Error: Hello Ignition developers. I'm trying to spawn a robot inside Ignition Fortress using Ros2 (Foxy) but I'm facing some issues, especially when using libign_ros2_control-system.so plugin inside .urdf model.
[INFO] [launch]: All log files can be found below /home/gilmar/.ros/log/2022-03-03-13-04-06-073938-DESKTOP-IMF8MFM-1028
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [1030]
[INFO] [robot_state_publisher-2]: process started with pid [1033]
[INFO] [create-3]: process started with pid [1035]
[robot_state_publisher-2] Parsing robot urdf xml string.
[robot_state_publisher-2] The root link base_link 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] Link caster_wheel had 0 children
[robot_state_publisher-2] Link left_wheel had 0 children
[robot_state_publisher-2] Link right_wheel had 0 children
[robot_state_publisher-2] [INFO] [1646323446.189875200] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1646323446.189956700] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-2] [INFO] [1646323446.189970000] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-2] [INFO] [1646323446.189977000] [robot_state_publisher]: got segment right_wheel
[create-3] [INFO] [1646323446.207324400] [ros_ign_gazebo]: Requesting list of world names.
[create-3] [INFO] [1646323446.689882800] [ros_ign_gazebo]: Requested creation of entity.
[create-3] [INFO] [1646323446.689951300] [ros_ign_gazebo]: OK creation of entity.
[INFO] [create-3]: process has finished cleanly [pid 1035]
[INFO] [ros2-4]: process started with pid [1138]
[ign gazebo-1] [libprotobuf ERROR google/protobuf/descriptor_database.cc:58] File already exists in database: ignition/msgs/actor.proto
[ign gazebo-1] [libprotobuf FATAL google/protobuf/descriptor.cc:1358] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
[ign gazebo-1] terminate called after throwing an instance of 'google::protobuf::FatalException'
[ign gazebo-1] what(): CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x7f3310fa674a, in ignition::gazebo::v6::systems::CreateCommand::Execute()
[ign gazebo-1] #30 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f3335f55c00, in ignition::gazebo::v6::SdfEntityCreator::CreateEntities(sdf::v12::Model const*)
[ign gazebo-1] #29 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f3335f6e336, in void ignition::gazebo::v6::EventManager::Emit<ignition::common::EventT<void (unsigned long, std::shared_ptr<sdf::v12::Element>), ignition::gazebo::v6::events::LoadPluginsTag>, unsigned long const&, std::shared_ptr<sdf::v12::Element> const&>(unsigned long const&, std::shared_ptr<sdf::v12::Element> const&)
[ign gazebo-1] #28 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f3335f9bb86, in ignition::gazebo::v6::SimulationRunner::LoadPlugins(unsigned long, std::shared_ptr<sdf::v12::Element> const&)
[ign gazebo-1] #27 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f3335f9a17e, in ignition::gazebo::v6::SimulationRunner::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] #26 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f3335fbba18, in ignition::gazebo::v6::SystemLoader::LoadPlugin(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] #25 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f3335fbc2c5, in
[ign gazebo-1] #24 Object "/lib/x86_64-linux-gnu/libignition-plugin1-loader.so.1", at 0x7f3333530670, in ignition::plugin::Loader::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ign gazebo-1] #23 Object "/lib/x86_64-linux-gnu/libignition-plugin1-loader.so.1", at 0x7f333352fa7d, in ignition::plugin::Loader::Implementation::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ign gazebo-1] #22 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7f333a8973d9, in dlopen
[ign gazebo-1] #21 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7f333a897b58, in
[ign gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f333aaaf902, in _dl_catch_error
[ign gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f333aaaf837, in _dl_catch_exception
[ign gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7f333a89734b, in
[ign gazebo-1] #17 Object "/lib64/ld-linux-x86-64.so.2", at 0x7f333aef05f9, in
[ign gazebo-1] #16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f333aaaf837, in _dl_catch_exception
[ign gazebo-1] #15 Object "/lib64/ld-linux-x86-64.so.2", at 0x7f333aef10be, in
[ign gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f333aaaf894, in _dl_catch_exception
[ign gazebo-1] #13 Object "/lib64/ld-linux-x86-64.so.2", at 0x7f333aeecc90, in
[ign gazebo-1] #12 Object "/lib64/ld-linux-x86-64.so.2", at 0x7f333aeecb89, in
[ign gazebo-1] #11 Object "/lib/x86_64-linux-gnu/libignition-msgs5.so.5", at 0x7f330afd1768, in void std::call_once<void (&)()>(std::once_flag&, void (&)())
[ign gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7f333a93d47e, in
[ign gazebo-1] #9 Object "/lib/x86_64-linux-gnu/libignition-msgs5.so.5", at 0x7f330afcc3ed, in protobuf_ignition_2fmsgs_2factor_2eproto::AddDescriptorsImpl()
[ign gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libprotobuf.so.17", at 0x7f33352a487d, in
[ign gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7f3336be05a9, in _Unwind_Resume
[ign gazebo-1] #6 Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7f3336bdfbee, in
[ign gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f3336c93d20, in __gxx_personality_v0
[ign gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f3336c93368, in
[ign gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f3336c9438b, in
[ign gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f3336c88910, in
[ign gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f333a971858, in abort
[ign gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f333a99203b, in gsignal
[ign gazebo-1] Aborted (Signal sent by tkill() 1063 1000)
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333abea490, in
[ign gazebo-1] #30 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad5986f, in rb_vm_exec
[ign gazebo-1] #29 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad53130, in
[ign gazebo-1] #28 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad42405, in
[ign gazebo-1] #27 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad5bdaa, in
[ign gazebo-1] #26 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad4f025, in
[ign gazebo-1] #25 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333acad1be, in
[ign gazebo-1] #24 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333abed5d2, in rb_protect
[ign gazebo-1] #23 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad669f0, in rb_yield
[ign gazebo-1] #22 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad5986f, in rb_vm_exec
[ign gazebo-1] #21 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad53130, in
[ign gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad42405, in
[ign gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad5bdaa, in
[ign gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad4f025, in
[ign gazebo-1] #17 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7f3336e67714, in
[ign gazebo-1] #16 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f333ad206d9, in rb_nogvl
[ign gazebo-1] #15 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7f3336e678fb, in
[ign gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7f3336e5c409, in
[ign gazebo-1] #13 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7f3336e5cff4, in
[ign gazebo-1] #12 Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.6.0", at 0x7f3336368780, in runGui
[ign gazebo-1] #11 Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7f333615c3d8, in ignition::gazebo::v6::gui::runGui(int&, char**, char const*, char const*)
[ign gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libignition-gui6.so.6", at 0x7f3334bcaadc, in ignition::gui::Application::~Application()
[ign gazebo-1] #9 Object "/lib/x86_64-linux-gnu/libignition-gui6.so.6", at 0x7f3334bca836, in ignition::gui::Application::~Application()
[ign gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f333466049d, in QApplication::~QApplication()
[ign gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f3334ebe97d, in QCoreApplication::~QCoreApplication()
[ign gazebo-1] #6 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f3334ef04be, in QObject::~QObject()
[ign gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f3334ee5eed, in QObjectPrivate::deleteChildren()
[ign gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7f333616630c, in ignition::gazebo::v6::GuiRunner::~GuiRunner()
[ign gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7f33361662f1, in ignition::gazebo::v6::GuiRunner::~GuiRunner()
[ign gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7f33361b8391, in void ignition::utils::detail::DefaultDelete<ignition::gazebo::v6::GuiRunner::Implementation>(ignition::gazebo::v6::GuiRunner::Implementation*)
[ign gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f3335ebcf2d, in ignition::gazebo::v6::EntityComponentManager::~EntityComponentManager()
[ign gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f3335ecb0c0, in std::_Hashtable<std::vector<unsigned long, std::allocator<unsigned long> >, std::pair<std::vector<unsigned long, std::allocator<unsigned long> > const, std::pair<std::unique_ptr<ignition::gazebo::v6::detail::BaseView, std::default_delete<ignition::gazebo::v6::detail::BaseView> >, std::unique_ptr<std::mutex, std::default_delete<std::mutex> > > >, std::allocator<std::pair<std::vector<unsigned long, std::allocator<unsigned long> > const, std::pair<std::unique_ptr<ignition::gazebo::v6::detail::BaseView, std::default_delete<ignition::gazebo::v6::detail::BaseView> >, std::unique_ptr<std::mutex, std::default_delete<std::mutex> > > > >, std::__detail::_Select1st, std::equal_to<std::vector<unsigned long, std::allocator<unsigned long> > >, ignition::gazebo::v6::detail::ComponentTypeHasher, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear()
[ign gazebo-1] Segmentation fault (Address not mapped to object [0x7f32c03f6048])
[INFO] [ign gazebo-1]: process has finished cleanly [pid 1030]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-2] [INFO] [1646323449.385163000] [rclcpp]: signal_handler(signal_value=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 1033]
[ERROR] [ros2-4]: process has died [pid 1138, exit code 2, cmd 'ros2 control load_controller --set-state start joint_state_broadcaster'].
Could someone help me to solve this issue? I've just started learning how to use ros2_control, but it's quite confusing (If someone has any kind of book or course to recommend to me, I will be thankful).