Unable to run gazebo ignition 6 or gazebo fortress as it appears to be some controller issue

[Vivekd02]

the command I type was
ros2 launch rosbot_gazebo simulation.launch.py robot_model:=rosbot

and I was trying to open the ros model rosbot (from husarion) through the command. I was led to the gazebo software and I got the following error in the terminal:

[INFO] [launch]: All log files can be found below /home/vivek/.ros/log/2025-09-04-13-44-47-241915-vivek-Vector-16-HX-AI-A2XWHG-7871
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Spawning ROSbot
	Namespace: ''
	Initial pose: (-1.0, -2.0, 0.0, 0.0, 0.0, 0.0)
[INFO] [ign gazebo-1]: process started with pid [7873]
[INFO] [parameter_bridge-2]: process started with pid [7876]
[INFO] [parameter_bridge-3]: process started with pid [7878]
[INFO] [create-4]: process started with pid [7880]
[INFO] [parameter_bridge-5]: process started with pid [7882]
[INFO] [robot_state_publisher-6]: process started with pid [7884]
[INFO] [ekf_node-7]: process started with pid [7886]
[INFO] [scan_to_scan_filter_chain-8]: process started with pid [7888]
[create-4] [INFO] [1756986287.800083823] [ros_gz_sim]: Requesting list of world names.
[scan_to_scan_filter_chain-8] [WARN] [1756986287.805294340] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[robot_state_publisher-6] [INFO] [1756986287.813760028] [robot_state_publisher]: got segment base_link
[robot_state_publisher-6] [INFO] [1756986287.813812256] [robot_state_publisher]: got segment body_link
[robot_state_publisher-6] [INFO] [1756986287.813816039] [robot_state_publisher]: got segment camera_color_frame
[robot_state_publisher-6] [INFO] [1756986287.813818001] [robot_state_publisher]: got segment camera_color_optical_frame
[robot_state_publisher-6] [INFO] [1756986287.813820249] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-6] [INFO] [1756986287.813821878] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-6] [INFO] [1756986287.813823474] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-6] [INFO] [1756986287.813825045] [robot_state_publisher]: got segment camera_mount_link
[robot_state_publisher-6] [INFO] [1756986287.813826561] [robot_state_publisher]: got segment camera_orbbec_astra_link
[robot_state_publisher-6] [INFO] [1756986287.813828038] [robot_state_publisher]: got segment cover_link
[robot_state_publisher-6] [INFO] [1756986287.813829527] [robot_state_publisher]: got segment fl_range
[robot_state_publisher-6] [INFO] [1756986287.813830918] [robot_state_publisher]: got segment fl_wheel_link
[robot_state_publisher-6] [INFO] [1756986287.813832442] [robot_state_publisher]: got segment fr_range
[robot_state_publisher-6] [INFO] [1756986287.813833844] [robot_state_publisher]: got segment fr_wheel_link
[robot_state_publisher-6] [INFO] [1756986287.813835366] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-6] [INFO] [1756986287.813836830] [robot_state_publisher]: got segment laser
[robot_state_publisher-6] [INFO] [1756986287.813838250] [robot_state_publisher]: got segment rl_range
[robot_state_publisher-6] [INFO] [1756986287.813839841] [robot_state_publisher]: got segment rl_wheel_link
[robot_state_publisher-6] [INFO] [1756986287.813841226] [robot_state_publisher]: got segment rr_range
[robot_state_publisher-6] [INFO] [1756986287.813842571] [robot_state_publisher]: got segment rr_wheel_link
[robot_state_publisher-6] [INFO] [1756986287.813843983] [robot_state_publisher]: got segment slamtec_rplidar_link
[create-4] [INFO] [1756986288.228271633] [ros_gz_sim]: Waiting messages on topic [robot_description].
[create-4] [INFO] [1756986288.427613956] [ros_gz_sim]: Requested creation of entity.
[create-4] [INFO] [1756986288.427669599] [ros_gz_sim]: OK creation of entity.
[INFO] [create-4]: process has finished cleanly [pid 7880]
[parameter_bridge-3] [INFO] [1756986288.815325921] [rosbot_gz_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (gz.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0)
[parameter_bridge-2] [INFO] [1756986288.817545809] [gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-5] [INFO] [1756986288.817801500] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/color/camera_info (gz.msgs.CameraInfo) -> /camera/color/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 1)
[parameter_bridge-5] [INFO] [1756986288.819718076] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/color/image_raw (gz.msgs.Image) -> /camera/color/image_raw (sensor_msgs/msg/Image)] (Lazy 1)
[parameter_bridge-5] [INFO] [1756986288.819889334] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/depth/camera_info (gz.msgs.CameraInfo) -> /camera/depth/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 1)
[parameter_bridge-5] [INFO] [1756986288.820600070] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/depth/image_raw (gz.msgs.Image) -> /camera/depth/image_raw (sensor_msgs/msg/Image)] (Lazy 1)
[parameter_bridge-5] [INFO] [1756986288.821158183] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/depth/image_raw/points (gz.msgs.PointCloudPacked) -> /camera/depth/points (sensor_msgs/msg/PointCloud2)] (Lazy 1)
**[ign gazebo-1] MESA: warning: Driver does not support the 0x7d67 PCI ID.
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen**
[ign gazebo-1] [INFO] [1756986289.934171135] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher
[ign gazebo-1] [INFO] [1756986289.934187290] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description
[ign gazebo-1] [INFO] [1756986290.112807487] [gz_ros2_control]: connected to service!! robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1756986290.114124751] [gz_ros2_control]: Received URDF from param server
[ign gazebo-1] [INFO] [1756986290.121931531] [gz_ros2_control]: The position_proportional_gain has been set to: 0.1
[ign gazebo-1] [INFO] [1756986290.121954200] [gz_ros2_control]: Loading joint: fl_wheel_joint
[ign gazebo-1] [INFO] [1756986290.121958629] [gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1756986290.121961801] [gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1756986290.121964850] [gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1756986290.121967053] [gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1756986290.121969374] [gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1756986290.121982572] [gz_ros2_control]: Loading joint: fr_wheel_joint
[ign gazebo-1] [INFO] [1756986290.121984816] [gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1756986290.121986713] [gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1756986290.121988738] [gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1756986290.121990524] [gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1756986290.121992220] [gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1756986290.121996204] [gz_ros2_control]: Loading joint: rl_wheel_joint
[ign gazebo-1] [INFO] [1756986290.121998168] [gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1756986290.121999907] [gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1756986290.122001824] [gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1756986290.122003467] [gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1756986290.122005169] [gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1756986290.122008777] [gz_ros2_control]: Loading joint: rr_wheel_joint
[ign gazebo-1] [INFO] [1756986290.122010623] [gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1756986290.122012387] [gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1756986290.122014084] [gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1756986290.122015701] [gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1756986290.122017416] [gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1756986290.122039039] [gz_ros2_control]: Loading sensor: imu
[ign gazebo-1] [INFO] [1756986290.122043879] [gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1756986290.122049583] [gz_ros2_control]: 		 orientation.x
[ign gazebo-1] [INFO] [1756986290.122051831] [gz_ros2_control]: 		 orientation.y
[ign gazebo-1] [INFO] [1756986290.122053713] [gz_ros2_control]: 		 orientation.z
[ign gazebo-1] [INFO] [1756986290.122055440] [gz_ros2_control]: 		 orientation.w
[ign gazebo-1] [INFO] [1756986290.122057282] [gz_ros2_control]: 		 angular_velocity.x
[ign gazebo-1] [INFO] [1756986290.122059172] [gz_ros2_control]: 		 angular_velocity.y
[ign gazebo-1] [INFO] [1756986290.122060987] [gz_ros2_control]: 		 angular_velocity.z
[ign gazebo-1] [INFO] [1756986290.122062881] [gz_ros2_control]: 		 linear_acceleration.x
[ign gazebo-1] [INFO] [1756986290.122064922] [gz_ros2_control]: 		 linear_acceleration.y
[ign gazebo-1] [INFO] [1756986290.122067018] [gz_ros2_control]: 		 linear_acceleration.z
[ign gazebo-1] [INFO] [1756986290.122074376] [resource_manager]: Initialize hardware 'rosbot_system' 
[ign gazebo-1] [INFO] [1756986290.122106574] [resource_manager]: Successful initialization of hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1756986290.122146655] [resource_manager]: 'configure' hardware 'rosbot_system' 
[ign gazebo-1] [INFO] [1756986290.122148631] [gz_ros2_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1756986290.122153038] [resource_manager]: Successful 'configure' of hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1756986290.122156482] [resource_manager]: 'activate' hardware 'rosbot_system' 
[ign gazebo-1] [INFO] [1756986290.122158579] [resource_manager]: Successful 'activate' of hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1756986290.122161086] [gz_ros2_control]: Loading controller_manager
[ign gazebo-1] [WARN] [1756986290.162177350] [gz_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[ign gazebo-1] MESA: warning: Driver does not support the 0x7d67 PCI ID.
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[INFO] [spawner-9]: process started with pid [8328]
[INFO] [spawner-10]: process started with pid [8330]
[INFO] [spawner-11]: process started with pid [8332]
[ign gazebo-1] [INFO] [1756986291.951799864] [controller_manager]: Loading controller 'imu_broadcaster'
[ign gazebo-1] [INFO] [1756986291.957215684] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-10] [INFO] [1756986291.962931221] [spawner_imu_broadcaster]: Loaded imu_broadcaster
[ign gazebo-1] [INFO] [1756986291.963171563] [controller_manager]: Loading controller 'rosbot_base_controller'
[spawner-9] [INFO] [1756986291.969179268] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ign gazebo-1] [INFO] [1756986291.972586492] [controller_manager]: Configuring controller 'imu_broadcaster'
[ign gazebo-1] [INFO] [1756986291.974514018] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1756986291.974555761] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-11] [INFO] [1756986291.980218953] [spawner_rosbot_base_controller]: Loaded rosbot_base_controller
**[ign gazebo-1] [ERROR] [1756986296.977922297] [controller_manager]: Switch controller timed out after 5.000000 seconds!
[ign gazebo-1] [INFO] [1756986296.978250195] [controller_manager]: Configuring controller 'rosbot_base_controller'
[spawner-10] [ERROR] [1756986296.978679677] [spawner_imu_broadcaster]: Failed to activate controller : imu_broadcaster
Fatal error: b'[ERROR] [1756986296.978679677] [spawner_imu_broadcaster]: \x1b[91mFailed to activate controller : imu_broadcaster\x1b[0m\n'. Emitting shutdown...**
[INFO] [spawner-11]: sending signal 'SIGINT' to process[spawner-11]
[INFO] [spawner-10]: sending signal 'SIGINT' to process[spawner-10]
[INFO] [spawner-9]: sending signal 'SIGINT' to process[spawner-9]
[INFO] [scan_to_scan_filter_chain-8]: sending signal 'SIGINT' to process[scan_to_scan_filter_chain-8]
[INFO] [ekf_node-7]: sending signal 'SIGINT' to process[ekf_node-7]
[INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6]
[INFO] [parameter_bridge-5]: sending signal 'SIGINT' to process[parameter_bridge-5]
[INFO] [parameter_bridge-3]: sending signal 'SIGINT' to process[parameter_bridge-3]
[INFO] [parameter_bridge-2]: sending signal 'SIGINT' to process[parameter_bridge-2]
[INFO] [ign gazebo-1]: sending signal 'SIGINT' to process[ign gazebo-1]
[scan_to_scan_filter_chain-8] [INFO] [1756986296.981738010] [rclcpp]: signal_handler(signum=2)
[spawner-10] Traceback (most recent call last):
[spawner-10]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[ekf_node-7] [INFO] [1756986296.982253140] [rclcpp]: signal_handler(signum=2)
[spawner-10]     sys.exit(load_entry_point('controller-manager==2.51.0', 'console_scripts', 'spawner')())
[spawner-10]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 361, in main
[spawner-10]     node.destroy_node()
[spawner-10]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1697, in destroy_node
[spawner-10]     self.__node.destroy_when_not_in_use()
[spawner-10] KeyboardInterrupt
[robot_state_publisher-6] [INFO] [1756986296.982441823] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-5] [INFO] [1756986296.982848245] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-3] [INFO] [1756986296.983597723] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-2] [INFO] [1756986296.983689697] [rclcpp]: signal_handler(signum=2)
[ERROR] [spawner-10]: process has died [pid 8330, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner imu_broadcaster -c controller_manager --controller-manager-timeout 20 --ros-args -r __ns:=/ -p use_sim_time:=True -p use_sim_time:=True -p use_sim_time:=True -p use_sim_time:=True -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static'].
[INFO] [parameter_bridge-5]: process has finished cleanly [pid 7882]
[INFO] [parameter_bridge-2]: process has finished cleanly [pid 7876]
[INFO] [parameter_bridge-3]: process has finished cleanly [pid 7878]
[INFO] [scan_to_scan_filter_chain-8]: process has finished cleanly [pid 7888]
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 7884]
[INFO] [ekf_node-7]: process has finished cleanly [pid 7886]
[INFO] [spawner-11]: process has finished cleanly [pid 8332]
[INFO] [spawner-9]: process has finished cleanly [pid 8328]
[ign gazebo-1] [ERROR] [1756986301.981327190] [controller_manager]: Switch controller timed out after 5.000000 seconds!
[ERROR] [ign gazebo-1]: process[ign gazebo-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [ign gazebo-1]: sending signal 'SIGTERM' to process[ign gazebo-1]
[ERROR] [ign gazebo-1]: process has died [pid 7873, exit code -15, cmd 'ruby /usr/bin/ign gazebo --gui-config /home/vivek/rosbot_ws/install/husarion_gz_worlds/share/husarion_gz_worlds/config/teleop.config -r -v 1 /home/vivek/rosbot_ws/install/husarion_gz_worlds/share/husarion_gz_worlds/worlds/husarion_world.sdf --force-version 6'].
[INFO] [launch]: process[ign gazebo-1] was required: shutting down launched system

help me to sort it out please. (am using ROS humble on Ubuntu 22.04)

[christophfroehlich]

1. Do the examples from this repository work?
2. Which version of gz_ros2_control and ros2_control do you have? From your workspace, run ros2 pkg xml -t version ros2_control for example.

[belbo9]

I had the same issue but realized my update rate in my controllers yaml config was set to 100Hz rather than 1000Hz. Changing this to 1000Hz to match gazebo simulation period solved the issue for me. Maybe you could try that?

[Vivekd02]

1. Do the examples from this repository work?

   2. Which version of gz_ros2_control and ros2_control do you have? From your workspace, run ros2 pkg xml -t version ros2_control for example.

okay, sorry to reply a bit late. To answer your questions

1. I havent tried out all the examples in this repository.
2. 2.51.0

[Vivekd02]

I had the same issue but realized my update rate in my controllers yaml config was set to 100Hz rather than 1000Hz. Changing this to 1000Hz to match gazebo simulation period solved the issue for me. Maybe you could try that?

I did this now. No change. It is crashing for some reason.
Heres the output:
[INFO] [launch]: All log files can be found below /home/vivek/.ros/log/2025-09-17-13-48-03-301636-vivek-Vector-16-HX-AI-A2XWHG-4624
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Spawning ROSbot
Namespace: ''
Initial pose: (-1.0, -2.0, 0.0, 0.0, 0.0, 0.0)
[INFO] [ign gazebo-1]: process started with pid [4626]
[INFO] [parameter_bridge-2]: process started with pid [4629]
[INFO] [parameter_bridge-3]: process started with pid [4631]
[INFO] [create-4]: process started with pid [4633]
[INFO] [parameter_bridge-5]: process started with pid [4635]
[INFO] [robot_state_publisher-6]: process started with pid [4637]
[INFO] [ekf_node-7]: process started with pid [4639]
[INFO] [scan_to_scan_filter_chain-8]: process started with pid [4641]
[create-4] [INFO] [1758109683.944303157] [ros_gz_sim]: Requesting list of world names.
[scan_to_scan_filter_chain-8] [WARN] [1758109683.954815063] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[robot_state_publisher-6] [INFO] [1758109683.969641933] [robot_state_publisher]: got segment base_link
[robot_state_publisher-6] [INFO] [1758109683.969703742] [robot_state_publisher]: got segment body_link
[robot_state_publisher-6] [INFO] [1758109683.969707221] [robot_state_publisher]: got segment camera_color_frame
[robot_state_publisher-6] [INFO] [1758109683.969709094] [robot_state_publisher]: got segment camera_color_optical_frame
[robot_state_publisher-6] [INFO] [1758109683.969711193] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-6] [INFO] [1758109683.969712681] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-6] [INFO] [1758109683.969714191] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-6] [INFO] [1758109683.969715734] [robot_state_publisher]: got segment camera_mount_link
[robot_state_publisher-6] [INFO] [1758109683.969717165] [robot_state_publisher]: got segment camera_orbbec_astra_link
[robot_state_publisher-6] [INFO] [1758109683.969718654] [robot_state_publisher]: got segment cover_link
[robot_state_publisher-6] [INFO] [1758109683.969720151] [robot_state_publisher]: got segment fl_range
[robot_state_publisher-6] [INFO] [1758109683.969721608] [robot_state_publisher]: got segment fl_wheel_link
[robot_state_publisher-6] [INFO] [1758109683.969723141] [robot_state_publisher]: got segment fr_range
[robot_state_publisher-6] [INFO] [1758109683.969724570] [robot_state_publisher]: got segment fr_wheel_link
[robot_state_publisher-6] [INFO] [1758109683.969725993] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-6] [INFO] [1758109683.969727444] [robot_state_publisher]: got segment laser
[robot_state_publisher-6] [INFO] [1758109683.969728864] [robot_state_publisher]: got segment rl_range
[robot_state_publisher-6] [INFO] [1758109683.969730234] [robot_state_publisher]: got segment rl_wheel_link
[robot_state_publisher-6] [INFO] [1758109683.969731693] [robot_state_publisher]: got segment rr_range
[robot_state_publisher-6] [INFO] [1758109683.969733052] [robot_state_publisher]: got segment rr_wheel_link
[robot_state_publisher-6] [INFO] [1758109683.969734551] [robot_state_publisher]: got segment slamtec_rplidar_link
[create-4] [INFO] [1758109684.412285688] [ros_gz_sim]: Waiting messages on topic [robot_description].
[create-4] [INFO] [1758109684.512145231] [ros_gz_sim]: Requested creation of entity.
[create-4] [INFO] [1758109684.512195161] [ros_gz_sim]: OK creation of entity.
[INFO] [create-4]: process has finished cleanly [pid 4633]
[parameter_bridge-3] [INFO] [1758109684.971215546] [rosbot_gz_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (gz.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0)
[parameter_bridge-5] [INFO] [1758109684.971360890] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/color/camera_info (gz.msgs.CameraInfo) -> /camera/color/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 1)
[parameter_bridge-2] [INFO] [1758109684.971365380] [gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-5] [INFO] [1758109684.974521091] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/color/image_raw (gz.msgs.Image) -> /camera/color/image_raw (sensor_msgs/msg/Image)] (Lazy 1)
[parameter_bridge-5] [INFO] [1758109684.975010331] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/depth/camera_info (gz.msgs.CameraInfo) -> /camera/depth/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 1)
[parameter_bridge-5] [INFO] [1758109684.975195157] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/depth/image_raw (gz.msgs.Image) -> /camera/depth/image_raw (sensor_msgs/msg/Image)] (Lazy 1)
[parameter_bridge-5] [INFO] [1758109684.975521555] [camera_CAM01_gz_bridge]: Creating GZ->ROS Bridge: [/camera/depth/image_raw/points (gz.msgs.PointCloudPacked) -> /camera/depth/points (sensor_msgs/msg/PointCloud2)] (Lazy 1)
[ign gazebo-1] [INFO] [1758109686.122304777] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher
[ign gazebo-1] [INFO] [1758109686.122321950] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description
[ign gazebo-1] [INFO] [1758109686.200829649] [gz_ros2_control]: connected to service!! robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1758109686.201277764] [gz_ros2_control]: Received URDF from param server
[ign gazebo-1] [INFO] [1758109686.207908169] [gz_ros2_control]: The position_proportional_gain has been set to: 0.1
[ign gazebo-1] [INFO] [1758109686.207928347] [gz_ros2_control]: Loading joint: fl_wheel_joint
[ign gazebo-1] [INFO] [1758109686.207932247] [gz_ros2_control]: State:
[ign gazebo-1] [INFO] [1758109686.207935086] [gz_ros2_control]: position
[ign gazebo-1] [INFO] [1758109686.207937904] [gz_ros2_control]: velocity
[ign gazebo-1] [INFO] [1758109686.207939888] [gz_ros2_control]: Command:
[ign gazebo-1] [INFO] [1758109686.207942358] [gz_ros2_control]: velocity
[ign gazebo-1] [INFO] [1758109686.207956385] [gz_ros2_control]: Loading joint: fr_wheel_joint
[ign gazebo-1] [INFO] [1758109686.207958275] [gz_ros2_control]: State:
[ign gazebo-1] [INFO] [1758109686.207960118] [gz_ros2_control]: position
[ign gazebo-1] [INFO] [1758109686.207961908] [gz_ros2_control]: velocity
[ign gazebo-1] [INFO] [1758109686.207963523] [gz_ros2_control]: Command:
[ign gazebo-1] [INFO] [1758109686.207965257] [gz_ros2_control]: velocity
[ign gazebo-1] [INFO] [1758109686.207968975] [gz_ros2_control]: Loading joint: rl_wheel_joint
[ign gazebo-1] [INFO] [1758109686.207970758] [gz_ros2_control]: State:
[ign gazebo-1] [INFO] [1758109686.207972286] [gz_ros2_control]: position
[ign gazebo-1] [INFO] [1758109686.207976612] [gz_ros2_control]: velocity
[ign gazebo-1] [INFO] [1758109686.207978244] [gz_ros2_control]: Command:
[ign gazebo-1] [INFO] [1758109686.207979774] [gz_ros2_control]: velocity
[ign gazebo-1] [INFO] [1758109686.207983102] [gz_ros2_control]: Loading joint: rr_wheel_joint
[ign gazebo-1] [INFO] [1758109686.207984996] [gz_ros2_control]: State:
[ign gazebo-1] [INFO] [1758109686.207986592] [gz_ros2_control]: position
[ign gazebo-1] [INFO] [1758109686.207988160] [gz_ros2_control]: velocity
[ign gazebo-1] [INFO] [1758109686.207989685] [gz_ros2_control]: Command:
[ign gazebo-1] [INFO] [1758109686.207991344] [gz_ros2_control]: velocity
[ign gazebo-1] [INFO] [1758109686.208011335] [gz_ros2_control]: Loading sensor: imu
[ign gazebo-1] [INFO] [1758109686.208015593] [gz_ros2_control]: State:
[ign gazebo-1] [INFO] [1758109686.208021495] [gz_ros2_control]: orientation.x
[ign gazebo-1] [INFO] [1758109686.208023773] [gz_ros2_control]: orientation.y
[ign gazebo-1] [INFO] [1758109686.208025626] [gz_ros2_control]: orientation.z
[ign gazebo-1] [INFO] [1758109686.208027272] [gz_ros2_control]: orientation.w
[ign gazebo-1] [INFO] [1758109686.208028881] [gz_ros2_control]: angular_velocity.x
[ign gazebo-1] [INFO] [1758109686.208030584] [gz_ros2_control]: angular_velocity.y
[ign gazebo-1] [INFO] [1758109686.208032307] [gz_ros2_control]: angular_velocity.z
[ign gazebo-1] [INFO] [1758109686.208034069] [gz_ros2_control]: linear_acceleration.x
[ign gazebo-1] [INFO] [1758109686.208036248] [gz_ros2_control]: linear_acceleration.y
[ign gazebo-1] [INFO] [1758109686.208038275] [gz_ros2_control]: linear_acceleration.z
[ign gazebo-1] [INFO] [1758109686.208047037] [resource_manager]: Initialize hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1758109686.208070596] [resource_manager]: Successful initialization of hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1758109686.208090094] [resource_manager]: 'configure' hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1758109686.208091659] [gz_ros2_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1758109686.208095697] [resource_manager]: Successful 'configure' of hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1758109686.208098695] [resource_manager]: 'activate' hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1758109686.208100693] [resource_manager]: Successful 'activate' of hardware 'rosbot_system'
[ign gazebo-1] [INFO] [1758109686.208102979] [gz_ros2_control]: Loading controller_manager
[ign gazebo-1] [INFO] [1758109686.258827269] [gz_ros2_control]: IMU imu has a topic name: imu/data_raw
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] MESA: warning: Driver does not support the 0x7d67 PCI ID.
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] MESA: warning: Driver does not support the 0x7d67 PCI ID.
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[INFO] [spawner-9]: process started with pid [4998]
[INFO] [spawner-10]: process started with pid [5000]
[INFO] [spawner-11]: process started with pid [5002]
[ign gazebo-1] [INFO] [1758109688.089918627] [controller_manager]: Loading controller 'rosbot_base_controller'
[spawner-10] [WARN] [1758109698.115092404] [spawner_imu_broadcaster]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 1 of 3.)
[spawner-11] [WARN] [1758109698.115089204] [spawner_rosbot_base_controller]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 1 of 3.)
[spawner-9] [WARN] [1758109698.115097388] [spawner_joint_state_broadcaster]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 1 of 3.)
[spawner-10] [WARN] [1758109708.120431272] [spawner_imu_broadcaster]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 2 of 3.)
[spawner-11] [WARN] [1758109708.120431569] [spawner_rosbot_base_controller]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 2 of 3.)
[spawner-9] [WARN] [1758109708.120841730] [spawner_joint_state_broadcaster]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 2 of 3.)
[spawner-10] [WARN] [1758109718.123390545] [spawner_imu_broadcaster]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 3 of 3.)
[spawner-11] [WARN] [1758109718.123415170] [spawner_rosbot_base_controller]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 3 of 3.)
[spawner-9] [WARN] [1758109718.124441428] [spawner_joint_state_broadcaster]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 3 of 3.)
[spawner-10] Traceback (most recent call last):
[spawner-10] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[spawner-10] sys.exit(load_entry_point('controller-manager==2.51.0', 'console_scripts', 'spawner')())
[spawner-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 195, in main
[spawner-10] if is_controller_loaded(
[spawner-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 67, in is_controller_loaded
[spawner-10] controllers = list_controllers(
[spawner-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/controller_manager_services.py", line 172, in list_controllers
[spawner-10] return service_caller(
[spawner-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/controller_manager_services.py", line 150, in service_caller
[spawner-10] raise RuntimeError(
[spawner-10] RuntimeError: Could not successfully call service /controller_manager/list_controllers after 3 attempts.
[spawner-11] Traceback (most recent call last):
[spawner-11] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[spawner-11] sys.exit(load_entry_point('controller-manager==2.51.0', 'console_scripts', 'spawner')())
[spawner-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 227, in main
[spawner-11] ret = load_controller(node, controller_manager_name, controller_name)
[spawner-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/controller_manager_services.py", line 227, in load_controller
[spawner-11] return service_caller(
[spawner-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/controller_manager_services.py", line 150, in service_caller
[spawner-11] raise RuntimeError(
[spawner-11] RuntimeError: Could not successfully call service /controller_manager/load_controller after 3 attempts.
[spawner-9] Traceback (most recent call last):
[spawner-9] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[spawner-9] sys.exit(load_entry_point('controller-manager==2.51.0', 'console_scripts', 'spawner')())
[spawner-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 227, in main
[spawner-9] ret = load_controller(node, controller_manager_name, controller_name)
[spawner-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/controller_manager_services.py", line 227, in load_controller
[spawner-9] return service_caller(
[spawner-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/controller_manager_services.py", line 150, in service_caller
[spawner-9] raise RuntimeError(
[spawner-9] RuntimeError: Could not successfully call service /controller_manager/load_controller after 3 attempts.
[ERROR] [spawner-10]: process has died [pid 5000, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner imu_broadcaster -c controller_manager --controller-manager-timeout 20 --ros-args -r __ns:=/ -p use_sim_time:=True -p use_sim_time:=True -p use_sim_time:=True -p use_sim_time:=True -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [spawner-9]: process has died [pid 4998, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --controller-manager-timeout 20 --ros-args -r __ns:=/ -p use_sim_time:=True -p use_sim_time:=True -p use_sim_time:=True -p use_sim_time:=True -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [spawner-11]: process has died [pid 5002, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner rosbot_base_controller -c controller_manager --controller-manager-timeout 20 --ros-args -r __ns:=/ -p use_sim_time:=True -p use_sim_time:=True -p use_sim_time:=True -p use_sim_time:=True -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static'].
[ign gazebo-1] [INFO] [1758109895.802096420] [rclcpp]: signal_handler(signum=2)
[ign gazebo-1] Escalating to SIGKILL on [Ignition Gazebo Server]
[INFO] [ign gazebo-1]: process has finished cleanly [pid 4626]
[INFO] [launch]: process[ign gazebo-1] was required: shutting down launched system
[INFO] [scan_to_scan_filter_chain-8]: sending signal 'SIGINT' to process[scan_to_scan_filter_chain-8]
[INFO] [ekf_node-7]: sending signal 'SIGINT' to process[ekf_node-7]
[INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6]
[INFO] [parameter_bridge-5]: sending signal 'SIGINT' to process[parameter_bridge-5]
[INFO] [parameter_bridge-3]: sending signal 'SIGINT' to process[parameter_bridge-3]
[INFO] [parameter_bridge-2]: sending signal 'SIGINT' to process[parameter_bridge-2]
[scan_to_scan_filter_chain-8] [INFO] [1758109901.129140987] [rclcpp]: signal_handler(signum=2)
[ekf_node-7] [INFO] [1758109901.129552406] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-6] [INFO] [1758109901.129977597] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-5] [INFO] [1758109901.130335367] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-3] [INFO] [1758109901.130719590] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-2] [INFO] [1758109901.131121333] [rclcpp]: signal_handler(signum=2)
[INFO] [parameter_bridge-2]: process has finished cleanly [pid 4629]
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 4637]
[INFO] [parameter_bridge-5]: process has finished cleanly [pid 4635]
[INFO] [parameter_bridge-3]: process has finished cleanly [pid 4631]
[INFO] [scan_to_scan_filter_chain-8]: process has finished cleanly [pid 4641]
[INFO] [ekf_node-7]: process has finished cleanly [pid 4639]

[christophfroehlich]

1. Do the examples from this repository work?

   2. Which version of gz_ros2_control and ros2_control do you have? From your workspace, run ros2 pkg xml -t version ros2_control for example.

okay, sorry to reply a bit late. To answer your questions

1. I havent tried out all the examples in this repository.

Have you tried any? with success?