gz_ros2_control_demo not working on Rolling and garden or harmonic

[Luczia]

Hi,

I can't get any gz_ros2_control_demo example to work either on Rolling + Harmonic or Rolling + Garden

Configuration :
Docker Ubuntu 22.04 on Ubuntu 22.04
ROS Rolling + Garden or ROS Rolling + Harmonic
ros_gz (ros2), gz_ros2_control(main) built from source

Step to reproduce :
Command "ros2 launch gz_ros2_control_demos diff_drive_example.launch.py" (or any other example)

Error

[ruby $(which gz) sim-2] [Err] [UserCommands.cc:1097] Error Code 30: Msg: Error parsing XML from string: Error=XML_ERROR_PARSING_DECLARATION ErrorID=11 (0xb) Line number=1
[ruby $(which gz) sim-2] [Err] [UserCommands.cc:1097] Error Code 30: Msg: Unable to read SDF string: <?xml v

Should I switch and use other branches ? Am I doing something wrong ?
I also tried to use the docker file provided in the Docker folder, but i seems to be using Humble with fortress, which means it's using the old naming convention (ign). Also, I can't try Humble because gz_ros2_control only compiles on humble branch which use the ign naming convention. Could any one share a working docker with working gz_ros2_control_demo examples using the new gz_sim ?

[ahcorde]

@Luczia do you mind to try this PR #210 This should fix your issue.

Feel free to reopen the issue if the problem persists

[Luczia]

Yes, I confirm the issue has been solved for Rolling + Harmonic. ;)
Well done !
I had to pull latest commits from master branch both for gz_ros2_control and ros2_control_demos.