Can't activate controller 'diffdrive_controller' with Ignition about create3_sim HOT 8 OPEN

Sorry @fmrico, I just realized that your error is with Gazebo ignition and not classic.

I confirm that there are issues with ignition.
In my log I see

[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [ign_ros2_control-system.so] : couldn't find shared library.

and then

[spawner-29] [INFO] [1671656263.191168466] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-29] [INFO] [1671656265.199836139] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-29] [INFO] [1671656267.209131499] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-29] [ERROR] [1671656269.217180802] [spawner_diffdrive_controller]: Controller manager not available
[ERROR] [spawner-29]: process has died [pid 4274, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diffdrive_controller -c /controller_manager --ros-args --params-file /root/create3_ws/install/irobot_create_control/share/irobot_create_control/config/control.yaml'].

This seems the same issue described in ros-controls/gz_ros2_control#89 and ros-controls/gz_ros2_control#91

from create3_sim.

Ok, I managed to get this working by building https://github.com/ros-controls/gz_ros2_control from sources, using the master branch, and with the addition of this commit (a0b1e3b) to the asoragna/humble branch.

The complete instructions are as follow:

mkdir -p ~/ws/src
cd ~/ws/src
git clone -b asoragna/humble https://github.com/iRobotEducation/create3_sim
git clone -b master https://github.com/ros-controls/gz_ros2_control
cd ~/ws
rosdep install --from-path src -yi --rosdistro humble
IGNITION_VERSION=fortress colcon build
source install/local_setup.bash

and then run with

ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py

from create3_sim.

Hi @fmrico, is this with ROS 2 Galactic or ROS 2 Humble?
I'm asking because I saw your other PR for the asoragna/ros2-humble branch and because this is very similar to the error I got the last time I tried that branch (and the reason why Humble is still on that dev branch).

from create3_sim.

@fmrico can you please confirm which ROS 2 version is causing this problem? Is it Galactic or Humble?
I just tried the Create 3 simulator with ROS 2 humble and at first I had the same issue, but then I upgraded all the ROS 2 libraries

sudo apt-get update && sudo apt-get upgrade

and the issue was gone.

from create3_sim.

Hi @alsora

I am using Humble, and the asoragna/humble branch. I have just upgraded and built again the workspace, and I am still having the same problem.

from create3_sim.

YEAR LATER - NO RESOLUTION HERE OR ROS-CONTROL - Still blocking using ignition for create3_sim (as documented in the instructions.)

The work around above didn't work for me, and using the current Create3_Sim documentation, like any new Create3 owner that I am, doesn't work - change the create3_sim README to eliminate discussing the Ignition option.

from create3_sim.