[Bug]: Gazebo doesn't launch using xsarm_control.launch.py

[RodrigoMA170393]

What happened?

When trying to run the simulation of xsarm_control.launch.py using the Gazebo hardware interface, it doesn't launch Gazebo.

Robot Model

wx200

Operating System

Ubuntu 22.04

ROS Distro

ROS 2 Humble

Steps To Reproduce

Run the command: ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=wx200 use_sim:=true hardware_type:=gz_classic

Relevant log output

[INFO] [launch]: All log files can be found below /home/rodrigo/.ros/log/2024-01-23-13-04-05-727435-rodrigo-Alienware-m15-R4-22186
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [xs_sdk_sim.py-1]: process started with pid [22188]
[INFO] [robot_state_publisher-2]: process started with pid [22190]
[INFO] [rviz2-3]: process started with pid [22192]
[xs_sdk_sim.py-1] Unknown tag "ros2_control" in /robot[@name='wx200']
[xs_sdk_sim.py-1] [INFO] [1706036646.450234961] [interbotix_xs_sdk.xs_sdk_sim]: Loaded motor configs from `/home/rodrigo/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/wx200.yaml`.
[xs_sdk_sim.py-1] [INFO] [1706036646.451378534] [interbotix_xs_sdk.xs_sdk_sim]: Loaded mode configs from `/home/rodrigo/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/modes.yaml`.
[xs_sdk_sim.py-1] [INFO] [1706036646.451650950] [interbotix_xs_sdk.xs_sdk_sim]: The operating mode for the 'all' group was changed to 'position'.
[xs_sdk_sim.py-1] [INFO] [1706036646.451888443] [interbotix_xs_sdk.xs_sdk_sim]: The operating mode for the 'arm' group was changed to 'position'.
[xs_sdk_sim.py-1] [INFO] [1706036646.457478142] [interbotix_xs_sdk.xs_sdk_sim]: Interbotix 'xs_sdk_sim' node is up!

Additional Info

[lukeschmitt-tr]

A few things:

• The xsarm_control package does not launch Gazebo
• Setting the use_sim arg to true switches to the use of a simulated DYNAMIXEL driver
• To use Gazebo, you can check out the xsarm_sim package

[lukeschmitt-tr]

Do you have any further questions on this? Otherwise, this issue will be closed.