joint_cmd is not valid

[px172]

Hi,

Thanks for developing such a great product and user-friendly environment.

The issue happened when I launched the simulated xArm with the gazebo. The gazebo is launched, and the robotic arm model is loaded. However, when I opened the gazebo_ros2_conrol plugin, the console shows:

[gzclient-2] Topic [/data://world/default/model/UF_ROBOT/plugin/gazebo_ros2_control/joint_cmd] is not valid.

My environment is:

OS: ubuntu 22.04
ROS: Humble (All packages are updated)

I also compiled the gazebo_ros2_control and the error is the same.

The full log:
[INFO] [launch]: All log files can be found below /home/px172/.ros/log/2024-07-18-15-29-41-441470-ismblab-205879
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [205881]
[INFO] [gzclient-2]: process started with pid [205883]
[INFO] [robot_state_publisher-3]: process started with pid [205885]
[INFO] [spawn_entity.py-4]: process started with pid [205887]
[robot_state_publisher-3] [INFO] [1721287781.983235174] [robot_state_publisher]: got segment link1
[robot_state_publisher-3] [INFO] [1721287781.983301976] [robot_state_publisher]: got segment link2
[robot_state_publisher-3] [INFO] [1721287781.983307582] [robot_state_publisher]: got segment link3
[robot_state_publisher-3] [INFO] [1721287781.983310768] [robot_state_publisher]: got segment link4
[robot_state_publisher-3] [INFO] [1721287781.983313619] [robot_state_publisher]: got segment link5
[robot_state_publisher-3] [INFO] [1721287781.983316314] [robot_state_publisher]: got segment link6
[robot_state_publisher-3] [INFO] [1721287781.983319002] [robot_state_publisher]: got segment link_base
[robot_state_publisher-3] [INFO] [1721287781.983321718] [robot_state_publisher]: got segment link_eef
[robot_state_publisher-3] [INFO] [1721287781.983324351] [robot_state_publisher]: got segment world
[spawn_entity.py-4] [INFO] [1721287782.222606619] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1721287782.222812135] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4] warnings.warn(
[spawn_entity.py-4] [INFO] [1721287782.223883562] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1721287782.235055887] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1721287782.235253309] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1721287782.737832251] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1721287782.977986695] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [UF_ROBOT]
[gzserver-1] [INFO] [1721287783.034207956] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1721287783.036218748] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1721287783.036348772] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1721287783.038230249] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1721287783.039812318] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1721287783.040174369] [gazebo_ros2_control]: Loading parameter files /tmp/launch_params_a4bcwcx1
[gzserver-1] [INFO] [1721287783.050922727] [gazebo_ros2_control]: Loading joint: joint1
[gzserver-1] [INFO] [1721287783.051028652] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1721287783.051051136] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051215266] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051283870] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1721287783.051290832] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051488468] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051615386] [gazebo_ros2_control]: Loading joint: joint2
[gzserver-1] [INFO] [1721287783.051624514] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1721287783.051629283] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051635494] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051640482] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1721287783.051644914] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051658315] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051665551] [gazebo_ros2_control]: Loading joint: joint3
[gzserver-1] [INFO] [1721287783.051670188] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1721287783.051674241] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051679229] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051683434] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1721287783.051687655] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051696712] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051702266] [gazebo_ros2_control]: Loading joint: joint4
[gzserver-1] [INFO] [1721287783.051706575] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1721287783.051710460] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051717355] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051721801] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1721287783.051726190] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051736321] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051743053] [gazebo_ros2_control]: Loading joint: joint5
[gzserver-1] [INFO] [1721287783.051747419] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1721287783.051753148] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051800138] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051806190] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1721287783.051810818] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051820500] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051826552] [gazebo_ros2_control]: Loading joint: joint6
[gzserver-1] [INFO] [1721287783.051830944] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1721287783.051834800] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051838881] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.051842930] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1721287783.051846825] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1721287783.051853735] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1721287783.052013827] [resource_manager]: Initialize hardware 'gazebo_ros2_control/GazeboSystem'
[gzserver-1] [INFO] [1721287783.052627138] [resource_manager]: Successful initialization of hardware 'gazebo_ros2_control/GazeboSystem'
[gzserver-1] [INFO] [1721287783.052764808] [resource_manager]: 'configure' hardware 'gazebo_ros2_control/GazeboSystem'
[gzserver-1] [INFO] [1721287783.052771747] [resource_manager]: Successful 'configure' of hardware 'gazebo_ros2_control/GazeboSystem'
[gzserver-1] [INFO] [1721287783.052776841] [resource_manager]: 'activate' hardware 'gazebo_ros2_control/GazeboSystem'
[gzserver-1] [INFO] [1721287783.052780300] [resource_manager]: Successful 'activate' of hardware 'gazebo_ros2_control/GazeboSystem'
[gzserver-1] [INFO] [1721287783.053045669] [gazebo_ros2_control]: Loading controller_manager
[gzserver-1] [INFO] [1721287783.061613887] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 205887]
[gzclient-2] Topic [/data://world/default/model/UF_ROBOT/plugin/gazebo_ros2_control/joint_cmd] is not valid.

[penglongxiang]

Hi @px172, please provide detailed procedures to replicate your issue. What is the launch script you use and the arguments given, and what is the particular operation to trigger that error message ?

[px172]

Hi,

Thanks for the response. The launch script is an example from 5.8 xarm_gazebo:

ros2 launch xarm_gazebo xarm6_beside_table_gazebo.launch.py

No other arguments are given.

The operation to trigger the error is to select the gazebo_ros2_control plugin in the gazebo.