versions of either gazebo_ros2_control or xacro-related packages may not be compatible. (It is mentioned in this other issue: https://github.com/IFRA-Cranfield/ros2_RobotSimulation/issues/26)
Like you, I am interested in finding out the actual solution to this problem.
FeetPro
Hello, I use ROS2 Humble and Ubuntu 22.04 when I launch the command
ros2 launch ur5_ros2_gazebo ur5_simulation.launch.py in Ur5 it appears some problems:
[INFO] [gzserver-1]: process started with pid [5614] [INFO] [gzclient-2]: process started with pid [5616] [INFO] [robot_state_publisher-3]: process started with pid [5618] [INFO] [spawn_entity.py-4]: process started with pid [5620] [robot_state_publisher-3] [INFO] [1712923532.810118853] [robot_state_publisher]: got segment base [robot_state_publisher-3] [INFO] [1712923532.810340681] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1712923532.810352110] [robot_state_publisher]: got segment base_link_inertia [robot_state_publisher-3] [INFO] [1712923532.810358526] [robot_state_publisher]: got segment flange [robot_state_publisher-3] [INFO] [1712923532.810364314] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-3] [INFO] [1712923532.810369916] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-3] [INFO] [1712923532.810375465] [robot_state_publisher]: got segment tool0 [robot_state_publisher-3] [INFO] [1712923532.810380643] [robot_state_publisher]: got segment upper_arm_link [robot_state_publisher-3] [INFO] [1712923532.810385881] [robot_state_publisher]: got segment world [robot_state_publisher-3] [INFO] [1712923532.810391029] [robot_state_publisher]: got segment wrist_1_link [robot_state_publisher-3] [INFO] [1712923532.810396193] [robot_state_publisher]: got segment wrist_2_link [robot_state_publisher-3] [INFO] [1712923532.810401315] [robot_state_publisher]: got segment wrist_3_link [spawn_entity.py-4] [INFO] [1712923533.911442975] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1712923533.913471813] [spawn_entity]: Loading entity published on topic robot_description [spawn_entity.py-4] /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-4] warnings.warn( [spawn_entity.py-4] [INFO] [1712923533.960035383] [spawn_entity]: Waiting for entity xml on robot_description [spawn_entity.py-4] [INFO] [1712923533.994776913] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1712923533.997400321] [spawn_entity]: Waiting for service /spawn_entity [gzserver-1] [WARN] [1712923537.370481842] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead. [gzserver-1] [WARN] [1712923537.373542070] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead. [spawn_entity.py-4] [INFO] [1712923537.484490340] [spawn_entity]: Calling service /spawn_entity [gzserver-1] [INFO] [1712923537.500010532] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states] [gzserver-1] [INFO] [1712923537.506940653] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states] [gzclient-2] [gzclient-2] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org [spawn_entity.py-4] [INFO] [1712923538.582528169] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ur5] [gzserver-1] [INFO] [1712923538.859627401] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-1] [INFO] [1712923538.942705542] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-1] [INFO] [1712923538.945238224] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 5620] [gzserver-1] [INFO] [1712923538.961877048] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-1] [INFO] [1712923539.002136141] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-1] [INFO] [1712923539.002251677] [gazebo_ros2_control]: Loading parameter files /home/feet/ur_t/src/install/ur5_ros2_gazebo/share/ur5_ros2_gazebo/config/ur5_controller.yaml [gzserver-1] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated [gzserver-1] [ERROR] [1712923539.005213626] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?><!-- [gzserver-1] [gzserver-1] # ===================================== COPYRIGHT ===================================== # [gzserver-1] # # [gzserver-1] # IFRA (Intelligent Flexible Robotics and Assembly) Group, CRANFIELD UNIVERSITY # [gzserver-1] # Created on behalf of the IFRA Group at Cranfield University, United Kingdom # [gzserver-1] # E-mail: IFRA@cranfield.ac.uk # [gzserver-1] # # [gzserver-1] # Licensed under the Apache-2.0 License. # [gzserver-1] # You may not use this file except in c, at ./src/rcl/arguments.c:343 [gzserver-1]
i don't know how to fix it. Anyone else can help me? thanks.