0
$\begingroup$

I have a ros2 project which is running in one system(with ros2 humble) perfectly but i am getting error on other system(with ros2 foxy). I need to run it on 2nd system as my first system dosen't has a graphics card and I am trying to train a Reinforcement learning model.

The full source code with steps to execute are available at: https://github.com/nice-user1/ros2_acker

NOTE: The code might not produce error in you system. I think i got error because i ran this code on a pc in which i have recently installed ros2.

NOTE: In the launch file, I have changed:

ackermann_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["asc"],
)

TO

ackermann_spawner = Node(
    package="controller_manager",
    executable="spawner.py",
    arguments=["asc"],
)

the ".py" difference which is required to run the bot in foxy."

I am getting the following error when trying to launch a 4 wheel robot with ackeman steering controller.

[gzserver-4] [ERROR] [1707452057.685204860] [controller_manager]: Loader for controller 'asc' not found.
[ERROR] [spawner.py-7]: process has died [pid 11896, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py asc --ros-args'].

Terminal Output:

ros2 launch race_it rsp.launch.py
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [11876]
[INFO] [joint_state_publisher-2]: process started with pid [11878]
[INFO] [rviz2-3]: process started with pid [11880]
[INFO] [gzserver-4]: process started with pid [11882]
[INFO] [gzclient   -5]: process started with pid [11884]
[INFO] [spawn_entity.py-6]: process started with pid [11888]
[INFO] [spawner.py-7]: process started with pid [11896]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link chassis_link had 4 children
[robot_state_publisher-1] Link front_left_hinge had 1 children
[robot_state_publisher-1] Link front_left_link had 0 children
[robot_state_publisher-1] Link front_right_hinge had 1 children
[robot_state_publisher-1] Link front_right_link had 0 children
[robot_state_publisher-1] Link rear_left_link had 0 children
[robot_state_publisher-1] Link rear_right_link had 0 children
[robot_state_publisher-1] [INFO] [1707452055.941781873] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1707452055.941842196] [robot_state_publisher]: got segment chassis_link
[robot_state_publisher-1] [INFO] [1707452055.941848866] [robot_state_publisher]: got segment front_left_hinge
[robot_state_publisher-1] [INFO] [1707452055.941852469] [robot_state_publisher]: got segment front_left_link
[robot_state_publisher-1] [INFO] [1707452055.941855559] [robot_state_publisher]: got segment front_right_hinge
[robot_state_publisher-1] [INFO] [1707452055.941858690] [robot_state_publisher]: got segment front_right_link
[robot_state_publisher-1] [INFO] [1707452055.941861669] [robot_state_publisher]: got segment rear_left_link
[robot_state_publisher-1] [INFO] [1707452055.941864743] [robot_state_publisher]: got segment rear_right_link
[spawner.py-7] [INFO] [1707452056.077780697] [spawner_asc]: Waiting for /controller_manager services
[spawn_entity.py-6] [INFO] [1707452056.264494914] [spawn_entity]: Spawn Entity started
[spawn_entity.py-6] [INFO] [1707452056.265402694] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-6] [INFO] [1707452056.267455715] [spawn_entity]: Waiting for entity xml on robot_description
[joint_state_publisher-2] [INFO] [1707452056.328889187] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[spawn_entity.py-6] [INFO] [1707452056.351479418] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-6] [INFO] [1707452056.351703468] [spawn_entity]: Waiting for service /spawn_entity
[rviz2-3] [INFO] [1707452056.502326668] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1707452056.502462903] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1707452056.541439091] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] Parsing robot urdf xml string.
[spawn_entity.py-6] [INFO] [1707452057.354769010] [spawn_entity]: Calling service /spawn_entity
[gzserver-4] Warning [parser_urdf.cc:1130] multiple inconsistent <name> exists due to fixed joint reduction overwriting previous value [Gazebo/Blue] with [Gazebo/Green].
[gzserver-4] Warning [parser_urdf.cc:1130] multiple inconsistent <name> exists due to fixed joint reduction overwriting previous value [Gazebo/Blue] with [Gazebo/Red].
[gzserver-4] Warning [parser_urdf.cc:1130] multiple inconsistent <name> exists due to fixed joint reduction overwriting previous value [Gazebo/Blue] with [Gazebo/Green].
[gzserver-4] Warning [parser_urdf.cc:1130] multiple inconsistent <name> exists due to fixed joint reduction overwriting previous value [Gazebo/Blue] with [Gazebo/Red].
[spawn_entity.py-6] [INFO] [1707452057.373071391] [spawn_entity]: Spawn status: Successfully sent factory message to Gazebo.
[INFO] [spawn_entity.py-6]: process has finished cleanly [pid 11888]
[gzserver-4] [INFO] [1707452057.472799835] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-4] [INFO] [1707452057.474547679] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-4] [INFO] [1707452057.474712194] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-4] [INFO] [1707452057.474744288] [gazebo_ros2_control]: Loading parameter files /home/pratham/Desktop/Pratham/misc/ros2_acker/install/race_it/share/race_it/config/controller/my_controllers.yaml
[gzserver-4] [INFO] [1707452057.476062252] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-4] [INFO] [1707452057.476430900] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
[gzserver-4] [INFO] [1707452057.482758994] [gazebo_ros2_control]: Loading joint: front_left_hinge_joint
[gzserver-4] [INFO] [1707452057.482793501] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1707452057.482801424] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1707452057.482821224] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1707452057.482827754] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1707452057.482846866] [gazebo_ros2_control]: Loading joint: front_right_hinge_joint
[gzserver-4] [INFO] [1707452057.482853506] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1707452057.482857999] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1707452057.482862852] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1707452057.482867314] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1707452057.482873115] [gazebo_ros2_control]: Loading joint: rear_left_joint
[gzserver-4] [INFO] [1707452057.482877907] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1707452057.482882814] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1707452057.482887665] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1707452057.482892149] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1707452057.482897501] [gazebo_ros2_control]: Loading joint: rear_right_joint
[gzserver-4] [INFO] [1707452057.482902196] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1707452057.482906606] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1707452057.482911016] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1707452057.482915236] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1707452057.483025053] [gazebo_ros2_control]: Loading controller_manager
[gzserver-4] [WARN] [1707452057.488805408] [gazebo_ros2_control]:  Desired controller update period (0.0333333 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-4] [INFO] [1707452057.488882867] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gzserver-4] [INFO] [1707452057.685163156] [controller_manager]: Loading controller 'asc'
[gzserver-4] [ERROR] [1707452057.685204860] [controller_manager]: Loader for controller 'asc' not found.
[gzserver-4] [INFO] [1707452057.685212517] [controller_manager]: Available classes:
[gzserver-4] [INFO] [1707452057.685221409] [controller_manager]:   controller_manager/test_controller
[gzserver-4] [INFO] [1707452057.685225693] [controller_manager]:   controller_manager/test_controller_failed_init
[gzserver-4] [INFO] [1707452057.685229383] [controller_manager]:   controller_manager/test_controller_with_interfaces
[gzserver-4] [INFO] [1707452057.685233156] [controller_manager]:   diff_drive_controller/DiffDriveController
[gzserver-4] [INFO] [1707452057.685236984] [controller_manager]:   effort_controllers/JointGroupEffortController
[gzserver-4] [INFO] [1707452057.685240652] [controller_manager]:   force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
[gzserver-4] [INFO] [1707452057.685244516] [controller_manager]:   forward_command_controller/ForwardCommandController
[gzserver-4] [INFO] [1707452057.685248123] [controller_manager]:   imu_sensor_broadcaster/IMUSensorBroadcaster
[gzserver-4] [INFO] [1707452057.685251681] [controller_manager]:   joint_state_broadcaster/JointStateBroadcaster
[gzserver-4] [INFO] [1707452057.685255145] [controller_manager]:   joint_state_controller/JointStateController
[gzserver-4] [INFO] [1707452057.685258594] [controller_manager]:   joint_trajectory_controller/JointTrajectoryController
[gzserver-4] [INFO] [1707452057.685262045] [controller_manager]:   position_controllers/JointGroupPositionController
[gzserver-4] [INFO] [1707452057.685265702] [controller_manager]:   tricycle_controller/TricycleController
[gzserver-4] [INFO] [1707452057.685269334] [controller_manager]:   velocity_controllers/JointGroupVelocityController
[ERROR] [spawner.py-7]: process has died [pid 11896, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py asc --ros-args'].

Most likely it would be some issues related to some ros2 packages not being installed which i am unable to figure out.

Thanks

$\endgroup$

2 Answers 2

0
$\begingroup$

1 - take a look in this similar issue ( can be a CMakesList.txt issue) : https://github.com/ros-controls/ros2_controllers/issues/358

2- Or check if you have installed Controller-Manager pkg in your foxy distro.

3 - Or as stated here:

https://github.com/ros-controls/ros2_control/issues/1055

You can try install

sudo apt-get install ros-foxy-ackermann-steering-controller

And check if controller is being tracked:

ros2 control list controller_types
$\endgroup$
6
  • $\begingroup$ 1. adding "target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")" in CMakeLists.txt(at the end) gives the following error "--- stderr: race_it CMake Error at CMakeLists.txt:33 (target_compile_definitions): Cannot specify compile definitions for target "race_it" which is not built by this project." 2. yes controller manager is correctly installed. $\endgroup$
    – Pratham
    Feb 9 at 7:53
  • $\begingroup$ 3. there is no such package as "sudo apt-get install ros-foxy-ackermann-steering-controller". Also the package is running in my first system with ros2 humble without such installation. $\endgroup$
    – Pratham
    Feb 9 at 7:53
  • $\begingroup$ the *steering-controllers are not released for foxy, because this distro is EOL since quite a long time now. $\endgroup$ Feb 9 at 9:09
  • $\begingroup$ "sudo apt-get install ros-humble-ackermann-steering-controller", "sudo apt-get install ros-humble-joint_trajectory_controller", "sudo apt-get install ros-humble-joint-state-broadcaster", "sudo apt-get install ros-humble-controller-manager", "sudo apt-get install ros-humble-joint-state-publisher-gui". Worked for me. I switched to docker container with humble. @ChristophFroehlich I want to mark both answer as "Solved" but it is not possible. Thanks for guidance. $\endgroup$
    – Pratham
    Feb 10 at 5:52
  • $\begingroup$ @Pratham Congratulations 👏🏻🎉 $\endgroup$ Feb 10 at 21:45
1
$\begingroup$

Please be aware that Foxy is EOL and not maintained any more.

Have you tested the demos shipped with gazebo_ros2_control, do they launch?

$\endgroup$
2

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.