ros-humble-gazebo-ros2-control : Gazebo Ros2 Control Plugin Not Loading #198
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bug
Something isn't working
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Can you try to report of otool -L for the problematic plugins? |
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@traversaro, thanks for taking a look. Results here for |
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Sorry, I am back at the laptop and I was able to check better. I think it is expected that Just to understand, why are you trying to load the plugin as |
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@traversaro thanks for pointing that out. To clarify, I am attempting to launch gazebo with the ros2_control plugin. Gazebo successfully launches and spawns my URDF, but fails to start a ros2_control manager. Having run the launch file with verbose output I was able to identify the error |
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@traversaro update to this issue: I tried using Additionally, fixing the lib issue has resulted in exposing a secondary issue in gazebo-ros2-control when trying to launch. The controller manager is never launched due to this parsing error. Not sure if it's related to the lib/path issues. Using the same URDF's as before without issue. Full output: |
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For the parsing error, which locale are you using? As far as I remember, |
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@traversaro thanks for all the pointers here. Checked current locale settings: Then applied C to all And I get the same output below with gserver failing right after showing an attempt to parse the URDF. Are there any ways to further log debug between the parsing step and the server failing? |
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@traversaro making some progress, I attempted to load the gazebo-ros2-control-demos to investigate wether my launch files were the culprit. I am getting the same error on the demos as I am on my own package without the C locale, but when setting the C locale all nodes run successfully. There must be a separate issue in one of my launch files but I at least have a working base now to start with. Still getting other library errors, will leave this issue open until I can get a basic example from the demo set working in case there are other library path issues. |
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@traversaro last issue here I hope.. I have gazebo-ros2-control-demos working out of the box with the fixes we've identified here. However, I'm not getting any of the demo control scripts running. Controller manager loads, all urdf and launch files are running appropriateI, and I can command trajectories through the terminal. However, I cannot get the following basic demo scripts to work. Not sure if you've seen this before as with the other issues: |
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@alexanderkjones Did you manage to get this working after? I've been dealing with basically the same issue for about a week and a half and it seems like you're closer than I managed to get |
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@cmoyates are you referring to the For example: I can successfully launch However, I get the That said, the demo seems to be working because I can send trajectory commands directly to the example as such: My next step has been to write my own control node in place of of the example_position/velocity as I believe there's simply some issue with the build parameters of the demos files. They seem simple to replicate just sending the above commands to the appropriate actions servers. However I have not had time to implement to see if I still get the @traversaro would it make sense to close this issue regarding the gazebo-ros2-control and ros2-control issues above and, if so, what is the policy for opening an issue around the |
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Solution to issue cannot be found in the documentation.
Issue
Installing ros-humble-gazebo-ros-pkgs and ros-humble-gazebo-ros2-control results in gazebo plugins installing in the miniconda3/env/[name]/lib folder. I have made sure to install
libprotobuf=4.25.1. When launching Gazebo with plugin args it appropriately finds gazebo-ros plugins but will not load gazebo-ros2-control plugins in the same directory.For example,
gzserver --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.soyields no errors and launches gazebo.However,
gzserver --verbose -s libgazebo_ros2_control.soyields:In an attempt to debug the issue I added the dylib file to the
DYLD_FALLBACK_LIBRARY_PATHWhich yielded:
I can confirm the file exists
Installed packages
Environment info
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