I want to run gazebo controllers with harmonic and humble

[Apurv354]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build?

  Binary Installation for ROS2 humble + Source installation of ros_gz (humble branch) + Source installation of gazebo_ros_control master branch

Description

• Expected behavior: Trying to run an example script - ros2 launch gz_ros2_control_demos cart_example_position.launch.py This should happen - https://control.ros.org/master/doc/gz_ros2_control/doc/index.html
• Actual behavior:

  
  apurv@apurv-Alienware-m15-R2:~/artefacts_ws/src$ ros2 launch gz_ros2_control_demos cart_example_position.launch.py 
  [INFO] [launch]: All log files can be found below /home/apurv/.ros/log/2024-01-18-15-20-10-577185-apurv-Alienware-m15-R2-52537
  [INFO] [launch]: Default logging verbosity is set to INFO
  [INFO] [ruby $(which gz) sim-1]: process started with pid [52538]
  [INFO] [robot_state_publisher-2]: process started with pid [52540]
  [INFO] [create-3]: process started with pid [52543]
  [create-3] [INFO] [1705558810.756671381] [ros_gz_sim]: Requesting list of world names.
  [robot_state_publisher-2] [INFO] [1705558810.784014225] [robot_state_publisher]: got segment cart
  [robot_state_publisher-2] [INFO] [1705558810.784120816] [robot_state_publisher]: got segment slideBar
  [robot_state_publisher-2] [INFO] [1705558810.784130449] [robot_state_publisher]: got segment world
  [ruby $(which gz) sim-1] 
  [ruby $(which gz) sim-1] Using deprecated environment variable [IGN_GAZEBO_RESOURCE_PATH].
  [ruby $(which gz) sim-1] Please use [GZ_SIM_RESOURCE_PATH] instead.
  [ruby $(which gz) sim-1] [Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
  [ruby $(which gz) sim-1] [Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
  [ruby $(which gz) sim-1] [Msg] Received world [empty.sdf] from the GUI.
  [ruby $(which gz) sim-1] [Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
  [ruby $(which gz) sim-1] [Msg] Gazebo Sim Server v8.0.0
  [ruby $(which gz) sim-1] [Msg] Loading SDF world file[/usr/share/gz/gz-sim8/worlds/empty.sdf].
  [ruby $(which gz) sim-1] [Msg] Serving entity system service on [/entity/system/add]
  [ruby $(which gz) sim-1] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
  [ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
  [ruby $(which gz) sim-1] [Msg] Create service on [/world/empty/create]
  [ruby $(which gz) sim-1] [Msg] Remove service on [/world/empty/remove]
  [ruby $(which gz) sim-1] [Msg] Pose service on [/world/empty/set_pose]
  [ruby $(which gz) sim-1] [Msg] Pose service on [/world/empty/set_pose_vector]
  [ruby $(which gz) sim-1] [Msg] Light configuration service on [/world/empty/light_config]
  [ruby $(which gz) sim-1] [Msg] Physics service on [/world/empty/set_physics]
  [ruby $(which gz) sim-1] [Msg] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
  [ruby $(which gz) sim-1] [Msg] Enable collision service on [/world/empty/enable_collision]
  [ruby $(which gz) sim-1] [Msg] Disable collision service on [/world/empty/disable_collision]
  [ruby $(which gz) sim-1] [Msg] Material service on [/world/empty/visual_config]
  [ruby $(which gz) sim-1] [Msg] Material service on [/world/empty/wheel_slip]
  [ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
  [ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
  [ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Contact] for entity [1]
  [ruby $(which gz) sim-1] [Msg] Loaded level [3]
  [ruby $(which gz) sim-1] [Msg] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
  [ruby $(which gz) sim-1] [Msg] Serving GUI information on [/world/empty/gui/info]
  [ruby $(which gz) sim-1] [Msg] World [empty] initialized with [1ms] physics profile.
  [ruby $(which gz) sim-1] [Msg] Serving world SDF generation service on [/world/empty/generate_world_sdf]
  [ruby $(which gz) sim-1] [Msg] Serving world names on [/gazebo/worlds]
  [ruby $(which gz) sim-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
  [ruby $(which gz) sim-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
  [ruby $(which gz) sim-1] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
  [create-3] [ERROR] [1705558811.319355172] [ros_gz_sim]: Must specify either -file, -param, -stdin or -topic
  [ERROR] [create-3]: process has died [pid 52543, exit code 255, cmd '/home/apurv/artefacts_ws/src/install/ros_gz_sim/lib/ros_gz_sim/create --ros-args --params-file /tmp/launch_params_ddwn3yon'].
  [INFO] [ros2-4]: process started with pid [52610]
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [Msg] [Msg] Gazebo Sim GUI    v8.0.0
  [ruby $(which gz) sim-1] [Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]...
  [ruby $(which gz) sim-1] [Dbg] [Application.cc:101] Initializing application.
  [ruby $(which gz) sim-1] [Dbg] [Application.cc:175] Qt using OpenGL graphics interface
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:662] Create main window
  [ruby $(which gz) sim-1] [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
  [ruby $(which gz) sim-1] [GUI] [Dbg] [PathManager.cc:57] Received resource paths.
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Gui.cc:401] Requesting GUI from [/world/empty/gui/info]...
  [ruby $(which gz) sim-1] [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/empty/state]...
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading config [/home/apurv/.gz/sim/8/gui.config]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [MinimalScene]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [3D View] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libMinimalScene.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [EntityContextMenuPlugin]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Entity Context Menu] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [GzSceneManager]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Scene Manager] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libGzSceneManager.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [InteractiveViewControl]
  [ruby $(which gz) sim-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
  [ruby $(which gz) sim-1] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
  [ruby $(which gz) sim-1] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Interactive view control] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libInteractiveViewControl.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [CameraTracking]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Camera tracking] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libCameraTracking.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [MarkerManager]
  [ruby $(which gz) sim-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Marker Manager] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libMarkerManager.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [SelectEntities]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Select entities] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSelectEntities.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [Spawn]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Spawn] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSpawn.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [VisualizationCapabilities]
  [ruby $(which gz) sim-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
  [ruby $(which gz) sim-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
  [ruby $(which gz) sim-1] [GUI] [Msg] View center of mass service on [/gui/view/com]
  [ruby $(which gz) sim-1] [GUI] [Msg] View inertia service on [/gui/view/inertia]
  [ruby $(which gz) sim-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
  [ruby $(which gz) sim-1] [GUI] [Msg] View joints service on [/gui/view/joints]
  [ruby $(which gz) sim-1] [GUI] [Msg] View frames service on [/gui/view/frames]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [WorldControl]
  [ruby $(which gz) sim-1] [GUI] [Msg] Using world control service [/world/empty/control]
  [ruby $(which gz) sim-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [WorldControl.cc:250] Using an event to share WorldControl msgs with the server
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [World control] to main window
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libWorldControl.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [WorldStats]
  [ruby $(which gz) sim-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [World stats] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libWorldStats.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [Shapes]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Shapes] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libShapes.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [Lights]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Lights] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libLights.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [TransformControl]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Transform control] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libTransformControl.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [Screenshot]
  [ruby $(which gz) sim-1] [GUI] [Msg] Screenshot service on [/gui/screenshot]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Screenshot] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libScreenshot.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [CopyPaste]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Copy/Paste] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libCopyPaste.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [ComponentInspector]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Component inspector] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libComponentInspector.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:533] Loading plugin [EntityTree]
  [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Entity tree] to main window
  [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libEntityTree.so]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:403] Loading window config
  [ruby $(which gz) sim-1] [GUI] [Msg] Using server control service [/server_control]
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:904] [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.
  [ruby $(which gz) sim-1] libEGL warning: egl: failed to create dri2 screen
  [ruby $(which gz) sim-1] libEGL warning: egl: failed to create dri2 screen
  [ruby $(which gz) sim-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v145WorldE], which doesn't have `operator<<`. Component will not be serialized.
  [ruby $(which gz) sim-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v145WorldE], which doesn't have `operator>>`. Component will not be deserialized.
  [ros2-4] Could not contact service /controller_manager/load_controller
  [ERROR] [ros2-4]: process has died [pid 52610, exit code 1, cmd 'ros2 control load_controller --set-state active joint_state_broadcaster'].
  [INFO] [ros2-5]: process started with pid [52682]
  ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
  [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 52540]
  [ERROR] [ros2-5]: process has died [pid 52682, exit code 2, cmd 'ros2 control load_controller --set-state active joint_trajectory_controller'].
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:676] Applying config
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:747] Create scene [scene]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:1030] Creating texture node render interface for OpenGL
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)]
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Spawn.cc:308] Spawn plugin is using camera [scene::Camera(65527)]
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)]
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MarkerManager.cc:171] Advertise /marker/list service.
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MarkerManager.cc:181] Advertise /marker/list.
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MarkerManager.cc:191] Advertise /marker_array.
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [CameraTracking.cc:174] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
  [ruby $(which gz) sim-1] [GUI] [Msg] Move to service on [/gui/move_to]
  [ruby $(which gz) sim-1] [GUI] [Msg] Follow service on [/gui/follow]
  [ruby $(which gz) sim-1] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
  [ruby $(which gz) sim-1] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
  [ruby $(which gz) sim-1] [GUI] [Msg] Follow offset service on [/gui/follow/offset]
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [InteractiveViewControl.cc:178] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Gui.cc:523] Shutting down gz-sim-gui
  [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:242] Terminating application.
  [ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:838] Destroy scene [scene]
  [ruby $(which gz) sim-1] 32mResource paths published on [/gazebo/resource_paths].
  [ruby $(which gz) sim-1] [Msg] Server control service on [/server_control].
  [ruby $(which gz) sim-1] [Msg] Found no publishers on /stats, adding root stats topic
  [ruby $(which gz) sim-1] [Msg] Found no publishers on /clock, adding root clock topic
  [ruby $(which gz) sim-1] [Dbg] [SimulationRunner.cc:542] Creating PostUpdate worker threads: 3
  [ruby $(which gz) sim-1] [Dbg] [SimulationRunner.cc:553] Creating postupdate worker thread (0)
  [ruby $(which gz) sim-1] [Dbg] [SimulationRunner.cc:553] Creating postupdate worker thread (1)
  [ruby $(which gz) sim-1] [Msg] Serving scene information on [/world/empty/scene/info]
  [ruby $(which gz) sim-1] [Msg] Serving graph information on [/world/empty/scene/graph]
  [ruby $(which gz) sim-1] [Msg] Serving full state on [/world/empty/state]
  [ruby $(which gz) sim-1] [Msg] Serving full state (async) on [/world/empty/state_async]
  [ruby $(which gz) sim-1] [Msg] Publishing scene information on [/world/empty/scene/info]
  [ruby $(which gz) sim-1] [Msg] Publishing entity deletions on [/world/empty/scene/deletion]
  [ruby $(which gz) sim-1] [Msg] Publishing state changes on [/world/empty/state]
  [ruby $(which gz) sim-1] [Msg] Publishing pose messages on [/world/empty/pose/info]
  [ruby $(which gz) sim-1] [Msg] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]
  [ruby $(which gz) sim-1] [Dbg] [EntityComponentManager.cc:1655] Updated state thread iterators: 6 threads processing around 2 entities each.
  [ruby $(which gz) sim-1] [Dbg] [SignalHandler.cc:142] Received signal[2].
  [ruby $(which gz) sim-1] [Dbg] [ServerPrivate.cc:115] Server received signal[2]
  [ruby $(which gz) sim-1] [Dbg] [gz.cc:434] Shutting down gz-sim-server
  [ruby $(which gz) sim-1] [Dbg] [SimulationRunner.cc:569] Exiting postupdate worker thread (0)
  [ruby $(which gz) sim-1] [Dbg] [SimulationRunner.cc:569] Exiting postupdate worker thread (1)
  [ERROR] [ruby $(which gz) sim-1]: process has died [pid 52538, exit code -2, cmd 'ruby $(which gz) sim  -r -v 4 empty.sdf --force-version 8'].
  [INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system

I don't see the model spawning.

## Steps to reproduce
<!-- Provide steps so we can try to reproduce this issue -->

1. Get the above environment and run - ros2 launch gz_ros2_control_demos cart_example_position.launch.py

## Output
<!-- Provide screenshots, console logs, backtraces, and/or anything that could
be useful to us resolving this issue -->

[azeey]

I assume you meant https://github.com/ros-controls/gz_ros2_control instead of https://github.com/ros-controls/gazebo_ros2_control. I believe the master branch is making use of changes inros_gz that are only available in rolling https://github.com/ros-controls/gz_ros2_control/pull/211, so you'll also need to use the humble branch for gz_ros2_control as well.

[Apurv354]

I have tried the humble branch, and it gives me the same error that I posted above.

[Apurv354]

Basically, this is the problem

[ruby $(which gz) sim-1] [INFO] [1706429551.323616584] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ruby $(which gz) sim-1] [ERROR] [1706429551.323757245] [controller_manager]: Loader for controller 'joint_state_broadcaster' (type 'joint_state_broadcaster/JointStateBroadcaster') not found.
[ruby $(which gz) sim-1] [INFO] [1706429551.323796786] [controller_manager]: Available classes:
[ruby $(which gz) sim-1] [INFO] [1706429551.323854688] [controller_manager]:   controller_manager/test_controller
[ruby $(which gz) sim-1] [INFO] [1706429551.323873620] [controller_manager]:   controller_manager/test_controller_failed_init
[ruby $(which gz) sim-1] [INFO] [1706429551.323884612] [controller_manager]:   controller_manager/test_controller_with_interfaces
[ruby $(which gz) sim-1] [INFO] [1706429551.323898151] [controller_manager]:   controller_manager/test_chainable_controller

[ahcorde]

@Apurv354 you need to install the dependency

sudo apt-get install ros-humble-joint-state-broadcaster

or run rosdep