controller manager not available error in ros humble

[david-wb]

When I run the basic simulation, Gazebo loads with the pmb2 robot, but the logs show the error Controller manager not available. The full output is below. There is a similar closed issue #4 from last year which was reported to be resolved by installing the humble branch of ros2_control from source. The humble debian packages for ros2_control have since been released and so I installed them like this:

sudo apt install ros-humble-ros2-control ros-humble-gazebo-ros2-control

Yet the error still exists. How can I resolve this? Thanks in advance.

$ ros2 launch pmb2_gazebo pmb2_gazebo.launch.py is_public_sim:=true
[INFO] [launch]: All log files can be found below /home/chroma/.ros/log/2024-05-16-13-25-08-195739-chroma-HP-ProBook-650-G2-14866
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [14876]
[INFO] [gzclient-2]: process started with pid [14878]
[INFO] [spawn_entity.py-3]: process started with pid [14880]
[INFO] [spawner-4]: process started with pid [14882]
[INFO] [spawner-5]: process started with pid [14884]
[INFO] [twist_mux-6]: process started with pid [14888]
[INFO] [twist_marker-7]: process started with pid [14890]
[INFO] [joystick_relay.py-8]: process started with pid [14892]
[INFO] [robot_state_publisher-9]: process started with pid [14894]
[twist_mux-6] [INFO] [1715858708.999070970] [twist_mux]: Topic handler 'topics.joystick' subscribed to topic 'joy_vel': timeout = 0.500000s , priority = 100.
[twist_mux-6] [INFO] [1715858709.000882968] [twist_mux]: Topic handler 'topics.keyboard' subscribed to topic 'key_vel': timeout = 0.500000s , priority = 90.
[twist_mux-6] [INFO] [1715858709.001883997] [twist_mux]: Topic handler 'topics.marker' subscribed to topic 'marker_vel': timeout = 0.500000s , priority = 99.
[twist_mux-6] [INFO] [1715858709.002846859] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 10.
[twist_mux-6] [INFO] [1715858709.003738145] [twist_mux]: Topic handler 'topics.phone' subscribed to topic 'phone_vel': timeout = 0.500000s , priority = 98.
[twist_mux-6] [INFO] [1715858709.004761990] [twist_mux]: Topic handler 'topics.rviz' subscribed to topic 'rviz_joy_vel': timeout = 0.500000s , priority = 95.
[twist_mux-6] [INFO] [1715858709.005987998] [twist_mux]: Topic handler 'topics.servoing' subscribed to topic 'servoing_cmd_vel': timeout = 0.500000s , priority = 20.
[twist_mux-6] [INFO] [1715858709.006217972] [twist_mux]: Topic handler 'topics.tablet' subscribed to topic 'tab_vel': timeout = 0.500000s , priority = 100.
[twist_mux-6] [INFO] [1715858709.006468839] [twist_mux]: Topic handler 'locks.joystick' subscribed to topic 'joy_priority': timeout = None , priority = 100.
[twist_mux-6] [INFO] [1715858709.006851524] [twist_mux]: Topic handler 'locks.loop_closure' subscribed to topic 'stop_closing_loop': timeout = None , priority = 200.
[twist_mux-6] [INFO] [1715858709.007078058] [twist_mux]: Topic handler 'locks.pause' subscribed to topic 'pause_navigation': timeout = None , priority = 100.
[robot_state_publisher-9] [INFO] [1715858709.094652137] [robot_state_publisher]: got segment base_antenna_left_link
[robot_state_publisher-9] [INFO] [1715858709.095851961] [robot_state_publisher]: got segment base_antenna_right_link
[robot_state_publisher-9] [INFO] [1715858709.095882890] [robot_state_publisher]: got segment base_cover_link
[robot_state_publisher-9] [INFO] [1715858709.095901712] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-9] [INFO] [1715858709.095918414] [robot_state_publisher]: got segment base_imu_link
[robot_state_publisher-9] [INFO] [1715858709.095935112] [robot_state_publisher]: got segment base_laser_link
[robot_state_publisher-9] [INFO] [1715858709.095951109] [robot_state_publisher]: got segment base_link
[robot_state_publisher-9] [INFO] [1715858709.095966824] [robot_state_publisher]: got segment base_sonar_01_link
[robot_state_publisher-9] [INFO] [1715858709.095983154] [robot_state_publisher]: got segment base_sonar_02_link
[robot_state_publisher-9] [INFO] [1715858709.096000197] [robot_state_publisher]: got segment base_sonar_03_link
[robot_state_publisher-9] [INFO] [1715858709.096017189] [robot_state_publisher]: got segment caster_back_left_1_link
[robot_state_publisher-9] [INFO] [1715858709.096033894] [robot_state_publisher]: got segment caster_back_left_2_link
[robot_state_publisher-9] [INFO] [1715858709.096049889] [robot_state_publisher]: got segment caster_back_right_1_link
[robot_state_publisher-9] [INFO] [1715858709.096066086] [robot_state_publisher]: got segment caster_back_right_2_link
[robot_state_publisher-9] [INFO] [1715858709.096082783] [robot_state_publisher]: got segment caster_front_left_1_link
[robot_state_publisher-9] [INFO] [1715858709.096098666] [robot_state_publisher]: got segment caster_front_left_2_link
[robot_state_publisher-9] [INFO] [1715858709.096114890] [robot_state_publisher]: got segment caster_front_right_1_link
[robot_state_publisher-9] [INFO] [1715858709.096131091] [robot_state_publisher]: got segment caster_front_right_2_link
[robot_state_publisher-9] [INFO] [1715858709.096147320] [robot_state_publisher]: got segment suspension_left_link
[robot_state_publisher-9] [INFO] [1715858709.096163290] [robot_state_publisher]: got segment suspension_right_link
[robot_state_publisher-9] [INFO] [1715858709.096178851] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-9] [INFO] [1715858709.096195147] [robot_state_publisher]: got segment wheel_right_link
[spawn_entity.py-3] [INFO] [1715858711.089310082] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1715858711.090065818] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /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-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [1715858711.093187305] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-3] [INFO] [1715858711.119507663] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1715858711.120384146] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-3] [INFO] [1715858711.215605823] [spawn_entity]: Calling service /spawn_entity
[spawner-4] [INFO] [1715858711.624840108] [spawner_mobile_base_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1715858711.732141886] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-3] [INFO] [1715858712.082669998] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [pmb2]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 14880]
[spawner-4] [INFO] [1715858713.637266028] [spawner_mobile_base_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1715858713.746293131] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1715858715.651686378] [spawner_mobile_base_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1715858715.759195351] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1715858717.666585561] [spawner_mobile_base_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1715858717.773817561] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-4] [ERROR] [1715858719.681415846] [spawner_mobile_base_controller]: Controller manager not available
[spawner-5] [ERROR] [1715858719.788173298] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-4]: process has died [pid 14882, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner mobile_base_controller --controller-manager controller_manager --controller-type diff_drive_controller/DiffDriveController --param-file /home/chroma/pmb2_public_ws/install/pmb2_controller_configuration/share/pmb2_controller_configuration/config/mobile_base_controller_sim.yaml --ros-args'].
[ERROR] [spawner-5]: process has died [pid 14884, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --controller-type joint_state_broadcaster/JointStateBroadcaster --param-file /home/chroma/pmb2_public_ws/install/pmb2_controller_configuration/share/pmb2_controller_configuration/config/joint_state_broadcaster.yaml --ros-args'].

[Noel215]

Hi @david-wb,

Is this still happening to you?

I've just tested it from both sources and debians and they're working for me.

[david-wb]

It was an issue with the controller manager taking too long to load on my slow machine.