mhubii
commented
3 months ago hi @Kylemaycry. Sometimes the very first launch fails because of Gazebo. A re-launch usually fixes it.
In your case, I see an error related to wayland: Have you configured your window manager? Could this thread be related: https://unix.stackexchange.com/questions/598099/could-not-find-the-qt-platform-plugin-wayland? Chances are Gazebo fails for the same reason.
For debugging, you could try to run Gazebo separately, e.g. in a terminal:
gazeboIf Gazebo doesn't launch, then that is likely your issue.
As an alternative you could try to run inside a Docker container: https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/docker/doc/docker.rst
Link to the demo steps: https://lbr-fri-ros2-stack-doc.readthedocs.io/en/humble/lbr_fri_ros2_stack/lbr_demos/lbr_demos_ros2_control_python/doc/lbr_demos_ros2_control_python.html#joint-trajectory-controller
Erros with Launch the LBRBringup:
[INFO] [rviz2-8]: process started with pid [36237] [rviz2-8] qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in "" [rviz2-8] /opt/ros/humble/lib/rviz2/rviz2: symbol lookup error: /snap/core20/current/lib/x86_64-linux-gnu/libpthread.so.0: undefined symbol: __libc_pthread_init, version GLIBC_PRIVATE [ERROR] [rviz2-8]: process has died [pid 36237, exit code 127, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/caiwu/lbr_fri_ros2_stack_ws/install/lbr_bringup/share/lbr_bringup/config/config.rviz --ros-args -r node:=rviz2']. [spawner-4] [INFO] [1709654203.996651466] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist [spawner-6] [INFO] [1709654204.206215242] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist [spawner-4] [INFO] [1709654206.021395524] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist [spawner-6] [INFO] [1709654206.235516987] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist [spawner-4] [INFO] [1709654208.123110627] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist [spawner-6] [INFO] [1709654208.333946508] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist [spawner-4] [INFO] [1709654210.194092068] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist [spawner-6] [INFO] [1709654210.409598284] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist [spawner-4] [ERROR] [1709654212.028141016] [lbr.spawner_joint_state_broadcaster]: Controller manager not available [spawner-6] [ERROR] [1709654212.234718976] [lbr.spawner_joint_trajectory_controller]: Controller manager not available [ERROR] [spawner-4]: process has died [pid 36073, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --ros-args -r ns:=/lbr']. [ERROR] [spawner-6]: process has died [pid 36080, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller --controller-manager controller_manager --ros-args -r __ns:=/lbr'].
Info with running the lbr_joint_trajectory_executioner_node: INFO] [1709654639.479362413] [joint_trajectory_executioner_node]: Waiting for action server to become available... [INFO] [1709654640.493026495] [joint_trajectory_executioner_node]: Waiting for action server to become available... [INFO] [1709654641.545950540] [joint_trajectory_executioner_node]: Waiting for action server to become available... [INFO] [1709654642.552215065] [joint_trajectory_executioner_node]: Waiting for action server to become available... [INFO] [1709654643.564740777] [joint_trajectory_executioner_node]: Waiting for action server to become available...