Ignition simulation not loading controllers

[Krawus]

Hi, when I'm launching simulation using ignition by command:

ros2 launch kortex_bringup kortex_sim_control.launch.py \
  dof:=7 \
  use_sim_time:=true \
  launch_rviz:=false

The robot "faints"

Logs from terminal sugesting that controllers are nod starting correctly:

[ruby $(which ign) gazebo-7] libEGL warning: egl: failed to create dri2 screen
[ruby $(which ign) gazebo-7] libEGL warning: egl: failed to create dri2 screen
[spawner-4] [INFO] [1711471385.182904319] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1711471385.184431476] [spawner_twist_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1711471385.185749050] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1711471385.251607413] [spawner_robotiq_gripper_controller]: Waiting for '/controller_manager' node to exist
[ruby $(which ign) gazebo-7] [Err] [SystemLoader.cc:94] Failed to load system plugin [libign_ros2_control-system.so] : couldn't find shared library.
[ruby $(which ign) gazebo-7] [GUI] [Msg] Received world [empty.sdf] from the GUI.
[ruby $(which ign) gazebo-7] [Msg] Ignition Gazebo Server v6.16.0
[ruby $(which ign) gazebo-7] [Msg] Loading SDF world file[/usr/share/ignition/ignition-gazebo6/worlds/empty.sdf].
[ruby $(which ign) gazebo-7] [Msg] Serving entity system service on [/entity/system/add]
[ruby $(which ign) gazebo-7] [Msg] Create service on [/world/empty/create]
[ruby $(which ign) gazebo-7] [Msg] Remove service on [/world/empty/remove]
[ruby $(which ign) gazebo-7] [Msg] Pose service on [/world/empty/set_pose]
[ruby $(which ign) gazebo-7] [Msg] Pose service on [/world/empty/set_pose_vector]
[ruby $(which ign) gazebo-7] [Msg] Light configuration service on [/world/empty/light_config]
[ruby $(which ign) gazebo-7] [Msg] Physics service on [/world/empty/set_physics]
[ruby $(which ign) gazebo-7] [Msg] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
[ruby $(which ign) gazebo-7] [Msg] Enable collision service on [/world/empty/enable_collision]
[ruby $(which ign) gazebo-7] [Msg] Disable collision service on [/world/empty/disable_collision]
[ruby $(which ign) gazebo-7] [Msg] Material service on [/world/empty/visual_config]
[ruby $(which ign) gazebo-7] [Msg] Material service on [/world/empty/wheel_slip]
[ruby $(which ign) gazebo-7] [Msg] Loaded level [3]
[ruby $(which ign) gazebo-7] [Msg] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
[ruby $(which ign) gazebo-7] [Msg] Serving GUI information on [/world/empty/gui/info]
[ruby $(which ign) gazebo-7] [Msg] World [empty] initialized with [1ms] physics profile.
[ruby $(which ign) gazebo-7] [Msg] Serving world SDF generation service on [/world/empty/generate_world_sdf]
[ruby $(which ign) gazebo-7] [Msg] Serving world names on [/gazebo/worlds]
[ruby $(which ign) gazebo-7] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ruby $(which ign) gazebo-7] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ruby $(which ign) gazebo-7] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[ruby $(which ign) gazebo-7] [Msg] Resource paths published on [/gazebo/resource_paths].
[ruby $(which ign) gazebo-7] [Msg] Server control service on [/server_control].
[ruby $(which ign) gazebo-7] [Msg] Found no publishers on /stats, adding root stats topic
[ruby $(which ign) gazebo-7] [Msg] Found no publishers on /clock, adding root clock topic
[ruby $(which ign) gazebo-7] [Msg] Serving scene information on [/world/empty/scene/info]
[ruby $(which ign) gazebo-7] [Msg] Serving graph information on [/world/empty/scene/graph]
[ruby $(which ign) gazebo-7] [Msg] Serving full state on [/world/empty/state]
[ruby $(which ign) gazebo-7] [Msg] Serving full state (async) on [/world/empty/state_async]
[ruby $(which ign) gazebo-7] [Msg] Publishing scene information on [/world/empty/scene/info]
[ruby $(which ign) gazebo-7] [Msg] Publishing entity deletions on [/world/empty/scene/deletion]
[ruby $(which ign) gazebo-7] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized.
[ruby $(which ign) gazebo-7] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[spawner-3] [INFO] [1711471387.207151437] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1711471387.207160561] [spawner_twist_controller]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1711471387.207163743] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1711471387.269412988] [spawner_robotiq_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1711471389.236372709] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1711471389.236654569] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1711471389.239586830] [spawner_twist_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1711471389.297994496] [spawner_robotiq_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1711471391.261493054] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1711471391.262223452] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1711471391.267709179] [spawner_twist_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1711471391.323219582] [spawner_robotiq_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-3] [ERROR] [1711471393.290904503] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner-4] [ERROR] [1711471393.291395294] [spawner_joint_trajectory_controller]: Controller manager not available
[spawner-5] [ERROR] [1711471393.295700689] [spawner_twist_controller]: Controller manager not available
[spawner-6] [ERROR] [1711471393.352222531] [spawner_robotiq_gripper_controller]: Controller manager not available

Is this somehow a known issue? Thank you in advance for your help

[smoya23]

Hello @Krawus,

This is not an expected situation. I see from your logs that there seems to be a missing lib on your system

[ruby $(which ign) gazebo-7] [Err] [SystemLoader.cc:94] Failed to load system plugin [libign_ros2_control-system.so] : couldn't find shared library.

Did you install the ros2_kortex package from binaries or you built it from source? Either way, make sure that you have correctly installed Ingition. This may guide may be helpful : https://gazebosim.org/api/gazebo/6.1/install.html. Once you have this installed, try launching the simulation again, you should then see the arm in candle position.

Best,
Santiago