Unable to Find /set_model_state and /SetEntityState Services to Reset Robot in ROS2 Foxy and Gazebo 11

[Mohammed-akhrif]

Bug report

Required Info:

• Operating System: -Ubuntu 20.04 (replace with your actual OS)
• Installation type:
  • Binaries
• Version or commit hash:
  • ROS2 Foxy Fitzroy
• DDS implementation:
  • Fast-RTPS (or whichever you are using)
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

Setup ROS2 Foxy and Gazebo 11. Launch the simulation using my custom robot URDF and launch files. Run ros2 service list to list available services.

Command to list services

ros2 service list

Expected behavior

I expect to see /set_model_state and /SetEntityState services listed so that I can reset my robot's position during simulation., Now I don't have any way to reset my robot position

Actual behavior

Neither /set_model_state nor /SetEntityState services are available in the listed services. This prevents me from resetting the robot's position in the simulation.

Additional information

I've included Gazebo plugins in my URDF and my other topics and services seem to be functioning well. this is myURDF robot core :

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="inertial_macros.xacro" />
    <xacro:include filename="face.xacro" />

    <xacro:property name="chassis_length" value="0.335"/>
    <xacro:property name="chassis_width" value="0.265"/>
    <xacro:property name="chassis_height" value="0.138"/>
    <xacro:property name="chassis_mass" value="1.0"/>
    <xacro:property name="wheel_radius" value="0.034"/>
    <xacro:property name="wheel_thickness" value="0.026"/>
    <xacro:property name="wheel_mass" value="0.05"/>
    <xacro:property name="wheel_offset_x" value="0.226"/>
    <xacro:property name="wheel_offset_y" value="0.166"/>
    <xacro:property name="wheel_offset_z" value="0.01"/>
    <xacro:property name="caster_wheel_radius" value="0.01"/>
    <xacro:property name="caster_wheel_mass" value="0.01"/>
    <xacro:property name="caster_wheel_offset_x" value="0.075"/>
    <xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>

    <material name="white">
       <color rgba="1 1 1 1"/>
    </material>

    <material name="orange">
       <color rgba="1 0.3 0.1 1"/>
    </material>

    <material name="blue">
       <color rgba="0.2 0.2 1 1"/>
    </material>

    <material name="black">
       <color rgba="0 0 0 1"/>
    </material>

    <link name="base_link">

    </link>

    <joint name="chassis_joint" type="fixed">
       <parent link="base_link"/>
       <child link="chassis"/>
       <origin xyz="${-wheel_offset_x} 0 ${-wheel_offset_z}"/>
    </joint>

    <link name="chassis">
        <visual>
            <origin xyz="${chassis_length/2} 0 ${chassis_height/2}"/>
            <geometry>
                <box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
            </geometry>
            <material name="orange"/>
        </visual>
        <collision>
            <origin xyz="${chassis_length/2} 0 ${chassis_height/2}"/>
            <geometry>
               <box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
            </geometry>
        </collision>
        <xacro:inertial_box mass="0.5" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}">
            <origin xyz="${chassis_length/2} 0 ${chassis_height/2}" rpy="0 0 0"/>
        </xacro:inertial_box>

    </link>

    <gazebo reference="chassis">
        <material>Gazebo/Yellow</material>
    </gazebo>

    <!-- LEFT WHEEL -->

    <joint name="left_wheel_joint" type="continuous">
        <parent link="base_link"/>
        <child link="left_wheel"/>
        <origin xyz="0 ${wheel_offset_y} 0" rpy="-${pi/2} 0 0" />
        <axis xyz="0 0 1"/>
    </joint>

    <link name="left_wheel">
        <visual>
            <geometry>
                <cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
            </geometry>
            <material name="blue"/>
        </visual>
        <collision>
            <geometry>
               <sphere radius="${wheel_radius}"/>
            </geometry> 
        </collision>
        <xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
            <origin xyz="0 0 0" rpy="0 0 0"/>
        </xacro:inertial_cylinder>
    </link>

    <gazebo reference="left_wheel">
        <material>Gazebo/Blue</material>
    </gazebo>

    <!-- RIGHT WHEEL -->

    <joint name="right_wheel_joint" type="continuous">
        <parent link="base_link"/>
        <child link="right_wheel"/>
        <origin xyz="0 ${-wheel_offset_y} 0" rpy="${pi/2} 0 0" />
        <axis xyz="0 0 -1"/>
    </joint>

    <link name="right_wheel">
        <visual>
            <geometry>
                <cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
            </geometry>
            <material name="blue"/>
        </visual>
        <collision>
            <geometry>
                <sphere radius="${wheel_radius}"/>
            </geometry>
        </collision>
        <xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
            <origin xyz="0 0 0" rpy="0 0 0"/>
        </xacro:inertial_cylinder>
    </link>

    <gazebo reference="right_wheel">
        <material>Gazebo/Blue</material>
    </gazebo>

    <!-- Caster WHEEL -->
    <joint name="caster_wheel_joint" type="fixed">
        <parent link="chassis"/>
        <child link="caster_wheel"/>
        <origin xyz="${caster_wheel_offset_x} 0 ${caster_wheel_offset_z}"/>
    </joint>

    <link name="caster_wheel">
        <visual>
            <geometry>
               <sphere radius="${caster_wheel_radius}"/>
            </geometry>
            <material name="white"/>
        </visual>
        <collision>
            <geometry>
                <sphere radius="${caster_wheel_radius}"/>
            </geometry>
        </collision>
        <xacro:inertial_sphere mass="0.1" radius="0.05">
            <origin xyz="0 0 0" rpy="0 0 0"/>
        </xacro:inertial_sphere>
    </link>

    <gazebo reference="caster_wheel">
        <material>Gazebo/White</material>
        <mu1 value="0.001"/>
        <mu2 value="0.001"/>   
    </gazebo>
</robot>

and this my robot controller :

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <ros2_control name="GazeboSystem" type="system">
        <hardware>
            <plugin>gazebo_ros2_control/GazeboSystem</plugin>
        </hardware>
        <joint name="left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-100</param>
                <param name="max">100</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>
        <joint name="right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-100</param>
                <param name="max">100</param>
            </command_interface>
            <state_interface name="velocity"/>
            <state_interface name="position"/>
        </joint>
    </ros2_control>

    <gazebo>
        <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
            <parameters>$(find my_bot)/config/my_controllers.yaml</parameters>
        </plugin>     
    </gazebo>
</robot>

[hbonnavaud]

Hi, have you found a solution ? I have the same issue