Unable to activate controller 'arm_0_joint_trajectory_controller'

[shrandy03]

Please provide the following information:

• OS: Ubuntu 24.04
• ROS 2 Distro: Jazzy
• Built from source or installed: Installed
• Package version: (if from repository, give version from sudo dpkg -s ros-$ROS_DISTRO-clearpath-common, if from source, give commit hash)
• Real hardware or simulation: Simulation

I am currently spawning ridgeback and ur10e together. but I am constantly receiving the bellow error
Command : ros2 launch clearpath_gz simulation.launch.py

I have attached my robot.yaml, control.yaml and output.log file for your reference.

output.log

robot.yaml

control.yaml

[luis-camero]

We have not updated the URDF file to include the Gazebo ros2_control entry for simulation.

A work around to get this working:

1. Install the ur_simulation_gz package:

sudo apt install ros-jazzy-ur-simulation-gz

2. Create a URDF xacro file with the following contents. For clarity, let's create it in your ~/workspace directory and name it clearpath_ur_simulation_gz.urdf.xacro:

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:include filename="$(find ur_simulation_gz)/urdf/ur_gz.ros2_control.xacro"/>
  <xacro:ur_ros2_control
    name="Arm 0 Gazebo Hardware Interface"
    tf_prefix="arm_0_"
  />
</robot>

3. Pass this URDF to the robot.yaml using the platform.extras.urdf:

platform:
  controller: ps4
  attachments:
    - name: hams
      type: r100.hams
      table_height: 0.6
      mount_height: 0.3
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
  extras:
    urdf:
      path: /home/sandy/workspaces/clearpath_ur_simulation_gz.urdf.xacro

Try that out, and let us know if it worked for you.

[shrandy03]

This solved the issue. Thank you!
I also had a question on is there a way to have a custom namespace for the arm instead of the default arm_0