0
$\begingroup$

I have been trying to run a gazebo simulation package from ros2 humble, with gazebo11. This is my console output:

root@Amk:/opt/ros/humble/src# ros2 launch gazebo_simulation robot_sim.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-13-16-17-14-721463-Amk-30682
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : rs_robot.urdf
urdf_file_name : rs_robot.urdf
[INFO] [gzserver-1]: process started with pid [30683]
[INFO] [gzclient-2]: process started with pid [30685]
[INFO] [robot_state_publisher-3]: process started with pid [30687]
[INFO] [joy_node-4]: process started with pid [30689]
[INFO] [robot_control.py-5]: process started with pid [30691]
[INFO] [ros2-6]: process started with pid [30693]
[INFO] [ros2-7]: process started with pid [30695]
[INFO] [ros2-8]: process started with pid [30697]
[robot_state_publisher-3] [INFO] [1715606235.747670906] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1715606235.747818095] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1715606235.747826952] [robot_state_publisher]: got segment fl_steering_link
[robot_state_publisher-3] [INFO] [1715606235.747832363] [robot_state_publisher]: got segment fl_wheel_link
[robot_state_publisher-3] [INFO] [1715606235.747837322] [robot_state_publisher]: got segment fr_steering_link
[robot_state_publisher-3] [INFO] [1715606235.747842261] [robot_state_publisher]: got segment fr_wheel_link
[robot_state_publisher-3] [INFO] [1715606235.747846870] [robot_state_publisher]: got segment rl_steering_link
[robot_state_publisher-3] [INFO] [1715606235.747851679] [robot_state_publisher]: got segment rl_wheel_link
[robot_state_publisher-3] [INFO] [1715606235.747856559] [robot_state_publisher]: got segment rr_steering_link
[robot_state_publisher-3] [INFO] [1715606235.747861127] [robot_state_publisher]: got segment rr_wheel_link
[gzserver-1] ALSA lib pcm_dmix.c:1032:(snd_pcm_dmix_open) unable to open slave
[gzserver-1] AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
[gzserver-1] [INFO] [1715606236.607369090] [four_ws_robot_joint_state]: Going to publish joint [fl_wheel_joint]
[gzserver-1] [INFO] [1715606236.607762918] [four_ws_robot_joint_state]: Going to publish joint [fr_wheel_joint]
[gzserver-1] [INFO] [1715606236.607775272] [four_ws_robot_joint_state]: Going to publish joint [rl_wheel_joint]
[gzserver-1] [INFO] [1715606236.607781303] [four_ws_robot_joint_state]: Going to publish joint [rr_wheel_joint]
[gzserver-1] [INFO] [1715606236.607786403] [four_ws_robot_joint_state]: Going to publish joint [fl_steering_joint]
[gzserver-1] [INFO] [1715606236.607791763] [four_ws_robot_joint_state]: Going to publish joint [fr_steering_joint]
[gzserver-1] [INFO] [1715606236.607796913] [four_ws_robot_joint_state]: Going to publish joint [rl_steering_joint]
[gzserver-1] [INFO] [1715606236.607801932] [four_ws_robot_joint_state]: Going to publish joint [rr_steering_joint]
[gzserver-1] [INFO] [1715606236.626811874] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1715606236.633503763] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1715606236.633555051] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1715606236.638092956] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1715606236.638727081] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1715606236.638785302] [gazebo_ros2_control]: Loading parameter files /home/robotmania/four_ws_ros2/install/gazebo_simulation/share/gazebo_simulation/models/rs_robot/config/controllers.yaml
[gzserver-1] [ERROR] [1715606236.638897806] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/robotmania/four_ws_ros2/install/gazebo_simulation/share/gazebo_simulation/models/rs_robot/config/controllers.yaml'. Error: Error opening YAML file, at ./src/parser.c:270, at ./src/rcl/arguments.c:406
[gzserver-1] 
[joy_node-4] [INFO] [1715606236.894302767] [joy_node]: Opened joystick: Microntek USB Joystick.  deadzone: 0.050000
[gzclient-2] 
[gzclient-2] (gzclient:30685): dconf-WARNING **: 16:17:18.067: failed to commit changes to dconf: Failed to execute child process “dbus-launch” (No such file or directory)
[gzclient-2] 
[gzclient-2] (gzclient:30685): dconf-WARNING **: 16:17:18.067: failed to commit changes to dconf: Failed to execute child process “dbus-launch” (No such file or directory)
[gzclient-2] 
[gzclient-2] (gzclient:30685): dconf-WARNING **: 16:17:18.068: failed to commit changes to dconf: Failed to execute child process “dbus-launch” (No such file or directory)
[gzclient-2] 
[gzclient-2] (gzclient:30685): dconf-WARNING **: 16:17:18.068: failed to commit changes to dconf: Failed to execute child process “dbus-launch” (No such file or directory)
[gzclient-2] 
[gzclient-2] (gzclient:30685): dconf-WARNING **: 16:17:18.068: failed to commit changes to dconf: Failed to execute child process “dbus-launch” (No such file or directory)
[ros2-7] Could not contact service /controller_manager/load_controller
[ros2-6] Could not contact service /controller_manager/load_controller
[ros2-8] Could not contact service /controller_manager/load_controller
[ERROR] [ros2-7]: process has died [pid 30695, exit code 1, cmd 'ros2 control load_controller --set-state active forward_velocity_controller'].
[ERROR] [ros2-6]: process has died [pid 30693, exit code 1, cmd 'ros2 control load_controller --set-state active forward_position_controller'].
[ERROR] [ros2-8]: process has died [pid 30697, exit code 1, cmd 'ros2 control load_controller --set-state active joint_state_broadcaster'].

After gazebo is opened, and the urdf is loaded, I cant use the connected PS2 gamepad to control the rover, I have tested the gamepad using "ros2 run joy joy_node" and "ros2 topic echo /joy", all gamepad's buttons are functional

Improve this question
$\endgroup$
2
  • 1
    $\begingroup$ Which ROS distro are you using? Can you run the gazebo_ros2_control_demos? $\endgroup$
    – Christoph Froehlich
    Commented May 13 at 10:48
  • $\begingroup$ @ChristophFroehlich yes, I was able to run all of them, including the 9th one that involves gazebo, no issues, the error I am getting is related to the controls, I was just able to open the animation and I have edited the question at the bottom for more context $\endgroup$
    – Hasan Shadi
    Commented May 13 at 13:13

1 Answer 1

Reset to default
0
$\begingroup$

Have a look at the given error message

[gzserver-1] [ERROR] [1715606236.638897806] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/robotmania/four_ws_ros2/install/gazebo_simulation/share/gazebo_simulation/models/rs_robot/config/controllers.yaml'. Error: Error opening YAML file, at ./src/parser.c:270, at ./src/rcl/arguments.c:406

This is the root cause. Check if the file exists and if it has proper yaml syntax.

Improve this answer
$\endgroup$
1
  • $\begingroup$ I forgot to change a path in the yaml file which was leading to this error, thank you $\endgroup$
    – Hasan Shadi
    Commented May 17 at 8:20

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.