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ros-controls / gazebo_ros2_control

Wrappers, tools and additional API's for using ros2_control with Gazebo Classic
Apache License 2.0
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Error in destruction of rcl subscription handle: Failed to delete datareader #305

Open FeetPro opened 5 months ago

FeetPro commented 5 months ago

Hello, I got some problems in sending command to gripper. My gripper is shown successfully in gazebo with command: ros2 launch gazebo_ros2_control_demos gripper_mimic_joint_example.launch.py But when i send command to move the gripper in other terminal: ros2 run gazebo_ros2_control_demos example_gripper It appears error:

cannot publish data, at ./src/rmw_publish.cpp:62 during '__function__'
[ERROR] [1713850255.212319171] [gripper_test_node.rclcpp]: Error in destruction of rcl subscription handle: Failed to delete datareader, at ./src/subscription.cpp:52, at ./src/rcl/subscription.c:184
cannot publish data, at ./src/rmw_publish.cpp:62 during '__function__'
Fail in delete datareader, at ./src/rmw_service.cpp:104 during '__function__'
[ros2run]: Segmentation fault

how can i fix this? I use Ros2 Humble and Ubuntu 22.04, Thanks.

christophfroehlich commented 5 months ago

This is a quick-and-dirty design of the example_gripper executable. It publishes the topics but does not exit cleanly. Check with ros2 topic echo /gripper_controller/commands, you'll receive the commands and the gripper should move.