Can't launch PMB2 ROS 2 Simulation in ROS Humble

[roberottt]

Hello,

I'm trying to use the PMB2 ROS simulation in ROS Humble. I have set up the workspace and installed all the dependencies , but when I try to launch the simulation in Gazebo with ros2 launch pmb2_gazebo pmb2_gazebo.launch.py I get this error:

I don't understand why this error is shown because the robot is spawned correctly in Gazebo. The joint_state_broadcaster and mobile_base_controller are succesfully loaded too.

Do I need anything else?

This is the full output: output.txt

[saikishor]

Hello @roberottt,

Thank you for showing interest in our PMB2 simulation. Are you using Cyclone DDS for the simulation as mentioned in the prerequisites.

Thank you,

Best Regards, PAL Robotics Team.

[Noel215]

Hi @roberottt!!

That's an issue of ros2_control that has been already patched. You can see it in https://github.com/ros-controls/ros2_control/pull/957, but probably it won't be available until the next humble sync.

[roberottt]

Hi @Noel215 @saikishor !

Thanks for the answer! We will wait to the next humble sync then. Is there something that we could do to solve this problem in the meantime?

[saikishor]

Hello @roberottt,

You can clone and build the ros2_controlros2_control humble branch in your local workspace and compile it. This should solve your issue for now.

Thank you,

Best Regards, PAL Robotics Team.

[roberottt]

Hello @saikishor @Noel215, I have just compiled the humble branch in my local workspace but I'm getting this error now:

[Noel215]

@roberottt, to make it work you have to clone also gazebo_ros2_control humble branch because it needs to be compiled against the ros2_control version you are using

[roberottt]

@Noel215, cloning and compiling the gazebo_ros2_control humble branch solved the problem. Thank you very much!