/controller_manager not available, param parsing error

[Flamethr0wer]

Hello. I am trying to run launch_sim.launch.py after downloading all the necessary packages and modifying the files. However, this is the output: `[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-06-24-15-34-30-109986-ubuntu-12354 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [12356] [INFO] [gzserver-2]: process started with pid [12358] [INFO] [gzclient -3]: process started with pid [12360] [INFO] [spawn_entity.py-4]: process started with pid [12364] [INFO] [spawner.py-5]: process started with pid [12366] [INFO] [spawner.py-6]: process started with pid [12369] [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link FL_wheel had 0 children [robot_state_publisher-1] Link FR_wheel had 0 children [robot_state_publisher-1] Link RL_wheel had 0 children [robot_state_publisher-1] Link RR_wheel had 0 children [robot_state_publisher-1] Link chassis had 1 children [robot_state_publisher-1] Link laser_frame had 0 children [robot_state_publisher-1] [INFO] [1719236072.560705455] [robot_state_publisher]: got segment FL_wheel [robot_state_publisher-1] [INFO] [1719236072.561141206] [robot_state_publisher]: got segment FR_wheel [robot_state_publisher-1] [INFO] [1719236072.561252038] [robot_state_publisher]: got segment RL_wheel [robot_state_publisher-1] [INFO] [1719236072.561306148] [robot_state_publisher]: got segment RR_wheel [robot_state_publisher-1] [INFO] [1719236072.561342906] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1719236072.561370869] [robot_state_publisher]: got segment chassis [robot_state_publisher-1] [INFO] [1719236072.561400442] [robot_state_publisher]: got segment laser_frame [spawner.py-5] [INFO] [1719236073.591993697] [spawner_diff_cont]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1719236073.756161513] [spawner_joint_broad]: Waiting for /controller_manager services [spawn_entity.py-4] [INFO] [1719236074.751732266] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1719236074.754023078] [spawn_entity]: Loading entity published on topic robot_description [spawn_entity.py-4] [INFO] [1719236074.761874272] [spawn_entity]: Waiting for entity xml on robot_description [spawn_entity.py-4] [INFO] [1719236074.783369113] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1719236074.787754480] [spawn_entity]: Waiting for service /spawn_entity [spawner.py-5] [INFO] [1719236075.629882463] [spawner_diff_cont]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1719236075.800652844] [spawner_joint_broad]: Waiting for /controller_manager services [spawner.py-5] [INFO] [1719236077.688087611] [spawner_diff_cont]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1719236077.858513587] [spawner_joint_broad]: Waiting for /controller_manager services [spawner.py-5] [INFO] [1719236079.725004823] [spawner_diff_cont]: Waiting for /controller_manager services [spawn_entity.py-4] [INFO] [1719236079.816268702] [spawn_entity]: Calling service /spawn_entity [spawner.py-6] [INFO] [1719236079.895803475] [spawner_joint_broad]: Waiting for /controller_manager services [gzserver-2] [WARN] [1719236080.775598289] [rcl]: Found remap rule '~/out:=scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=scan' instead. [spawn_entity.py-4] [INFO] [1719236080.802523811] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [robot] [gzserver-2] [WARN] [1719236080.820391049] [rcl]: Found remap rule '~/out:=scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=scan' instead. [gzserver-2] [INFO] [1719236081.119038371] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1719236081.162019329] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1719236081.164186050] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1719236081.165524489] [gazebo_ros2_control]: Loading parameter files /home/ubuntu/robot_ws/install/robot/share/robot/config/my_controllers.yaml [gzserver-2] [ERROR] [1719236081.168434364] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/ubuntu/robot_ws/install/robot/share/robot/config/my_controllers.yaml'. Error: Error parsing a event near line 22, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.14/src/parse.c:599, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/arguments.c:388 [gzserver-2] [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 12364] [spawner.py-5] [INFO] [1719236081.761222808] [spawner_diff_cont]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1719236081.930209156] [spawner_joint_broad]: Waiting for /controller_manager services [spawner.py-5] [ERROR] [1719236083.585363032] [spawner_diff_cont]: Controller manager not available [ERROR] [spawner.py-5]: process has died [pid 12366, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py diff_cont --ros-args']. [spawner.py-6] [ERROR] [1719236083.756802444] [spawner_joint_broad]: Controller manager not available [ERROR] [spawner.py-6]: process has died [pid 12369, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_broad --ros-args']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 12356] [ERROR] [gzclient -3]: process has died [pid 12360, exit code -2, cmd 'gzclient ']. [gzserver-2] Segmentation fault (core dumped) [ERROR] [gzserver-2]: process has died [pid 12358, exit code -2, cmd 'gzserver -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].` As I see it, the controller_manager is not being able to launch due to an error in the loading of my_controllers.yaml. I haven't managed to solve it. Can anyone help me?

[Raul-Villegas23]

Have you tried installing this library? : sudo apt-get install ros-foxy-gazebo-ros2-control ?

[Flamethr0wer]

Yes, I had already installed that.