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Description
when I copy paste launch files example from jazzy to humble we have some bugs and It's related to ros2-control node
please refine that and add some sdf example for humble
same Issue:
#419
main error:
[ruby $(which ign) gazebo-1] [ERROR] [1749384721.639747104] [gz_ros2_control]: Error parsing URDF in gz_ros2_control plugin, plugin not active : the robot tag is not root element in URDF
the whole log:
ros2 launch gz_ros2_control_demos diff_drive_example.launch.py description_format:=sdf [INFO] [launch]: All log files can be found below /home/ajf/.ros/log/2025-06-08-15-41-59-215954-tayeb-Gaming-240636 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ruby $(which ign) gazebo-1]: process started with pid [240638] [INFO] [parameter_bridge-2]: process started with pid [240641] [INFO] [create-3]: process started with pid [240643] [INFO] [robot_state_publisher-4]: process started with pid [240646] [create-3] [INFO] [1749384719.508922562] [ros_gz_sim]: Requesting list of world names. [parameter_bridge-2] [INFO] [1749384719.520054095] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0) [robot_state_publisher-4] [WARN] [1749384719.554075915] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-4] [INFO] [1749384719.555292490] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1749384719.555332710] [robot_state_publisher]: got segment caster [robot_state_publisher-4] [INFO] [1749384719.555336205] [robot_state_publisher]: got segment chassis [robot_state_publisher-4] [INFO] [1749384719.555338253] [robot_state_publisher]: got segment left_wheel [robot_state_publisher-4] [INFO] [1749384719.555339980] [robot_state_publisher]: got segment right_wheel [ruby $(which ign) gazebo-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [create-3] [INFO] [1749384719.911055445] [ros_gz_sim]: Waiting messages on topic [robot_description]. [create-3] [INFO] [1749384720.010387884] [ros_gz_sim]: Requested creation of entity. [create-3] [INFO] [1749384720.010457129] [ros_gz_sim]: OK creation of entity. [INFO] [create-3]: process has finished cleanly [pid 240643] [INFO] [spawner-5]: process started with pid [240807] [spawner-5] [INFO] [1749384720.263543703] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... [ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen [ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen [ruby $(which ign) gazebo-1] [INFO] [1749384721.629087757] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher [ruby $(which ign) gazebo-1] [INFO] [1749384721.629106697] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description [ruby $(which ign) gazebo-1] [INFO] [1749384721.639025444] [gz_ros2_control]: connected to service!! robot_state_publisher asking for robot_description [ruby $(which ign) gazebo-1] [INFO] [1749384721.639278474] [gz_ros2_control]: Received URDF from param server [ruby $(which ign) gazebo-1] [INFO] [1749384721.639644894] [gz_ros2_control]: [gz_ros2_control] Fixed joint [chassis_joint] (Entity=24)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1749384721.639651994] [gz_ros2_control]: [gz_ros2_control] Fixed joint [caster_joint] (Entity=27)] is skipped [ruby $(which ign) gazebo-1] [ERROR] [1749384721.639747104] [gz_ros2_control]: Error parsing URDF in gz_ros2_control plugin, plugin not active : the robot tag is not root element in URDF [spawner-5] [WARN] [1749384730.278887691] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers [spawner-5] [INFO] [1749384730.280381548] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
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