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Launching Two UR Arms in Gazebo with Separate Controllers
Objective
I want to launch two UR arms in Gazebo with separate controller managers. The expected behavior is that each arm operates independently, managed by its own controller manager.
Steps Overview
Launch Two UR Arms in Gazebo (Current Focus)
Integrate the MoveIt Interface (Next Step)
Deploy on Physical Hardware (Final Step)
Specifications
ROS2 Jazzy
Ubuntu 24
Launch Files
ur_sim_control.launch.py
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
OpaqueFunction,
RegisterEventHandler,
)
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import (
Command,
FindExecutable,
LaunchConfiguration,
PathJoinSubstitution,
IfElseSubstitution,
)
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import LaunchConfiguration, PythonExpression
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
ur_type = LaunchConfiguration("ur_type")
safety_limits = LaunchConfiguration("safety_limits")
safety_pos_margin = LaunchConfiguration("safety_pos_margin")
safety_k_position = LaunchConfiguration("safety_k_position")
# General arguments
controller_file = LaunchConfiguration("controller_file")
tf_prefix = LaunchConfiguration("tf_prefix")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")
controller_manager_name = LaunchConfiguration("controller_manager_name")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
description_file = LaunchConfiguration("description_file")
launch_rviz = LaunchConfiguration("launch_rviz")
rviz_config_file = LaunchConfiguration("rviz_config_file")
gazebo_gui = LaunchConfiguration("gazebo_gui")
world_file = LaunchConfiguration("world_file")
namespace = LaunchConfiguration("namespace")
x = LaunchConfiguration("x")
y = LaunchConfiguration("y")
z = LaunchConfiguration("z")
Y = LaunchConfiguration("Y")
robot_controllers = PathJoinSubstitution(
[
FindPackageShare("multi_robot_arm"),
"config", 'ur', 'ur5e',
controller_file,
]
)
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
description_file,
" ",
"safety_limits:=",
safety_limits,
" ",
"safety_pos_margin:=",
safety_pos_margin,
" ",
"safety_k_position:=",
safety_k_position,
" ",
"name:=",
"ur",
" ",
"ur_type:=",
ur_type,
" ",
"tf_prefix:=",
tf_prefix,
" ",
"simulation_controllers:=",
robot_controllers,
" ",
# "sim_gazebo:=",
# "true",
]
)
robot_description = {"robot_description": robot_description_content}
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
namespace=namespace,
parameters=[robot_controllers, robot_description],
output="both",
)
robot_state_publisher_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
namespace=namespace,
output="both",
parameters=[robot_description],
)
joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
namespace=namespace,
arguments=["joint_state_broadcaster", "--controller-manager", controller_manager_name],
)
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config_file],
condition=IfCondition(launch_rviz),
)
# Delay rviz start after `joint_state_broadcaster`
delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[rviz_node],
),
condition=IfCondition(launch_rviz),
)
# There may be other controllers of the joints, but this is the initially-started one
initial_joint_controller_spawner_started = Node(
package="controller_manager",
executable="spawner",
namespace=namespace,
arguments=[initial_joint_controller, "-c", controller_manager_name],
condition=IfCondition(activate_joint_controller),
)
initial_joint_controller_spawner_stopped = Node(
package="controller_manager",
executable="spawner",
namespace=namespace,
arguments=[initial_joint_controller, "-c", controller_manager_name, "--stopped"],
condition=UnlessCondition(activate_joint_controller),
)
# GZ nodes
gz_spawn_entity = Node(
package="ros_gz_sim",
executable="create",
namespace=namespace,
output="screen",
arguments=[
"-string",
robot_description_content,
# PythonExpression(["'/", namespace, "/robot_description'"]),
"-name",
namespace,
"-allow_renaming",
"true",
"-x", x,
"-y", y,
"-z", z,
"-Y", Y
],
)
# gz_launch_description = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"]
# ),
# launch_arguments={
# "gz_args": IfElseSubstitution(
# gazebo_gui,
# if_value=[" -r -v 4 ", world_file],
# else_value=[" -s -r -v 4 ", world_file],
# )
# }.items(),
# )
# # Make the /clock topic available in ROS
# gz_sim_bridge = Node(
# package="ros_gz_bridge",
# executable="parameter_bridge",
# arguments=[
# "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
# ],
# output="screen",
# )
nodes_to_start = [
control_node,
robot_state_publisher_node,
joint_state_broadcaster_spawner,
delay_rviz_after_joint_state_broadcaster_spawner,
initial_joint_controller_spawner_stopped,
initial_joint_controller_spawner_started,
gz_spawn_entity,
# gz_launch_description,
# gz_sim_bridge,
]
return nodes_to_start
def generate_launch_description():
declared_arguments = []
# UR specific arguments
declared_arguments.append(
DeclareLaunchArgument(
"ur_type",
description="Type/series of used UR robot.",
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
default_value="ur5e",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_limits",
default_value="true",
description="Enables the safety limits controller if true.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_pos_margin",
default_value="0.15",
description="The margin to lower and upper limits in the safety controller.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_k_position",
default_value="20",
description="k-position factor in the safety controller.",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controller_file",
default_value="ur_multi_controllers.yaml",
description="Absolute path to YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tf_prefix",
default_value='""',
description="Prefix of the joint names, useful for "
"multi-robot setup. If changed than also joint names in the controllers' configuration "
"have to be updated.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"activate_joint_controller",
default_value="true",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="scaled_joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value=PathJoinSubstitution(
[FindPackageShare("multi_robot_arm"), "urdf", "ur", "ur5e", "ur_gz.urdf.xacro"]
),
description="URDF/XACRO description file (absolute path) with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
)
declared_arguments.append(
DeclareLaunchArgument(
"rviz_config_file",
default_value=PathJoinSubstitution(
[FindPackageShare("ur_description"), "rviz", "view_robot.rviz"]
),
description="Rviz config file (absolute path) to use when launching rviz.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gazebo_gui", default_value="true", description="Start gazebo with GUI?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"world_file",
default_value="empty.sdf",
description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"namespace",
default_value="",
description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"controller_manager_name",
default_value="controller_manager",
description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"x",
default_value="0.0",
description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"y",
default_value="0.0",
description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"z",
default_value="0.0",
description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"Y",
default_value="0.0",
description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
)
)
return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
test_gazebo.launch.py
# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, ThisLaunchFileDir
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
OpaqueFunction,
RegisterEventHandler,
)
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import (
Command,
FindExecutable,
LaunchConfiguration,
PathJoinSubstitution,
IfElseSubstitution,
)
def generate_launch_description():
# Declare arguments
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"ur_type",
description="Type/series of used UR robot.",
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
default_value="ur5e",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_limits",
default_value="true",
description="Enables the safety limits controller if true.",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controller_file",
default_value=PathJoinSubstitution(
[FindPackageShare("multi_robot_arm"), "config", "ur", "ur5e", "ur_multi_controllers.yaml"]
),
description="Absolute path to YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value=PathJoinSubstitution(
[FindPackageShare("multi_robot_arm"), "urdf", "ur", "ur5e", "ur_gz.urdf.xacro"]
),
description="URDF/XACRO description file (absolute path) with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_launch_file",
default_value=PathJoinSubstitution(
[
FindPackageShare("ur_moveit_config"),
"launch",
"ur_moveit.launch.py",
]
),
description="Absolute path for MoveIt launch file, part of a config package with robot SRDF/XACRO files. Usually the argument "
"is not set, it enables use of a custom moveit config.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tf_prefix",
default_value='""',
description="Prefix of the joint names, useful for "
"multi-robot setup. If changed than also joint names in the controllers' configuration "
"have to be updated.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"controller_manager_name",
default_value="controller_manager",
description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gazebo_gui", default_value="true", description="Start gazebo with GUI?"
)
)
# gazebo_launch = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# [FindPackageShare("multi_robot_arm"), "/launch/gazebo.launch.py"]
# )
# )
# Initialize Arguments
ur_type = LaunchConfiguration("ur_type")
safety_limits = LaunchConfiguration("safety_limits")
# General arguments
controller_file = LaunchConfiguration("controller_file")
description_file = LaunchConfiguration("description_file")
moveit_launch_file = LaunchConfiguration("moveit_launch_file")
ur_control_launch_1 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[FindPackageShare("multi_robot_arm"), "launch", "ur_sim_control.launch.py"]
)
),
launch_arguments={
"ur_type": ur_type,
"safety_limits": safety_limits,
"description_file": description_file,
"launch_rviz": "true",
"namespace": "ur1",
"tf_prefix": "ur1_",
"controller_manager_name": "/ur1/controller_manager",
"controller_file": "ur_multi_controllers.yaml",
"x": "0.0",
"y": "0.0",
"z": "0.0",
"Y": "0.0",
}.items(),
)
ur_control_launch_2 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[FindPackageShare("multi_robot_arm"), "launch", "ur_sim_control.launch.py"]
)
),
launch_arguments={
"ur_type": ur_type,
"safety_limits": safety_limits,
"description_file": description_file,
"launch_rviz": "true",
"namespace": "ur2",
"tf_prefix": "ur2_",
"controller_manager_name": "/ur2/controller_manager",
"controller_file": "ur_multi_controllers.yaml",
"x": "1.0",
"y": "0.0",
"z": "0.0",
"Y": "0.0",
}.items(),
)
# rrbot_1_launch = IncludeLaunchDescription(
# PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]),
# launch_arguments={
# "namespace": "rrbot_1",
# "description_package": "ros2_control_demo_example_1",
# "description_file": "rrbot.urdf.xacro",
# "runtime_config_package": "ros2_control_demo_example_15",
# "controller_file": "multi_controller_manager_rrbot_generic_controllers.yaml",
# "prefix": "rrbot_1_",
# "use_mock_hardware": use_mock_hardware,
# "mock_sensor_commands": mock_sensor_commands,
# "slowdown": slowdown,
# "controller_manager_name": "/rrbot_1/controller_manager",
# "robot_controller": robot_controller,
# "start_rviz": "false",
# }.items(),
# )
# rrbot_1_position_trajectory_controller_spawner = Node(
# package="controller_manager",
# executable="spawner",
# namespace="rrbot_1",
# arguments=[
# "position_trajectory_controller",
# "--inactive",
# "--param-file",
# PathJoinSubstitution(
# [
# FindPackageShare("ros2_control_demo_example_15"),
# "config",
# "multi_controller_manager_rrbot_generic_controllers.yaml",
# ]
# ),
# ],
# )
# rrbot_2_launch = IncludeLaunchDescription(
# PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]),
# launch_arguments={
# "namespace": "rrbot_2",
# "description_package": "ros2_control_demo_example_5",
# "description_file": "rrbot_system_with_external_sensor.urdf.xacro",
# "runtime_config_package": "ros2_control_demo_example_15",
# "controller_file": "multi_controller_manager_rrbot_generic_controllers.yaml",
# "prefix": "rrbot_2_",
# "use_mock_hardware": use_mock_hardware,
# "mock_sensor_commands": mock_sensor_commands,
# "slowdown": slowdown,
# "controller_manager_name": "/rrbot_2/controller_manager",
# "robot_controller": robot_controller,
# "start_rviz": "false",
# }.items(),
# )
# rrbot_2_position_trajectory_controller_spawner = Node(
# package="controller_manager",
# executable="spawner",
# namespace="rrbot_2",
# arguments=[
# "position_trajectory_controller",
# "--inactive",
# "--param-file",
# PathJoinSubstitution(
# [
# FindPackageShare("ros2_control_demo_example_15"),
# "config",
# "multi_controller_manager_rrbot_generic_controllers.yaml",
# ]
# ),
# ],
# )
# rviz_config_file = PathJoinSubstitution(
# [FindPackageShare("ros2_control_demo_example_15"), "rviz", "multi_controller_manager.rviz"]
# )
# rviz_node_multi = Node(
# package="rviz2",
# executable="rviz2",
# name="rviz2_multi",
# output="log",
# arguments=["-d", rviz_config_file],
# condition=IfCondition(start_rviz_lc),
# )
gazebo_gui = LaunchConfiguration("gazebo_gui")
gz_launch_description = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"]
),
launch_arguments={
"gz_args": IfElseSubstitution(
gazebo_gui,
if_value=[" -r -v 4 ", "empty.sdf"],
else_value=[" -s -r -v 4 ", "empty.sdf"],
)
}.items(),
)
# Make the /clock topic available in ROS
gz_sim_bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
arguments=[
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
],
output="screen",
)
included_launch_files = [
# gazebo_launch,
ur_control_launch_1,
ur_control_launch_2,
gz_launch_description,
gz_sim_bridge,
]
# nodes_to_start = [
# rrbot_1_position_trajectory_controller_spawner,
# rrbot_2_position_trajectory_controller_spawner,
# rviz_node_multi,
# ]
return LaunchDescription(declared_arguments + included_launch_files)
Log result of launching test_gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/lee/.ros/log/2025-01-29-16-27-52-962277-lee-XPS-15-9520-22951
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [22971]
[INFO] [robot_state_publisher-2]: process started with pid [22972]
[INFO] [spawner-3]: process started with pid [22973]
[INFO] [spawner-4]: process started with pid [22974]
[INFO] [create-5]: process started with pid [22975]
[INFO] [ros2_control_node-6]: process started with pid [22976]
[INFO] [robot_state_publisher-7]: process started with pid [22977]
[INFO] [spawner-8]: process started with pid [22978]
[INFO] [spawner-9]: process started with pid [22979]
[INFO] [create-10]: process started with pid [22980]
[INFO] [gazebo-11]: process started with pid [22981]
[INFO] [parameter_bridge-12]: process started with pid [22982]
[create-5] [INFO] [1738189673.800643785] [ur1.ros_gz_sim]: Requesting list of world names.
[robot_state_publisher-2] [INFO] [1738189673.800749975] [ur1.robot_state_publisher]: Robot initialized
[robot_state_publisher-7] [INFO] [1738189673.804692035] [ur2.robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1738189673.805877046] [ur1.controller_manager]: Subscribing to '/ur1/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1738189673.806045532] [ur1.controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1738189673.806059292] [ur1.controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1738189673.806158808] [ur1.controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-6] [INFO] [1738189673.806488635] [ur2.controller_manager]: Subscribing to '/ur2/robot_description' topic for robot description.
[ros2_control_node-6] [INFO] [1738189673.806635513] [ur2.controller_manager]: update rate is 500 Hz
[ros2_control_node-6] [INFO] [1738189673.806649848] [ur2.controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-6] [WARN] [1738189673.806723453] [ur2.controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[create-10] [INFO] [1738189673.810662023] [ur2.ros_gz_sim]: Requesting list of world names.
[parameter_bridge-12] [INFO] [1738189673.813913625] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[ros2_control_node-1] [INFO] [1738189673.816535393] [ur1.controller_manager]: Received robot description from topic.
[ros2_control_node-6] [INFO] [1738189673.817095904] [ur2.controller_manager]: Received robot description from topic.
[ros2_control_node-1] [INFO] [1738189673.819229008] [ur1.controller_manager.resource_manager]: Loading hardware 'ur'
[ros2_control_node-1] [ERROR] [1738189673.819283059] [ur1.controller_manager.resource_manager]: Caught exception of type : N9pluginlib20LibraryLoadExceptionE while loading hardware: According to the loaded plugin descriptions the class gz_ros2_control/GazeboSimSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are mock_components/GenericSystem ur_robot_driver/URPositionHardwareInterface
[ros2_control_node-1] [WARN] [1738189673.819327653] [ur1.controller_manager]: Could not load and initialize hardware. Please check previous output for more details. After you have corrected your URDF, try to publish robot description again.
[ros2_control_node-6] [INFO] [1738189673.819368457] [ur2.controller_manager.resource_manager]: Loading hardware 'ur'
[ros2_control_node-6] [ERROR] [1738189673.819404608] [ur2.controller_manager.resource_manager]: Caught exception of type : N9pluginlib20LibraryLoadExceptionE while loading hardware: According to the loaded plugin descriptions the class gz_ros2_control/GazeboSimSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are mock_components/GenericSystem ur_robot_driver/URPositionHardwareInterface
[ros2_control_node-6] [WARN] [1738189673.819430464] [ur2.controller_manager]: Could not load and initialize hardware. Please check previous output for more details. After you have corrected your URDF, try to publish robot description again.
[spawner-8] [INFO] [1738189674.055953854] [ur2.spawner_joint_state_broadcaster]: waiting for service /ur2/controller_manager/list_controllers to become available...
[spawner-4] [INFO] [1738189674.058499265] [ur1.spawner_scaled_joint_trajectory_controller]: waiting for service /ur1/controller_manager/list_controllers to become available...
[spawner-9] [INFO] [1738189674.070257028] [ur2.spawner_scaled_joint_trajectory_controller]: waiting for service /ur2/controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1738189674.070728763] [ur1.spawner_joint_state_broadcaster]: waiting for service /ur1/controller_manager/list_controllers to become available...
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
[gazebo-11] [Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
[gazebo-11] [Msg] Received world [empty.sdf] from the GUI.
[gazebo-11] [Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[gazebo-11] [Msg] Gazebo Sim Server v8.8.0
[gazebo-11] [Msg] Loading SDF world file[/opt/ros/jazzy/opt/gz_sim_vendor/share/gz/gz-sim8/worlds/empty.sdf].
[gazebo-11] [Msg] Serving entity system service on [/entity/system/add]
[gazebo-11] [Dbg] [Physics.cc:871] Loaded [gz::physics::dartsim::Plugin] from library [/opt/ros/jazzy/opt/gz_physics_vendor/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[gazebo-11] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Physics] for entity [1]
[gazebo-11] [Msg] Create service on [/world/empty/create]
[gazebo-11] [Msg] Remove service on [/world/empty/remove]
[gazebo-11] [Msg] Pose service on [/world/empty/set_pose]
[gazebo-11] [Msg] Pose service on [/world/empty/set_pose_vector]
[gazebo-11] [Msg] Light configuration service on [/world/empty/light_config]
[gazebo-11] [Msg] Physics service on [/world/empty/set_physics]
[gazebo-11] [Msg] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
[gazebo-11] [Msg] Enable collision service on [/world/empty/enable_collision]
[gazebo-11] [Msg] Disable collision service on [/world/empty/disable_collision]
[gazebo-11] [Msg] Material service on [/world/empty/visual_config]
[gazebo-11] [Msg] Material service on [/world/empty/wheel_slip]
[gazebo-11] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[gazebo-11] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[gazebo-11] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Contact] for entity [1]
[gazebo-11] [Msg] Loaded level [default]
[gazebo-11] [Msg] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
[gazebo-11] [Msg] Serving GUI information on [/world/empty/gui/info]
[gazebo-11] [Msg] World [empty] initialized with [1ms] physics profile.
[gazebo-11] [Msg] Serving world SDF generation service on [/world/empty/generate_world_sdf]
[gazebo-11] [Msg] Serving world names on [/gazebo/worlds]
[gazebo-11] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[gazebo-11] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[create-10] [INFO] [1738189674.534787470] [ur2.ros_gz_sim]: Entity creation successfull.
[create-5] [INFO] [1738189674.534872098] [ur1.ros_gz_sim]: Entity creation successfull.
[INFO] [create-10]: process has finished cleanly [pid 22980]
[INFO] [create-5]: process has finished cleanly [pid 22975]
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve[Msg] Gazebo Sim GUI v8.8.0
[gazebo-11] [Msg] Detected Wayland. Setting Qt to use the xcb plugin: 'QT_QPA_PLATFORM=xcb'.
[gazebo-11] [Dbg] [Gui.cc:275] Waiting for subscribers to [/gazebo/starting_world]...
[gazebo-11] [Dbg] [Application.cc:96] Initializing application.
[gazebo-11] [Dbg] [Application.cc:170] Qt using OpenGL graphics interface
[gazebo-11] [GUI] [Dbg] [Application.cc:657] Create main window
[gazebo-11] [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[gazebo-11] [GUI] [Dbg] [Gui.cc:355] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[gazebo-11] [GUI] [Dbg] [PathManager.cc:57] Received resource paths.
[gazebo-11] [GUI] [Dbg] [Gui.cc:413] Requesting GUI from [/world/empty/gui/info]...
[gazebo-11] [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/empty/state]...
[gazebo-11] [GUI] [Msg] Loading config [/home/lee/.gz/sim/8/gui.config]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene]
[gazebo-11] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[gazebo-11] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[gazebo-11] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[gazebo-11] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[gazebo-11] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[gazebo-11] [GUI] [Msg] Added plugin [3D View] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityContextMenuPlugin]
[gazebo-11] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[gazebo-11] [GUI] [Msg] Added plugin [Entity Context Menu] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager]
[gazebo-11] [GUI] [Msg] Added plugin [Scene Manager] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libGzSceneManager.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [InteractiveViewControl]
[gazebo-11] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[gazebo-11] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
[gazebo-11] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
[ros2_control_node-1] [WARN] [1738189674.805261322] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189674.806080893] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [GUI] [Msg] Added plugin [Interactive view control] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libInteractiveViewControl.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [CameraTracking]
[gazebo-11] [GUI] [Msg] Added plugin [Camera tracking] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libCameraTracking.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [MarkerManager]
[gazebo-11] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[gazebo-11] [GUI] [Msg] Added plugin [Marker Manager] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMarkerManager.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [SelectEntities]
[gazebo-11] [GUI] [Msg] Added plugin [Select entities] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libSelectEntities.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [Spawn]
[gazebo-11] [GUI] [Msg] Added plugin [Spawn] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [Spawn] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libSpawn.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [VisualizationCapabilities]
[gazebo-11] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
[gazebo-11] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[gazebo-11] [GUI] [Msg] View center of mass service on [/gui/view/com]
[gazebo-11] [GUI] [Msg] View inertia service on [/gui/view/inertia]
[gazebo-11] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[gazebo-11] [GUI] [Msg] View joints service on [/gui/view/joints]
[gazebo-11] [GUI] [Msg] View frames service on [/gui/view/frames]
[gazebo-11] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl]
[gazebo-11] [GUI] [Msg] Using world control service [/world/empty/control]
[gazebo-11] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/ComponentInspector/ComponentInspector.qml:251:3: QML Dialog: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Dbg] [WorldControl.cc:237] Using an event to share WorldControl msgs with the server
[gazebo-11] [GUI] [Msg] Added plugin [World control] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [WorldControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldControl.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats]
[gazebo-11] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[gazebo-11] [GUI] [Msg] Added plugin [World stats] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [WorldStats] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldStats.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [Shapes]
[gazebo-11] [GUI] [Msg] Added plugin [Shapes] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [Shapes] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libShapes.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [Lights]
[gazebo-11] [GUI] [Msg] Added plugin [Lights] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [Lights] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libLights.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [TransformControl]
[gazebo-11] [GUI] [Msg] Added plugin [Transform control] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [TransformControl] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libTransformControl.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [Screenshot]
[gazebo-11] [GUI] [Msg] Screenshot service on [/gui/screenshot]
[gazebo-11] [GUI] [Msg] Added plugin [Screenshot] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [Screenshot] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libScreenshot.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [CopyPaste]
[gazebo-11] [GUI] [Msg] Added plugin [Copy/Paste] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libCopyPaste.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [ComponentInspector]
[gazebo-11] [GUI] [Msg] Added plugin [Component inspector] to main window
[gazebo-11] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libComponentInspector.so]
[gazebo-11] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityTree]
[gazebo-11] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[gazebo-11] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ros2_control_node-1] [WARN] [1738189675.805255509] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189675.805992594] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [INFO] [1738189676.347011066] [gz_ros_control]: [gz_ros2_control] Fixed joint [ur2_base_joint] (Entity=32)] is skipped
[gazebo-11] [INFO] [1738189676.347517654] [gz_ros_control]: Loading controller_manager
[gazebo-11] [INFO] [1738189676.356866052] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[gazebo-11] [WARN] [1738189676.356988653] [gz_ros_control]: Waiting RM to load and initialize hardware...
[ros2_control_node-1] [WARN] [1738189676.805144949] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189676.806046482] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189677.356570939] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1738189677.805199766] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189677.806036819] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189678.356722896] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189678.357204998] [gz_ros_control]: Waiting RM to load and initialize hardware...
[ros2_control_node-1] [WARN] [1738189678.805145607] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189678.806133012] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189679.356570697] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1738189679.805168615] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189679.806043721] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189680.356592488] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189680.357514285] [gz_ros_control]: Waiting RM to load and initialize hardware...
[ros2_control_node-1] [WARN] [1738189680.805150932] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189680.806115775] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [GUI] [Msg] 0m].
[gazebo-11] [Msg] Resource paths published on [/gazebo/resource_paths].
[gazebo-11] [Msg] Server control service on [/server_control].
[gazebo-11] [Msg] Found no publishers on /stats, adding root stats topic
[gazebo-11] [Msg] Found no publishers on /clock, adding root clock topic
[gazebo-11] [Dbg] [SimulationRunner.cc:533] Creating PostUpdate worker threads: 3
[gazebo-11] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (0)
[gazebo-11] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (1)
[gazebo-11] [WARN] [1738189681.356738824] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1738189681.805094196] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189681.806092175] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189682.356742968] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189682.357693942] [gz_ros_control]: Waiting RM to load and initialize hardware...
[ros2_control_node-1] [WARN] [1738189682.805208323] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189682.806309366] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189683.356735285] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1738189683.805360591] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189683.806341961] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[spawner-8] [WARN] [1738189684.067779401] [ur2.spawner_joint_state_broadcaster]: Could not contact service /ur2/controller_manager/list_controllers
[spawner-8] [INFO] [1738189684.068945377] [ur2.spawner_joint_state_broadcaster]: waiting for service /ur2/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1738189684.070417920] [ur1.spawner_scaled_joint_trajectory_controller]: Could not contact service /ur1/controller_manager/list_controllers
[spawner-4] [INFO] [1738189684.071227625] [ur1.spawner_scaled_joint_trajectory_controller]: waiting for service /ur1/controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1738189684.079436654] [ur1.spawner_joint_state_broadcaster]: Could not contact service /ur1/controller_manager/list_controllers
[spawner-3] [INFO] [1738189684.079663861] [ur1.spawner_joint_state_broadcaster]: waiting for service /ur1/controller_manager/list_controllers to become available...
[spawner-9] [WARN] [1738189684.079688990] [ur2.spawner_scaled_joint_trajectory_controller]: Could not contact service /ur2/controller_manager/list_controllers
[spawner-9] [INFO] [1738189684.079863493] [ur2.spawner_scaled_joint_trajectory_controller]: waiting for service /ur2/controller_manager/list_controllers to become available...
[gazebo-11] [WARN] [1738189684.356755867] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189684.357958367] [gz_ros_control]: Waiting RM to load and initialize hardware...
[ros2_control_node-1] [WARN] [1738189684.805254461] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189684.806338577] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189685.356751242] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-1] [WARN] [1738189685.805195614] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189685.806131753] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189686.356939237] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189686.358347284] [gz_ros_control]: Waiting RM to load and initialize hardware...
[ros2_control_node-1] [WARN] [1738189686.805151914] [ur1.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[ros2_control_node-6] [WARN] [1738189686.806240723] [ur2.controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
[gazebo-11] [WARN] [1738189687.356987524] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
Thank you in advance!
The text was updated successfully, but these errors were encountered:
Launching Two UR Arms in Gazebo with Separate Controllers
Objective
I want to launch two UR arms in Gazebo with separate controller managers. The expected behavior is that each arm operates independently, managed by its own controller manager.
Steps Overview
Specifications
ROS2 Jazzy
Ubuntu 24
Launch Files
ur_sim_control.launch.py
test_gazebo.launch.py
Log result of launching test_gazebo.launch.py
Thank you in advance!
The text was updated successfully, but these errors were encountered: