/controller_manager not available, param parsing error #38
Comments
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Have you tried installing this library? : |
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Yes, I had already installed that. |
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Did you git clone the arduino control and serial libraries from joshnewans? |
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Oh, are those necessary for the controller_manager? |
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yep it wont work without it... He is using custom libraries so that's why its needed. |
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But I'm in the episode in which the robot is simulated, not driven in real life. I've watched it multiple times, but Josh doesn't do any of that. How does he manage to get it to work? |
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Hello. I am trying to run launch_sim.launch.py after downloading all the necessary packages and modifying the files. However, this is the output:
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-06-24-15-34-30-109986-ubuntu-12354 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [12356] [INFO] [gzserver-2]: process started with pid [12358] [INFO] [gzclient -3]: process started with pid [12360] [INFO] [spawn_entity.py-4]: process started with pid [12364] [INFO] [spawner.py-5]: process started with pid [12366] [INFO] [spawner.py-6]: process started with pid [12369] [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link FL_wheel had 0 children [robot_state_publisher-1] Link FR_wheel had 0 children [robot_state_publisher-1] Link RL_wheel had 0 children [robot_state_publisher-1] Link RR_wheel had 0 children [robot_state_publisher-1] Link chassis had 1 children [robot_state_publisher-1] Link laser_frame had 0 children [robot_state_publisher-1] [INFO] [1719236072.560705455] [robot_state_publisher]: got segment FL_wheel [robot_state_publisher-1] [INFO] [1719236072.561141206] [robot_state_publisher]: got segment FR_wheel [robot_state_publisher-1] [INFO] [1719236072.561252038] [robot_state_publisher]: got segment RL_wheel [robot_state_publisher-1] [INFO] [1719236072.561306148] [robot_state_publisher]: got segment RR_wheel [robot_state_publisher-1] [INFO] [1719236072.561342906] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1719236072.561370869] [robot_state_publisher]: got segment chassis [robot_state_publisher-1] [INFO] [1719236072.561400442] [robot_state_publisher]: got segment laser_frame [spawner.py-5] [INFO] [1719236073.591993697] [spawner_diff_cont]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1719236073.756161513] [spawner_joint_broad]: Waiting for /controller_manager services [spawn_entity.py-4] [INFO] [1719236074.751732266] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1719236074.754023078] [spawn_entity]: Loading entity published on topic robot_description [spawn_entity.py-4] [INFO] [1719236074.761874272] [spawn_entity]: Waiting for entity xml on robot_description [spawn_entity.py-4] [INFO] [1719236074.783369113] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1719236074.787754480] [spawn_entity]: Waiting for service /spawn_entity [spawner.py-5] [INFO] [1719236075.629882463] [spawner_diff_cont]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1719236075.800652844] [spawner_joint_broad]: Waiting for /controller_manager services [spawner.py-5] [INFO] [1719236077.688087611] [spawner_diff_cont]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1719236077.858513587] [spawner_joint_broad]: Waiting for /controller_manager services [spawner.py-5] [INFO] [1719236079.725004823] [spawner_diff_cont]: Waiting for /controller_manager services [spawn_entity.py-4] [INFO] [1719236079.816268702] [spawn_entity]: Calling service /spawn_entity [spawner.py-6] [INFO] [1719236079.895803475] [spawner_joint_broad]: Waiting for /controller_manager services [gzserver-2] [WARN] [1719236080.775598289] [rcl]: Found remap rule '~/out:=scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=scan' instead. [spawn_entity.py-4] [INFO] [1719236080.802523811] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [robot] [gzserver-2] [WARN] [1719236080.820391049] [rcl]: Found remap rule '~/out:=scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=scan' instead. [gzserver-2] [INFO] [1719236081.119038371] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1719236081.162019329] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1719236081.164186050] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1719236081.165524489] [gazebo_ros2_control]: Loading parameter files /home/ubuntu/robot_ws/install/robot/share/robot/config/my_controllers.yaml [gzserver-2] [ERROR] [1719236081.168434364] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/ubuntu/robot_ws/install/robot/share/robot/config/my_controllers.yaml'. Error: Error parsing a event near line 22, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.14/src/parse.c:599, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/arguments.c:388 [gzserver-2] [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 12364] [spawner.py-5] [INFO] [1719236081.761222808] [spawner_diff_cont]: Waiting for /controller_manager services [spawner.py-6] [INFO] [1719236081.930209156] [spawner_joint_broad]: Waiting for /controller_manager services [spawner.py-5] [ERROR] [1719236083.585363032] [spawner_diff_cont]: Controller manager not available [ERROR] [spawner.py-5]: process has died [pid 12366, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py diff_cont --ros-args']. [spawner.py-6] [ERROR] [1719236083.756802444] [spawner_joint_broad]: Controller manager not available [ERROR] [spawner.py-6]: process has died [pid 12369, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_broad --ros-args']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-1] [INFO] [1719242266.430909889] [rclcpp]: signal_handler(signal_value=2) [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 12356] [ERROR] [gzclient -3]: process has died [pid 12360, exit code -2, cmd 'gzclient ']. [gzserver-2] Segmentation fault (core dumped) [ERROR] [gzserver-2]: process has died [pid 12358, exit code -2, cmd 'gzserver -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].As I see it, the controller_manager is not being able to launch due to an error in the loading of my_controllers.yaml. I haven't managed to solve it. Can anyone help me?
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