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Tiago robot does not move any joints #22

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nilutpolkashyap opened this issue Mar 12, 2023 · 2 comments
Closed

Tiago robot does not move any joints #22

nilutpolkashyap opened this issue Mar 12, 2023 · 2 comments

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@nilutpolkashyap
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Issue: Tiago Simulation ROS 2 does not move any of its joints

I was trying to follow the ROS 2 Tiago simulation steps from TIAGo ROS 2 Simulation but the robot does not move any joints due to

I launched the simulation using the command:
ros2 launch tiago_gazebo tiago_gazebo.launch.py [arm:=no-arm]

Gazebo Output
Screenshot from 2023-03-12 22-43-57

Terminal Output I get:

[INFO] [launch]: All log files can be found below /home/nilutpolk/.ros/log/2023-03-12-22-37-22-304938-nilutpolk-Predator-PH315-52-9171
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [play_motion2_node-10]: process started with pid [9197]
[INFO] [tuck_arm.py-15]: process started with pid [9212]
[INFO] [gzserver-1]: process started with pid [9173]
[INFO] [gzclient-2]: process started with pid [9175]
[INFO] [spawn_entity.py-3]: process started with pid [9177]
[INFO] [spawner-4]: process started with pid [9179]
[INFO] [spawner-5]: process started with pid [9181]
[INFO] [spawner-6]: process started with pid [9184]
[INFO] [spawner-7]: process started with pid [9187]
[INFO] [spawner-8]: process started with pid [9190]
[INFO] [spawner-9]: process started with pid [9193]
[INFO] [twist_mux-11]: process started with pid [9199]
[INFO] [twist_marker-12]: process started with pid [9201]
[INFO] [joy_teleop-13]: process started with pid [9203]
[INFO] [robot_state_publisher-14]: process started with pid [9207]
[twist_mux-11] [INFO] [1678640845.477675986] [twist_mux]: Topic handler 'topics.joystick' subscribed to topic 'joy_vel': timeout = 0.500000s , priority = 100.
[twist_mux-11] [INFO] [1678640845.484809285] [twist_mux]: Topic handler 'topics.keyboard' subscribed to topic 'key_vel': timeout = 0.500000s , priority = 90.
[twist_mux-11] [INFO] [1678640845.486246950] [twist_mux]: Topic handler 'topics.marker' subscribed to topic 'marker_vel': timeout = 0.500000s , priority = 99.
[twist_mux-11] [INFO] [1678640845.486491947] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'nav_vel': timeout = 0.500000s , priority = 10.
[twist_mux-11] [INFO] [1678640845.486723856] [twist_mux]: Topic handler 'topics.phone' subscribed to topic 'phone_vel': timeout = 0.500000s , priority = 98.
[twist_mux-11] [INFO] [1678640845.486926619] [twist_mux]: Topic handler 'topics.rviz' subscribed to topic 'rviz_joy_vel': timeout = 0.500000s , priority = 95.
[twist_mux-11] [INFO] [1678640845.487172227] [twist_mux]: Topic handler 'topics.servoing' subscribed to topic 'servoing_cmd_vel': timeout = 0.500000s , priority = 20.
[twist_mux-11] [INFO] [1678640845.487441914] [twist_mux]: Topic handler 'topics.tablet' subscribed to topic 'tab_vel': timeout = 0.500000s , priority = 100.
[twist_mux-11] [INFO] [1678640845.487794324] [twist_mux]: Topic handler 'locks.joystick' subscribed to topic 'joy_priority': timeout = None , priority = 100.
[twist_mux-11] [INFO] [1678640845.489227362] [twist_mux]: Topic handler 'locks.loop_closure' subscribed to topic 'stop_closing_loop': timeout = None , priority = 200.
[twist_mux-11] [INFO] [1678640845.489880701] [twist_mux]: Topic handler 'locks.pause' subscribed to topic 'pause_navigation': timeout = None , priority = 100.
[robot_state_publisher-14] [INFO] [1678640845.879289646] [robot_state_publisher]: got segment arm_1_link
[robot_state_publisher-14] [INFO] [1678640845.880836298] [robot_state_publisher]: got segment arm_2_link
[robot_state_publisher-14] [INFO] [1678640845.881005574] [robot_state_publisher]: got segment arm_3_link
[robot_state_publisher-14] [INFO] [1678640845.881039348] [robot_state_publisher]: got segment arm_4_link
[robot_state_publisher-14] [INFO] [1678640845.881064384] [robot_state_publisher]: got segment arm_5_link
[robot_state_publisher-14] [INFO] [1678640845.881079872] [robot_state_publisher]: got segment arm_6_link
[robot_state_publisher-14] [INFO] [1678640845.881094980] [robot_state_publisher]: got segment arm_7_link
[robot_state_publisher-14] [INFO] [1678640845.881114549] [robot_state_publisher]: got segment arm_tool_link
[robot_state_publisher-14] [INFO] [1678640845.881175180] [robot_state_publisher]: got segment base_antenna_left_link
[robot_state_publisher-14] [INFO] [1678640845.881202838] [robot_state_publisher]: got segment base_antenna_right_link
[robot_state_publisher-14] [INFO] [1678640845.881225620] [robot_state_publisher]: got segment base_cover_link
[robot_state_publisher-14] [INFO] [1678640845.881251265] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-14] [INFO] [1678640845.881274950] [robot_state_publisher]: got segment base_imu_link
[robot_state_publisher-14] [INFO] [1678640845.881297776] [robot_state_publisher]: got segment base_laser_link
[robot_state_publisher-14] [INFO] [1678640845.881323460] [robot_state_publisher]: got segment base_link
[robot_state_publisher-14] [INFO] [1678640845.881674763] [robot_state_publisher]: got segment base_mic_back_left_link
[robot_state_publisher-14] [INFO] [1678640845.884275759] [robot_state_publisher]: got segment base_mic_back_right_link
[robot_state_publisher-14] [INFO] [1678640845.884354867] [robot_state_publisher]: got segment base_mic_front_left_link
[robot_state_publisher-14] [INFO] [1678640845.884370145] [robot_state_publisher]: got segment base_mic_front_right_link
[robot_state_publisher-14] [INFO] [1678640845.884380078] [robot_state_publisher]: got segment base_sonar_01_link
[robot_state_publisher-14] [INFO] [1678640845.884390637] [robot_state_publisher]: got segment base_sonar_02_link
[robot_state_publisher-14] [INFO] [1678640845.884403352] [robot_state_publisher]: got segment base_sonar_03_link
[robot_state_publisher-14] [INFO] [1678640845.884420802] [robot_state_publisher]: got segment caster_back_left_1_link
[robot_state_publisher-14] [INFO] [1678640845.884457310] [robot_state_publisher]: got segment caster_back_left_2_link
[robot_state_publisher-14] [INFO] [1678640845.884470701] [robot_state_publisher]: got segment caster_back_right_1_link
[robot_state_publisher-14] [INFO] [1678640845.884481755] [robot_state_publisher]: got segment caster_back_right_2_link
[robot_state_publisher-14] [INFO] [1678640845.885631183] [robot_state_publisher]: got segment caster_front_left_1_link
[robot_state_publisher-14] [INFO] [1678640845.885660998] [robot_state_publisher]: got segment caster_front_left_2_link
[robot_state_publisher-14] [INFO] [1678640845.885674754] [robot_state_publisher]: got segment caster_front_right_1_link
[robot_state_publisher-14] [INFO] [1678640845.885684729] [robot_state_publisher]: got segment caster_front_right_2_link
[robot_state_publisher-14] [INFO] [1678640845.885694358] [robot_state_publisher]: got segment gripper_grasping_frame
[robot_state_publisher-14] [INFO] [1678640845.885702498] [robot_state_publisher]: got segment gripper_left_finger_link
[robot_state_publisher-14] [INFO] [1678640845.885711808] [robot_state_publisher]: got segment gripper_link
[robot_state_publisher-14] [INFO] [1678640845.885721580] [robot_state_publisher]: got segment gripper_right_finger_link
[robot_state_publisher-14] [INFO] [1678640845.885730872] [robot_state_publisher]: got segment gripper_tool_link
[robot_state_publisher-14] [INFO] [1678640845.885740933] [robot_state_publisher]: got segment head_1_link
[robot_state_publisher-14] [INFO] [1678640845.885751709] [robot_state_publisher]: got segment head_2_link
[robot_state_publisher-14] [INFO] [1678640845.885761656] [robot_state_publisher]: got segment head_front_camera_depth_frame
[robot_state_publisher-14] [INFO] [1678640845.885771487] [robot_state_publisher]: got segment head_front_camera_depth_optical_frame
[robot_state_publisher-14] [INFO] [1678640845.885781379] [robot_state_publisher]: got segment head_front_camera_link
[robot_state_publisher-14] [INFO] [1678640845.885793725] [robot_state_publisher]: got segment head_front_camera_optical_frame
[robot_state_publisher-14] [INFO] [1678640845.885805481] [robot_state_publisher]: got segment head_front_camera_orbbec_aux_joint_frame
[robot_state_publisher-14] [INFO] [1678640845.885816340] [robot_state_publisher]: got segment head_front_camera_rgb_frame
[robot_state_publisher-14] [INFO] [1678640845.885825156] [robot_state_publisher]: got segment head_front_camera_rgb_optical_frame
[robot_state_publisher-14] [INFO] [1678640845.885835130] [robot_state_publisher]: got segment rgbd_laser_link
[robot_state_publisher-14] [INFO] [1678640845.885844532] [robot_state_publisher]: got segment suspension_left_link
[robot_state_publisher-14] [INFO] [1678640845.885854392] [robot_state_publisher]: got segment suspension_right_link
[robot_state_publisher-14] [INFO] [1678640845.885970886] [robot_state_publisher]: got segment torso_fixed_column_link
[robot_state_publisher-14] [INFO] [1678640845.885986776] [robot_state_publisher]: got segment torso_fixed_link
[robot_state_publisher-14] [INFO] [1678640845.885996684] [robot_state_publisher]: got segment torso_lift_link
[robot_state_publisher-14] [INFO] [1678640845.886004651] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-14] [INFO] [1678640845.886012856] [robot_state_publisher]: got segment wheel_right_link
[robot_state_publisher-14] [INFO] [1678640845.886023121] [robot_state_publisher]: got segment wrist_ft_link
[robot_state_publisher-14] [INFO] [1678640845.886032245] [robot_state_publisher]: got segment wrist_ft_tool_link
[spawn_entity.py-3] [INFO] [1678640847.270603635] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1678640847.271918493] [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] [1678640847.282103667] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-3] [INFO] [1678640847.301443812] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1678640847.302335036] [spawn_entity]: Waiting for service /spawn_entity
[spawner-5] [INFO] [1678640848.526099873] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-9] [INFO] [1678640849.113751233] [spawner_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1678640849.130818920] [spawner_mobile_base_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1678640849.186213820] [spawner_head_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1678640849.225252815] [spawner_arm_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1678640849.264843713] [spawner_torso_controller]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-3] [INFO] [1678640849.821209372] [spawn_entity]: Calling service /spawn_entity
[spawner-5] [INFO] [1678640850.546970836] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[play_motion2_node-10] [ERROR] [1678640851.029257921] [play_motion2]: Service /controller_manager/list_controllers not available.
[play_motion2_node-10] [ERROR] [1678640851.030652518] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640851.071644762] [arm_tucker]: play_motion2 is not ready
[spawner-9] [INFO] [1678640851.136653917] [spawner_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1678640851.151796400] [spawner_mobile_base_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1678640851.213001888] [spawner_head_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1678640851.248019748] [spawner_arm_controller]: Waiting for '/controller_manager' node to exist
[gzserver-1] [INFO] [1678640851.272052803] [base_imu]: <initial_orientation_as_reference> is unset, using default value of false to comply with REP 145 (world as orientation reference)
[spawner-6] [INFO] [1678640851.297099085] [spawner_torso_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1678640852.566691675] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[gzserver-1] [INFO] [1678640853.079951263] [head_front_camera_frame_controller]: Publishing camera info to [/head_front_camera/rgb/camera_info]
[gzserver-1] [INFO] [1678640853.096740922] [head_front_camera_frame_controller]: Publishing depth camera info to [/head_front_camera/depth_registered/camera_info]
[gzserver-1] [INFO] [1678640853.105767006] [head_front_camera_frame_controller]: Publishing pointcloud to [/head_front_camera/depth_registered/points]
[spawn_entity.py-3] [INFO] [1678640853.132948804] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [tiago]
[spawner-9] [INFO] [1678640853.164499500] [spawner_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1678640853.171861838] [spawner_mobile_base_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1678640853.239643649] [spawner_head_controller]: Waiting for '/controller_manager' node to exist
[gzserver-1] [INFO] [1678640853.269223023] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[spawner-8] [INFO] [1678640853.274235515] [spawner_arm_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1678640853.318158920] [spawner_torso_controller]: Waiting for '/controller_manager' node to exist
[gzserver-1] [INFO] [1678640853.380170094] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1678640853.380821733] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1678640853.380992101] [gazebo_ros2_control]: Loading parameter files /home/nilutpolk/bookros2_ws/install/tiago_controller_configuration/share/tiago_controller_configuration/config/gazebo_controller_manager_cfg.yaml
[gzserver-1] [INFO] [1678640853.439484717] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1678640853.449278977] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
[gzserver-1] [INFO] [1678640853.493917468] [gazebo_ros2_control]: Loading joint: wheel_right_joint
[gzserver-1] [INFO] [1678640853.493996273] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.494026457] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494046421] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.494097035] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.494118794] [gazebo_ros2_control]: Loading joint: wheel_left_joint
[gzserver-1] [INFO] [1678640853.494135449] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.494151133] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494167169] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.494190803] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.494215853] [gazebo_ros2_control]: Loading joint: torso_lift_joint
[gzserver-1] [INFO] [1678640853.494235431] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.494255682] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494272642] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.494289532] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.494306534] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.494322468] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494460090] [gazebo_ros2_control]: Loading joint: head_1_joint
[gzserver-1] [INFO] [1678640853.494486093] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.494503069] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494519258] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.494534779] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.494550259] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.494566021] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494607869] [gazebo_ros2_control]: Loading joint: head_2_joint
[gzserver-1] [INFO] [1678640853.494627485] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.494643547] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494662393] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.494678899] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.494694669] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.494712648] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494737881] [gazebo_ros2_control]: Loading joint: arm_1_joint
[gzserver-1] [INFO] [1678640853.494756153] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.494772321] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494788252] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.494806203] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.494825356] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.494840853] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494921371] [gazebo_ros2_control]: Loading joint: arm_2_joint
[gzserver-1] [INFO] [1678640853.494941258] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.494958248] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.494977939] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.495094174] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.495124963] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.495145515] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495214004] [gazebo_ros2_control]: Loading joint: arm_3_joint
[gzserver-1] [INFO] [1678640853.495239320] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.495257737] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495276946] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.495296547] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.495314710] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.495333640] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495371236] [gazebo_ros2_control]: Loading joint: arm_4_joint
[gzserver-1] [INFO] [1678640853.495392515] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.495410050] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495429887] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.495449531] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.495469761] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.495490628] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495539839] [gazebo_ros2_control]: Loading joint: arm_5_joint
[gzserver-1] [INFO] [1678640853.495563922] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.495583703] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495604042] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.495624357] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.495643453] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.495662726] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495693824] [gazebo_ros2_control]: Loading joint: arm_6_joint
[gzserver-1] [INFO] [1678640853.495719041] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.495735040] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495754030] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.495772783] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.495790279] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.495810242] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495847612] [gazebo_ros2_control]: Loading joint: arm_7_joint
[gzserver-1] [INFO] [1678640853.495870504] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.495890557] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.495911867] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.495934921] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.495959697] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.495976653] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.496015636] [gazebo_ros2_control]: Loading joint: gripper_left_finger_joint
[gzserver-1] [INFO] [1678640853.496039197] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.496057172] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.496084168] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.496108957] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.496127532] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.496145596] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.496233033] [gazebo_ros2_control]: Loading joint: gripper_right_finger_joint
[gzserver-1] [INFO] [1678640853.496259496] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.496277804] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.496301066] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1678640853.496331264] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1678640853.496357822] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1678640853.496395446] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1678640853.497014454] [gazebo_ros2_control]: Loading sensor: base_imu_sensor
[gzserver-1] [INFO] [1678640853.497129809] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.497228079] [gazebo_ros2_control]: 		 orientation.x
[gzserver-1] [INFO] [1678640853.497284139] [gazebo_ros2_control]: 		 orientation.y
[gzserver-1] [INFO] [1678640853.497313993] [gazebo_ros2_control]: 		 orientation.z
[gzserver-1] [INFO] [1678640853.497334699] [gazebo_ros2_control]: 		 orientation.w
[gzserver-1] [INFO] [1678640853.497381495] [gazebo_ros2_control]: 		 angular_velocity.x
[gzserver-1] [INFO] [1678640853.497405779] [gazebo_ros2_control]: 		 angular_velocity.y
[gzserver-1] [INFO] [1678640853.497451605] [gazebo_ros2_control]: 		 angular_velocity.z
[gzserver-1] [INFO] [1678640853.497609865] [gazebo_ros2_control]: 		 linear_acceleration.x
[gzserver-1] [INFO] [1678640853.497648550] [gazebo_ros2_control]: 		 linear_acceleration.y
[gzserver-1] [INFO] [1678640853.497668875] [gazebo_ros2_control]: 		 linear_acceleration.z
[gzserver-1] [INFO] [1678640853.497697743] [gazebo_ros2_control]: Loading sensor: wrist_ft_joint_force_torque
[gzserver-1] [INFO] [1678640853.497716394] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1678640853.497764607] [gazebo_ros2_control]: 		 force.x
[gzserver-1] [INFO] [1678640853.497777434] [gazebo_ros2_control]: 		 force.y
[gzserver-1] [INFO] [1678640853.497787881] [gazebo_ros2_control]: 		 force.z
[gzserver-1] [INFO] [1678640853.497806749] [gazebo_ros2_control]: 		 torque.x
[gzserver-1] [INFO] [1678640853.497855057] [gazebo_ros2_control]: 		 torque.y
[gzserver-1] [INFO] [1678640853.497949966] [gazebo_ros2_control]: 		 torque.z
[gzserver-1] [INFO] [1678640853.498979884] [resource_manager]: Initialize hardware 'ros2_control_tiago_system' 
[gzserver-1] [INFO] [1678640853.499970669] [resource_manager]: Successful initialization of hardware 'ros2_control_tiago_system'
[gzserver-1] [INFO] [1678640853.500346218] [resource_manager]: 'configure' hardware 'ros2_control_tiago_system' 
[gzserver-1] [INFO] [1678640853.500368349] [resource_manager]: Successful 'configure' of hardware 'ros2_control_tiago_system'
[gzserver-1] [INFO] [1678640853.500392755] [resource_manager]: 'activate' hardware 'ros2_control_tiago_system' 
[gzserver-1] [INFO] [1678640853.500401787] [resource_manager]: Successful 'activate' of hardware 'ros2_control_tiago_system'
[gzserver-1] [INFO] [1678640853.500632559] [gazebo_ros2_control]: Loading controller_manager
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 9177]
[gzserver-1] [WARN] [1678640853.702027600] [gazebo_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-1] [INFO] [1678640853.703987079] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[spawner-6] [INFO] [1678640853.880530235] [spawner_torso_controller]: Set controller type to "joint_trajectory_controller/JointTrajectoryController" for torso_controller
[gzserver-1] [INFO] [1678640853.946371372] [controller_manager]: Loading controller 'torso_controller'
[gzserver-1] [INFO] [1678640854.382447154] [controller_manager]: Setting use_sim_time=True for torso_controller to match controller manager (see ros2_control#325 for details)
[play_motion2_node-10] [ERROR] [1678640854.430899425] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640854.439316721] [arm_tucker]: play_motion2 is not ready
[spawner-6] [INFO] [1678640854.443645991] [spawner_torso_controller]: Loaded torso_controller
[spawner-5] [INFO] [1678640854.452033926] [spawner_joint_state_broadcaster]: Set controller type to "joint_state_broadcaster/JointStateBroadcaster" for joint_state_broadcaster
[spawner-9] [INFO] [1678640854.462617531] [spawner_gripper_controller]: Set controller type to "joint_trajectory_controller/JointTrajectoryController" for gripper_controller
[gzserver-1] [INFO] [1678640854.471967861] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-7] [INFO] [1678640854.476972083] [spawner_head_controller]: Set controller type to "joint_trajectory_controller/JointTrajectoryController" for head_controller
[gzserver-1] [INFO] [1678640854.625093340] [controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details)
[spawner-5] [INFO] [1678640854.635408301] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[spawner-4] [INFO] [1678640854.635662402] [spawner_mobile_base_controller]: Set controller type to "diff_drive_controller/DiffDriveController" for mobile_base_controller
[gzserver-1] [INFO] [1678640854.650633407] [controller_manager]: Loading controller 'gripper_controller'
[spawner-6] Traceback (most recent call last):
[spawner-6]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-6]     sys.exit(load_entry_point('controller-manager==2.23.0', 'console_scripts', 'spawner')())
[spawner-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main
[spawner-6]     load_parameter_file(node=node, node_name=prefixed_controller_name, parameter_file=param_file,
[spawner-6]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 159, in load_parameter_file
[spawner-6]     load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)
[spawner-6]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 117, in load_parameter_dict
[spawner-6]     parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict)
[spawner-6]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 108, in parse_parameter_dict
[spawner-6]     parameter = Parameter()
[spawner-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter.py", line 80, in __init__
[spawner-6]     self.name = kwargs.get('name', str())
[spawner-6] AttributeError: 'Parameter' object attribute 'name' is read-only
[gzserver-1] [INFO] [1678640854.787095216] [controller_manager]: Setting use_sim_time=True for gripper_controller to match controller manager (see ros2_control#325 for details)
[gzserver-1] [INFO] [1678640854.806308002] [controller_manager]: Loading controller 'head_controller'
[spawner-9] [INFO] [1678640854.810479574] [spawner_gripper_controller]: Loaded gripper_controller
[spawner-8] [INFO] [1678640854.816561991] [spawner_arm_controller]: Set controller type to "joint_trajectory_controller/JointTrajectoryController" for arm_controller
[spawner-5] Traceback (most recent call last):
[spawner-5]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-5]     sys.exit(load_entry_point('controller-manager==2.23.0', 'console_scripts', 'spawner')())
[spawner-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main
[spawner-5]     load_parameter_file(node=node, node_name=prefixed_controller_name, parameter_file=param_file,
[spawner-5]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 159, in load_parameter_file
[spawner-5]     load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)
[spawner-5]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 117, in load_parameter_dict
[spawner-5]     parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict)
[spawner-5]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 108, in parse_parameter_dict
[spawner-5]     parameter = Parameter()
[spawner-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter.py", line 80, in __init__
[spawner-5]     self.name = kwargs.get('name', str())
[spawner-5] AttributeError: 'Parameter' object attribute 'name' is read-only
[gzserver-1] [INFO] [1678640854.936940443] [controller_manager]: Setting use_sim_time=True for head_controller to match controller manager (see ros2_control#325 for details)
[gzserver-1] [INFO] [1678640854.959405090] [controller_manager]: Loading controller 'mobile_base_controller'
[spawner-7] [INFO] [1678640854.965101142] [spawner_head_controller]: Loaded head_controller
[spawner-9] Traceback (most recent call last):
[spawner-9]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-9]     sys.exit(load_entry_point('controller-manager==2.23.0', 'console_scripts', 'spawner')())
[spawner-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main
[spawner-9]     load_parameter_file(node=node, node_name=prefixed_controller_name, parameter_file=param_file,
[spawner-9]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 159, in load_parameter_file
[spawner-9]     load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)
[spawner-9]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 117, in load_parameter_dict
[spawner-9]     parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict)
[spawner-9]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 108, in parse_parameter_dict
[spawner-9]     parameter = Parameter()
[spawner-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter.py", line 80, in __init__
[spawner-9]     self.name = kwargs.get('name', str())
[spawner-9] AttributeError: 'Parameter' object attribute 'name' is read-only
[spawner-7] Traceback (most recent call last):
[spawner-7]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-7]     sys.exit(load_entry_point('controller-manager==2.23.0', 'console_scripts', 'spawner')())
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main
[gzserver-1] [INFO] [1678640855.225963046] [controller_manager]: Setting use_sim_time=True for mobile_base_controller to match controller manager (see ros2_control#325 for details)
[spawner-7]     load_parameter_file(node=node, node_name=prefixed_controller_name, parameter_file=param_file,
[spawner-7]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 159, in load_parameter_file
[spawner-7]     load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)
[spawner-7]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 117, in load_parameter_dict
[spawner-7]     parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict)
[spawner-7]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 108, in parse_parameter_dict
[spawner-7]     parameter = Parameter()
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter.py", line 80, in __init__
[spawner-7]     self.name = kwargs.get('name', str())
[spawner-7] AttributeError: 'Parameter' object attribute 'name' is read-only
[spawner-4] [INFO] [1678640855.253828859] [spawner_mobile_base_controller]: Loaded mobile_base_controller
[gzserver-1] [INFO] [1678640855.261067490] [controller_manager]: Loading controller 'arm_controller'
[ERROR] [spawner-6]: process has died [pid 9184, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner torso_controller --controller-manager controller_manager --controller-type joint_trajectory_controller/JointTrajectoryController --param-file /home/nilutpolk/bookros2_ws/install/tiago_controller_configuration/share/tiago_controller_configuration/config/torso_controller.yaml --ros-args'].
[gzserver-1] [INFO] [1678640855.507857613] [controller_manager]: Setting use_sim_time=True for arm_controller to match controller manager (see ros2_control#325 for details)
[spawner-4] Traceback (most recent call last):
[spawner-4]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-4]     sys.exit(load_entry_point('controller-manager==2.23.0', 'console_scripts', 'spawner')())
[spawner-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main
[spawner-4]     load_parameter_file(node=node, node_name=prefixed_controller_name, parameter_file=param_file,
[spawner-4]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 159, in load_parameter_file
[spawner-4]     load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)
[spawner-4]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 117, in load_parameter_dict
[spawner-4]     parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict)
[spawner-4]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 108, in parse_parameter_dict
[spawner-4]     parameter = Parameter()
[spawner-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter.py", line 80, in __init__
[spawner-4]     self.name = kwargs.get('name', str())
[spawner-4] AttributeError: 'Parameter' object attribute 'name' is read-only
[spawner-8] [INFO] [1678640855.542834531] [spawner_arm_controller]: Loaded arm_controller
[ERROR] [spawner-5]: process has died [pid 9181, 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/nilutpolk/bookros2_ws/install/tiago_controller_configuration/share/tiago_controller_configuration/config/joint_state_broadcaster.yaml --ros-args'].
[spawner-8] Traceback (most recent call last):
[spawner-8]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-8]     sys.exit(load_entry_point('controller-manager==2.23.0', 'console_scripts', 'spawner')())
[spawner-8]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main
[spawner-8]     load_parameter_file(node=node, node_name=prefixed_controller_name, parameter_file=param_file,
[spawner-8]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 159, in load_parameter_file
[spawner-8]     load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)
[spawner-8]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 117, in load_parameter_dict
[spawner-8]     parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict)
[spawner-8]   File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 108, in parse_parameter_dict
[spawner-8]     parameter = Parameter()
[spawner-8]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter.py", line 80, in __init__
[spawner-8]     self.name = kwargs.get('name', str())
[spawner-8] AttributeError: 'Parameter' object attribute 'name' is read-only
[ERROR] [spawner-9]: process has died [pid 9193, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner gripper_controller --controller-manager controller_manager --controller-type joint_trajectory_controller/JointTrajectoryController --param-file /home/nilutpolk/bookros2_ws/install/pal_gripper_controller_configuration/share/pal_gripper_controller_configuration/config/gripper_controller.yaml --ros-args'].
[ERROR] [spawner-7]: process has died [pid 9187, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner head_controller --controller-manager controller_manager --controller-type joint_trajectory_controller/JointTrajectoryController --param-file /home/nilutpolk/bookros2_ws/install/tiago_controller_configuration/share/tiago_controller_configuration/config/head_controller.yaml --ros-args'].
[ERROR] [spawner-4]: process has died [pid 9179, 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/nilutpolk/bookros2_ws/install/tiago_controller_configuration/share/tiago_controller_configuration/config/mobile_base_controller.yaml --ros-args'].
[ERROR] [spawner-8]: process has died [pid 9190, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner arm_controller --controller-manager controller_manager --controller-type joint_trajectory_controller/JointTrajectoryController --param-file /home/nilutpolk/bookros2_ws/install/tiago_controller_configuration/share/tiago_controller_configuration/config/arm_controller.yaml --ros-args'].
[play_motion2_node-10] [ERROR] [1678640857.447205312] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640857.450594888] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640860.454935967] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640860.457717944] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640863.462602076] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640863.465712996] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640866.472064022] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640866.475858538] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640869.485718661] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640869.487400095] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640944.711875471] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640944.715532212] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640947.720213111] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640947.723783586] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640950.728000684] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640950.732558391] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640953.735712408] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640953.739566632] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640956.745791707] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640956.749227307] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640959.752597878] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640959.756073606] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640962.760509011] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640962.763693175] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640965.767536692] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640965.768528621] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640968.772486630] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640968.775665671] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640971.779988979] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640971.782472584] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640974.790288898] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640974.797674701] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640977.800631737] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640977.803430413] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640980.809283373] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640980.812620229] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640983.817831529] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640983.824052260] [arm_tucker]: play_motion2 is not ready
[play_motion2_node-10] [ERROR] [1678640986.828474752] [play_motion2]: There are no active JointTrajectory controllers available
[tuck_arm.py-15] [ERROR] [1678640986.832577411] [arm_tucker]: play_motion2 is not ready
[gzserver-1] terminate called after throwing an instance of 'std::runtime_error'
[gzserver-1]   what():  Error in state! Internal state_handle is NULL.
[ERROR] [gzserver-1]: process has died [pid 9173, exit code -6, cmd 'gzserver -s libgazebo_ros_init.so -s libgazebo_ros_factory.so /home/nilutpolk/bookros2_ws/install/pal_gazebo_worlds/share/pal_gazebo_worlds/worlds/pal_office.world'].

Additional Information
Version: ROS 2 Humble
OS: Ubuntu 22.04
@Noel215
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Noel215 commented Mar 13, 2023 •
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Hi @nilutpolkashyap,

Please, see pal-robotics/pmb2_simulation#4, it's the same issue.

Note that the command would be the following if you don't want the arm:
ros2 launch tiago_gazebo tiago_gazebo.launch.py arm:=no-arm

Otherwise, just skip the argument arm.

@nilutpolkashyap
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Thanks a lot @Noel215

Compiling the gazebo_ros2_control humble branch and ros2_control humble branch in my local workspace did solve my problem.

@nilutpolkashyap nilutpolkashyap mentioned this issue Jan 13, 2024
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@saikishor @nilutpolkashyap @Noel215