Add tricycle demo

[tonynajjar]

Similar to https://github.com/ros-controls/gazebo_ros2_control/pull/145/files

[tonynajjar]

I haven't tested it yet because ignition crashes for me on master. Can you please confirm whether you are able to run the diff drive demo on master? I'm using a rolling docker image:

root@logi-XMG-CORE-REN-M20:~/ros2# ros2 launch ign_ros2_control_demos diff_drive_example.launch.py 
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-08-16-20-36-55-213633-logi-XMG-CORE-REN-M20-67096
[INFO] [launch]: Default logging verbosity is set to INFO
{'robot_description': '<?xml version="1.0" ?><robot name="diff_drive"><!-- Base Link --><link name="chassis"><collision><origin rpy="0 0 0" xyz="-0.151427 -0 0.5"/><geometry><box size="2.01142 1 0.568726"/></geometry></collision><visual><origin rpy="0 0 0" xyz="-0.151427 -0 0.5"/><geometry><box size="2.01142 1 0.568726"/></geometry><material name="orange"/></visual><inertial><origin rpy="0 0 0" xyz="-0.151427 -0 0.5"/><mass value="1.14395"/><inertia ixx="0.126164" ixy="0.0" ixz="0.0" iyy="0.416519" iyz="0.0" izz="0.481014"/></inertial></link><joint name="left_wheel_joint" type="continuous"><origin rpy="-1.5707 0 0" xyz="0.554283 0.625029 0.3"/><parent link="chassis"/><child link="left_wheel"/><axis xyz="0 0 1"/><dynamics damping="0.2"/></joint><!-- left wheel Link --><link name="left_wheel"><collision><geometry><sphere radius="0.3"/></geometry></collision><visual><geometry><sphere radius="0.3"/></geometry><material name="black"/></visual><inertial><mass value="2"/><inertia ixx="0.145833" ixy="0.0" ixz="0.0" iyy="0.145833" iyz="0.0" izz="0.125"/></inertial></link><joint name="right_wheel_joint" type="continuous"><origin rpy="-1.5707 0 0" xyz="0.554283 -0.625029 0.3"/><parent link="chassis"/><child link="right_wheel"/><axis xyz="0 0 1"/><dynamics damping="0.2"/></joint><!-- right wheel Link --><link name="right_wheel"><collision><geometry><sphere radius="0.3"/></geometry></collision><visual><geometry><sphere radius="0.3"/></geometry><material name="black"/></visual><inertial><mass value="2"/><inertia ixx="0.145833" ixy="0.0" ixz="0.0" iyy="0.145833" iyz="0.0" izz="0.125"/></inertial></link><joint name="caster_joint" type="fixed"><origin rpy="0 0 0" xyz="-0.957138 -0 0.2"/><parent link="chassis"/><child link="caster"/></joint><!-- caster frontal wheel Link --><link name="caster"><collision><geometry><sphere radius="0.2"/></geometry></collision><visual><geometry><sphere radius="0.2"/></geometry><material name="white"/></visual><inertial><origin rpy="0 0 0" xyz="-0.957138 -0 0.2"/><mass value="0.005"/><inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/></inertial></link><ros2_control name="IgnitionSystem" type="system"><hardware><plugin>ign_ros2_control/IgnitionSystem</plugin></hardware><joint name="left_wheel_joint"><command_interface name="velocity"><param name="min">-1</param><param name="max">1</param></command_interface><state_interface name="position"/><state_interface name="velocity"/></joint><joint name="right_wheel_joint"><command_interface name="velocity"><param name="min">-1</param><param name="max">1</param></command_interface><state_interface name="position"/><state_interface name="velocity"/></joint></ros2_control><gazebo><!-- Joint state publisher --><plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin"><parameters>/root/ros2/install/ign_ros2_control_demos/share/ign_ros2_control_demos/config/diff_drive_controller_velocity.yaml</parameters></plugin></gazebo></robot>'}
[INFO] [ign gazebo-1]: process started with pid [67101]
[INFO] [robot_state_publisher-2]: process started with pid [67103]
[INFO] [create-3]: process started with pid [67105]
[robot_state_publisher-2] Warning: link 'chassis' material 'orange' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'chassis' material 'orange' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'left_wheel' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'left_wheel' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'right_wheel' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'right_wheel' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'caster' material 'white' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'caster' material 'white' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] [WARN] [1660675015.300407245] [kdl_parser]: The root link chassis has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1660675015.300430962] [kdl_parser]: Link caster had 0 children.
[robot_state_publisher-2] [INFO] [1660675015.300445322] [kdl_parser]: Link left_wheel had 0 children.
[robot_state_publisher-2] [INFO] [1660675015.300451184] [kdl_parser]: Link right_wheel had 0 children.
[robot_state_publisher-2] [INFO] [1660675015.300457199] [robot_state_publisher]: got segment caster
[robot_state_publisher-2] [INFO] [1660675015.300484234] [robot_state_publisher]: got segment chassis
[robot_state_publisher-2] [INFO] [1660675015.300487893] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-2] [INFO] [1660675015.300490866] [robot_state_publisher]: got segment right_wheel
[create-3] [INFO] [1660675015.311568152] [ros_ign_gazebo]: Requesting list of world names.
[ign gazebo-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[create-3] [INFO] [1660675015.741050782] [ros_ign_gazebo]: Requested creation of entity.
[create-3] [INFO] [1660675015.741102466] [ros_ign_gazebo]: OK creation of entity.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[INFO] [create-3]: process has finished cleanly [pid 67105]
[INFO] [ros2-4]: process started with pid [67207]
[ign gazebo-1] [Msg] Ignition Gazebo GUI    v6.9.0
[ign gazebo-1] [Dbg] [Application.cc:90] Initializing application.
[ign gazebo-1] [GUI] [Dbg] [Application.cc:511] Create main window
[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ign gazebo-1] [GUI] [Dbg] [Gui.cc:156] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[ign gazebo-1] [GUI] [Dbg] [Gui.cc:215] Requesting GUI from [/world/empty/gui/info]...
[ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/empty/state]...
[ign gazebo-1] [GUI] [Msg] Loading config [/root/.ignition/gazebo/6/gui.config]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [MinimalScene]
[ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [EntityContextMenuPlugin]
[ign gazebo-1] [GUI] [Msg] Added plugin [Entity Context Menu] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [GzSceneManager]
[ign gazebo-1] [GUI] [Msg] Added plugin [Scene Manager] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [InteractiveViewControl]
[ign gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[ign gazebo-1] [GUI] [Msg] Added plugin [] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [CameraTracking]
[ign gazebo-1] [GUI] [Msg] Added plugin [Camera tracking] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [MarkerManager]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [Marker Manager] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [SelectEntities]
[ign gazebo-1] [GUI] [Msg] Added plugin [Select entities] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [Spawn]
[ign gazebo-1] [GUI] [Msg] Added plugin [Spawn] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [VisualizationCapabilities]
[ign gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
[ign gazebo-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[ign gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com]
[ign gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia]
[ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ign gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints]
[ign gazebo-1] [GUI] [Msg] View frames service on [/gui/view/frames]
[ign gazebo-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [WorldControl]
[ign gazebo-1] [GUI] [Msg] Using world control service [/world/empty/control]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[ign gazebo-1] [GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [WorldStats]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/empty/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [Shapes]
[ign gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Screenshot/Screenshot.qml:33:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [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.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] libEGL warning: DRI2: failed to create dri screen
[ign gazebo-1] libEGL warning: DRI2: failed to create dri screen
[ign gazebo-1] ../src/intel/isl/isl.c:2220: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [Lights]
[ign gazebo-1] [GUI] [Msg] Added plugin [Lights] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [TransformControl]
[ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:219] Legacy mode is disabled; this plugin must be used with MinimalScene.
[ign gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [Screenshot]
[ign gazebo-1] [GUI] [Msg] Screenshot service on [/gui/screenshot]
[ign gazebo-1] [GUI] [Msg] Added plugin [Screenshot] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [CopyPaste]
[ign gazebo-1] [GUI] [Msg] Added plugin [Copy/Paste] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [ComponentInspector]
[ign gazebo-1] [GUI] [Msg] Added plugin [Component inspector] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:388] Loading plugin [EntityTree]
[ign gazebo-1] [GUI] [Msg] Added plugin [Entity tree] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:264] Loading window config
[ign gazebo-1] [GUI] [Msg] Using server control service [/server_control]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:525] Applying config
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Dbg] [MinimalScene.cc:534] Create scene [scene]
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:528] TransformControl plugin is using camera [scene::Camera(65527)]
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Dbg] [Spawn.cc:289] Spawn plugin is using camera [scene::Camera(65527)]
[ign gazebo-1] [GUI] [Msg] Lo[Msg] Ignition Gazebo Server v6.9.0
[ign gazebo-1] [Msg] Loading SDF world file[/usr/share/ignition/ignition-gazebo6/worlds/empty.sdf].
[ign gazebo-1] [Dbg] [Physics.cc:801] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[ign gazebo-1] [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[ign gazebo-1] [Msg] Create service on [/world/empty/create]
[ign gazebo-1] [Msg] Remove service on [/world/empty/remove]
[ign gazebo-1] [Msg] Pose service on [/world/empty/set_pose]
[ign gazebo-1] [Msg] Pose service on [/world/empty/set_pose_vector]
[ign gazebo-1] [Msg] Light configuration service on [/world/empty/light_config]
[ign gazebo-1] [Msg] Physics service on [/world/empty/set_physics]
[ign gazebo-1] [Msg] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
[ign gazebo-1] [Msg] Enable collision service on [/world/empty/enable_collision]
[ign gazebo-1] [Msg] Disable collision service on [/world/empty/disable_collision]
[ign gazebo-1] [Msg] Material service on [/world/empty/visual_config]
[ign gazebo-1] [Msg] Material service on [/world/empty/wheel_slip]
[ign gazebo-1] [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[ign gazebo-1] [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[ign gazebo-1] [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::Contact] for entity [1]
[ign gazebo-1] [Msg] Loaded level [3]
[ign gazebo-1] [Msg] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
[ign gazebo-1] [Msg] Serving GUI information on [/world/empty/gui/info]
[ign gazebo-1] [Msg] World [empty] initialized with [1ms] physics profile.
[ign gazebo-1] [Msg] Serving world SDF generation service on [/world/empty/generate_world_sdf]
[ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds]
[ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ign gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ign gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[ign gazebo-1] [Msg] Server control service on [/server_control].
[ign gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
[ign gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
[ign gazebo-1] [Dbg] [SimulationRunner.cc:491] Creating PostUpdate worker threads: 3
[ign gazebo-1] [INFO] [1660675016.518764632] [ignition_ros_control]: connected to service!! robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1660675016.519754380] [ignition_ros_control]: Received URDF from param server
[ign gazebo-1] [INFO] [1660675016.528231925] [ignition_ros_control]: Loading joint: left_wheel_joint
[ign gazebo-1] [INFO] [1660675016.528286069] [ignition_ros_control]: 	State:
[ign gazebo-1] [INFO] [1660675016.528298480] [ignition_ros_control]: 		 position
[ign gazebo-1] [INFO] [1660675016.528357361] [ignition_ros_control]: 		 velocity
[ign gazebo-1] [INFO] [1660675016.528387453] [ignition_ros_control]: 	Command:
[ign gazebo-1] [INFO] [1660675016.528394136] [ignition_ros_control]: 		 velocity
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae5596e327, in 
[ign gazebo-1] #30   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55b0331c, in rb_vm_exec
[ign gazebo-1] #29   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55afdca6, in 
[ign gazebo-1] #28   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55afafd5, in 
[ign gazebo-1] #27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55af8c44, in 
[ign gazebo-1] #26   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55a44a2e, in 
[ign gazebo-1] #25   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae5596f9bc, in rb_protect
[ign gazebo-1] #24   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55b07c71, in rb_yield
[ign gazebo-1] #23   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55b0331c, in rb_vm_exec
[ign gazebo-1] #22   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55afdca6, in 
[ign gazebo-1] #21   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55afafd5, in 
[ign gazebo-1] #20   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55af8c44, in 
[ign gazebo-1] #19   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7fae51e9144b, in 
[ign gazebo-1] #18   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55ac6098, in rb_nogvl
[ign gazebo-1] #17   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7fae51e90d6b, in 
[ign gazebo-1] #16   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7fae51e61492, in 
[ign gazebo-1] #15   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7fae51e64e2d, in 
[ign gazebo-1] #14   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.9.0", at 0x7fae513db86a, in runServer
[ign gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510bbbf5, in 
[ign gazebo-1] #12   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510c3e6a, in ignition::gazebo::v6::SimulationRunner::Run(unsigned long)
[ign gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510c3524, in ignition::gazebo::v6::SimulationRunner::Step(ignition::gazebo::v6::UpdateInfo const&)
[ign gazebo-1] #10   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510c1eb1, in ignition::gazebo::v6::SimulationRunner::UpdateSystems()
[ign gazebo-1] #9    Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x7fae29546ea0, in ignition::gazebo::v6::systems::UserCommands::PreUpdate(ignition::gazebo::v6::UpdateInfo const&, ignition::gazebo::v6::EntityComponentManager&)
[ign gazebo-1] #8    Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x7fae2954a5a9, in ignition::gazebo::v6::systems::CreateCommand::Execute()
[ign gazebo-1] #7    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510a0a60, in ignition::gazebo::v6::SdfEntityCreator::CreateEntities(sdf::v12::Model const*)
[ign gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510a7232, in 
[ign gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510c2359, in ignition::gazebo::v6::SimulationRunner::LoadPlugins(unsigned long, std::shared_ptr<sdf::v12::Element> const&)
[ign gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510cf43b, in ignition::gazebo::v6::SystemManager::LoadPlugin(unsigned long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<sdf::v12::Element> const&)
[ign gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510cd09a, in ignition::gazebo::v6::SystemManager::AddSystem(ignition::plugin::TemplatePluginPtr<ignition::plugin::SpecializedPlugin<ignition::gazebo::v6::System, ignition::gazebo::v6::ISystemConfigure, ignition::gazebo::v6::ISystemPreUpdate, ignition::gazebo::v6::ISystemUpdate, ignition::gazebo::v6::ISystemPostUpdate> > const&, unsigned long, std::shared_ptr<sdf::v12::Element const>)
[ign gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fae510ccef7, in ignition::gazebo::v6::SystemManager::AddSystemImpl(ignition::gazebo::v6::SystemInternal, std::shared_ptr<sdf::v12::Element const>)
[ign gazebo-1] #1    Object "/root/ros2/install/ign_ros2_control/lib/libign_ros2_control-system.so", at 0x7fae1bf31579, in ign_ros2_control::IgnitionROS2ControlPlugin::Configure(unsigned long const&, std::shared_ptr<sdf::v12::Element const> const&, ignition::gazebo::v6::EntityComponentManager&, ignition::gazebo::v6::EventManager&)
[ign gazebo-1] #0    Object "/root/ros2/install/ign_ros2_control/lib/libign_hardware_plugins.so", at 0x7fae1470869b, in ign_ros2_control::IgnitionSystem::initSim(std::shared_ptr<rclcpp::Node>&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned long, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned long> > >&, hardware_interface::HardwareInfo const&, ignition::gazebo::v6::EntityComponentManager&, int&)
[ign gazebo-1] Segmentation fault (Address not mapped to object [(nil)])
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:52: TypeError: Cannot read property 'dialogOnExitText' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:54: TypeError: Cannot read property 'exitDialogShowCloseGui' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:53: TypeError: Cannot read property 'exitDialogShowShutdown' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:244: TypeError: Cannot read property 'showDrawer' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/SideDrawer.qml:93: TypeError: Cannot read property 'showDefaultDrawerOpts' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/IgnSplit.qml:56: TypeError: Cannot read property 'pluginCount' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:41: TypeError: Cannot read property 'toolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:42: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:43: TypeError: Cannot read property 'toolBarColorDark' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:44: TypeError: Cannot read property 'toolBarTextColorDark' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:45: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:46: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:47: TypeError: Cannot read property 'pluginToolBarColorDark' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:48: TypeError: Cannot read property 'pluginToolBarTextColorDark' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:50: TypeError: Cannot read property 'defaultExitAction' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:51: TypeError: Cannot read property 'showDialogOnExit' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:55: TypeError: Cannot read property 'exitDialogShutdownText' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:56: TypeError: Cannot read property 'exitDialogCloseGuiText' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:66: TypeError: Cannot read property 'toolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:76: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:212: TypeError: Cannot read property 'showPluginMenu' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:195: TypeError: Cannot read property 'showDrawer' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:181: TypeError: Cannot read property 'showDrawer' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #30   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ign gazebo-1] #29   Object "ign gazebo gui", at 0x55b0011ec1c4, in _start
[ign gazebo-1] #28   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae556cae3f, in __libc_start_main
[ign gazebo-1] #27   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae556cad8f, in 
[ign gazebo-1] #26   Object "ign gazebo gui", at 0x55b0011ec17e, in 
[ign gazebo-1] #25   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55971e29, in ruby_run_node
[ign gazebo-1] #24   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae5596e327, in 
[ign gazebo-1] #23   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55b0331c, in rb_vm_exec
[ign gazebo-1] #22   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55afdca6, in 
[ign gazebo-1] #21   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55afafd5, in 
[ign gazebo-1] #20   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55af8c44, in 
[ign gazebo-1] #19   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55a44a2e, in 
[ign gazebo-1] #18   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae5596f9bc, in rb_protect
[ign gazebo-1] #17   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55b07c71, in rb_yield
[ign gazebo-1] #16   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55b0331c, in rb_vm_exec
[ign gazebo-1] #15   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55afdca6, in 
[ign gazebo-1] #14   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55afafd5, in 
[ign gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55af8c44, in 
[ign gazebo-1] #12   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7fae51e9144b, in 
[ign gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fae55ac6098, in rb_nogvl
[ign gazebo-1] #10   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7fae51e90d6b, in 
[ign gazebo-1] #9    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7fae51e61492, in 
[ign gazebo-1] #8    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7fae51e64e2d, in 
[ign gazebo-1] #7    Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.9.0", at 0x7fae513d14e0, in runGui
[ign gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7fae51200885, in ignition::gazebo::v6::gui::runGui(int&, char**, char const*, char const*)
[ign gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libignition-gui6.so.6", at 0x7fae4ffa3f3c, in ignition::gui::Application::~Application()
[ign gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fae502ef913, in QObject::~QObject()
[ign gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fae502e4a5d, in QObjectPrivate::deleteChildren()
[ign gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7fae512026dc, in ignition::gazebo::v6::GuiRunner::~GuiRunner()
[ign gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7fae512026c1, in ignition::gazebo::v6::GuiRunner::~GuiRunner()
[ign gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7fae5120d2bb, in void ignition::utils::detail::DefaultDelete<ignition::gazebo::v6::GuiRunner::Implementation>(ignition::gazebo::v6::GuiRunner::Implementation*)
[ign gazebo-1] Segmentation fault (Address not mapped to object [0x7fae195c5fb8])
[INFO] [ign gazebo-1]: process has finished cleanly [pid 67101]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (0)

[ahcorde]

I believe this line is wrong

https://github.com/ros-controls/gz_ros2_control/blob/master/ign_ros2_control/src/ign_system.cpp#L294

it should be

this->dataPtr->joints_[j].joint_velocity = initial_velocity;

can you try it?

[tonynajjar]

Hallelujah, works now. I added your fix to this PR

[tonynajjar]

Ah, just noticed this #81, will remove fix from this PR

[ahcorde]

Last comment, otherwise LGTM