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I'm facing an issue with controlling a robot in Gazebo using ROS 2 and ros2_control. I'm running ROS 2 with the Humble distribution on Ubuntu 22.04. I have installed the necessary packages including ros2_control, gazebo_ros2_control, and others.

I am trying to test using a default package just to show my errors. The errors I encounter are

robotics$ ros2 run controller_manager spawner test_controller

[INFO] [1699614834.933186665] [spawner_test_controller]: Waiting for '/controller_manager' node to exist [INFO] [1699614836.952766939] [spawner_test_controller]: Waiting for '/controller_manager' node to exist [INFO] [1699614838.971527756] [spawner_test_controller]: Waiting for '/controller_manager' node to exist [INFO] [1699614840.991855230] [spawner_test_controller]: Waiting for '/controller_manager' node to exist [ERROR] [1699614843.012806033] [spawner_test_controller]: Controller manager not available [ros2run]: Process exited with failure 1

robotics$ ros2 run controller_manager controller_manager

No executable found

robotics$ ros2 run controller_manager ros2_control_node

enter image description here

and here to list the packages i have

robotics$ ros2 pkg list | grep ros2_control
gazebo_ros2_control
ros2_control
ros2_control_test_assets
ros2_controllers

robotics$ ros2 pkg list | grep controller_manager

controller_manager
controller_manager_msgs
moveit_simple_controller_manager

robotics$ ros2 pkg executables controller_manager

controller_manager ros2_control_node
controller_manager spawner
controller_manager unspawner

I tried solutions suggested in the link, but still no use.

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  • $\begingroup$ Please do not use screenshots of text. Instead, copy/paste the actual text and format it as code. $\endgroup$
    – Mike973
    Commented Nov 11, 2023 at 14:09

2 Answers 2

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Welcome at RSE.

We released several examples on how to launch gazebo with ros2_control. Please have a look on how to setup your urdf files, writing your launch files, etc.

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  • $\begingroup$ Thank you. I found my problem was because of some mistake in the config yaml file. $\endgroup$
    – Vishaal
    Commented Jan 5 at 5:50
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Okay so something similar was happening to me. I see that you resolved your problem (fantastic) by fixing an error in one of your .yaml files, but I think it is worth putting my solution here just in case it can help anyone.

I found that there were multiple "zombie" nodes running in the background which were not allowing my controller_manger to execute. You can check for these by running the command:

ros2 node list

If you see any nodes that are duplicates or should not be running, you will have to kill them. For ROS2 the best method I found was to just restart your machine.

Hope this helps someone.

Cheers

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