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Hello, I am trying to export myy RVIZ work to Gazebo. However, whenever I use gezebo_ros2_control packages to control my robot's joints I get these two errors:
[gazebo-5] [ERROR] [1713176577.993734591] [gazebo_ros2_control]: Parameter 'hold_joints' has already been declared, parameter 'hold_joints' has already been declared
and
[gazebo-5] [ERROR] [1713176577.948738083] [control]: No parameter file provided. Configuration might be wrong [gazebo-5] [ERROR] [1713176577.949836711] [control]: failed to parse input yaml file(s)
I dont declare the parameter called hold_joints in my workspace anywhere. How can I solve this?
Terminal Output:
[move_group-4]
[rviz2-1] [INFO] [1713176577.218711846] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1713176577.218882573] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-1] [INFO] [1713176577.259423956] [rviz2]: Stereo is NOT SUPPORTED
[gazebo-5] [Msg] Waiting for master.
[gazebo-5] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-5] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[rviz2-1] [WARN] [1713176577.380153789] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] [INFO] [1713176577.394253318] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00332607 seconds
[rviz2-1] [INFO] [1713176577.394400337] [rviz2.moveit.core.robot_model]: Loading robot model 'octobot'...
[rviz2-1] [WARN] [1713176577.431329263] [rviz2.moveit.core.robot_model]: Could not identify parent group for end-effector 'end_effector'
[gazebo-5] [INFO] [1713176577.614928610] [gazebo_ros_node]: ROS was initialized without arguments.
[spawn_entity.py-7] [INFO] [1713176577.828025528] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-7] [INFO] [1713176577.878388476] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [octobot]
[gazebo-5]
[gazebo-5] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org
[gazebo-5] [INFO] [1713176577.931005000] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gazebo-5] [INFO] [1713176577.939734339] [control]: Starting gazebo_ros2_control plugin in namespace: /
[gazebo-5] [INFO] [1713176577.939941110] [control]: Starting gazebo_ros2_control plugin in ros 2 node: control
[gazebo-5] [INFO] [1713176577.948035034] [control]: connected to service!! robot_state_publisher
[gazebo-5] [INFO] [1713176577.948665056] [control]: Received urdf from param server, parsing...
[gazebo-5] [ERROR] [1713176577.948738083] [control]: No parameter file provided. Configuration might be wrong
[gazebo-5] [ERROR] [1713176577.949836711] [control]: failed to parse input yaml file(s)
[gazebo-5] [INFO] [1713176577.950036430] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[rviz2-1] [INFO] [1713176577.961894412] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00324901 seconds
[rviz2-1] [INFO] [1713176577.961998145] [rviz2.moveit.core.robot_model]: Loading robot model 'octobot'...
[gazebo-5] [INFO] [1713176577.967275068] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gazebo-5] [INFO] [1713176577.967376450] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gazebo-5] [INFO] [1713176577.974487079] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gazebo-5] [INFO] [1713176577.975041491] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gazebo-5] [INFO] [1713176577.975182125] [gazebo_ros2_control]: Loading parameter files /home/dogukanyilmaz/ws_octobot/src/cores/octobot_config/config/ros2_controllers.yaml
[gazebo-5] [INFO] [1713176577.991654040] [gazebo_ros2_control]: Loading joint: doner12
[gazebo-5] [INFO] [1713176577.991792057] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.991803456] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.991824073] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.991880299] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.991959255] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992599254] [gazebo_ros2_control]: Loading joint: doner23
[gazebo-5] [INFO] [1713176577.992642085] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.992647574] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992653467] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.992658071] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.992662795] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992678406] [gazebo_ros2_control]: Loading joint: doner34
[gazebo-5] [INFO] [1713176577.992682726] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.992687571] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992692370] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.992696363] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.992700629] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992708464] [gazebo_ros2_control]: Loading joint: doner45
[gazebo-5] [INFO] [1713176577.992716219] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.992721980] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992729550] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.992737798] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.992746085] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992758375] [gazebo_ros2_control]: Loading joint: doner56
[gazebo-5] [INFO] [1713176577.992765623] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.992772569] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992851021] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.992863831] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.992869366] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992882431] [gazebo_ros2_control]: Loading joint: doner67
[gazebo-5] [INFO] [1713176577.992888358] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.992892864] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.992897152] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.992901433] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.992905423] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.993029470] [resource_manager]: Initialize hardware 'GazeboSimSystem'
[gazebo-5] [INFO] [1713176577.993361138] [resource_manager]: Successful initialization of hardware 'GazeboSimSystem'
[gazebo-5] [INFO] [1713176577.993575586] [resource_manager]: 'configure' hardware 'GazeboSimSystem'
[gazebo-5] [INFO] [1713176577.993589787] [resource_manager]: Successful 'configure' of hardware 'GazeboSimSystem'
[gazebo-5] [INFO] [1713176577.993599730] [resource_manager]: 'activate' hardware 'GazeboSimSystem'
[gazebo-5] [INFO] [1713176577.993603357] [resource_manager]: Successful 'activate' of hardware 'GazeboSimSystem'
[gazebo-5] [ERROR] [1713176577.993734591] [gazebo_ros2_control]: Parameter 'hold_joints' has already been declared, parameter 'hold_joints' has already been declared
[gazebo-5] [INFO] [1713176577.993828330] [gazebo_ros2_control]: Loading joint: doner12
[gazebo-5] [INFO] [1713176577.993838342] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.993846229] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.993918914] [gazebo_ros2_control]: found initial value: 0.000000
[gazebo-5] [INFO] [1713176577.993935906] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.993941441] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.993946614] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.993987847] [gazebo_ros2_control]: Loading joint: doner23
[gazebo-5] [INFO] [1713176577.993993374] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.993997672] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994003092] [gazebo_ros2_control]: found initial value: 0.000000
[gazebo-5] [INFO] [1713176577.994008728] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.994014419] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.994019405] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994030042] [gazebo_ros2_control]: Loading joint: doner34
[gazebo-5] [INFO] [1713176577.994034286] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.994038774] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994045488] [gazebo_ros2_control]: found initial value: 0.000000
[gazebo-5] [INFO] [1713176577.994052099] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.994056745] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.994062145] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994073688] [gazebo_ros2_control]: Loading joint: doner45
[gazebo-5] [INFO] [1713176577.994078664] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.994084218] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994090000] [gazebo_ros2_control]: found initial value: 0.000000
[gazebo-5] [INFO] [1713176577.994095354] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.994100242] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.994106344] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994114286] [gazebo_ros2_control]: Loading joint: doner56
[gazebo-5] [INFO] [1713176577.994119308] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.994123997] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994135301] [gazebo_ros2_control]: found initial value: 0.000000
[gazebo-5] [INFO] [1713176577.994140533] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.994145617] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.994150786] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994158543] [gazebo_ros2_control]: Loading joint: doner67
[gazebo-5] [INFO] [1713176577.994164087] [gazebo_ros2_control]: State:
[gazebo-5] [INFO] [1713176577.994168212] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994173571] [gazebo_ros2_control]: found initial value: 0.000000
[gazebo-5] [INFO] [1713176577.994178871] [gazebo_ros2_control]: velocity
[gazebo-5] [INFO] [1713176577.994183431] [gazebo_ros2_control]: Command:
[gazebo-5] [INFO] [1713176577.994188626] [gazebo_ros2_control]: position
[gazebo-5] [INFO] [1713176577.994198955] [resource_manager]: Initialize hardware 'GazeboSimSystem'
[gazebo-5] [INFO] [1713176577.994212859] [resource_manager]: Successful initialization of hardware 'GazeboSimSystem'
[gazebo-5] [INFO] [1713176577.994399174] [gazebo_ros2_control]: Loading controller_manager
[rviz2-1] [WARN] [1713176578.002588758] [rviz2.moveit.core.robot_model]: Could not identify parent group for end-effector 'end_effector'
[rviz2-1] [INFO] [1713176578.015226795] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1 1 1
[INFO] [spawn_entity.py-7]: process has finished cleanly [pid 49996]
[INFO] [ros2-8]: process started with pid [50423]
[gazebo-5] [INFO] [1713176578.052203716] [controller_manager]: Subscribing to '/controller_manager/robot_description' topic for robot description.
[gazebo-5] [WARN] [1713176578.052512698] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gazebo-5] [INFO] [1713176578.052878275] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gazebo-5] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[rviz2-1] [INFO] [1713176578.186458326] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1713176578.189956257] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::base_link::base_link_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::base_link::base_link_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor2Gv_1::Motor2Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor2Gv_1::Motor2Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor3Gv_1::Motor3Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor3Gv_1::Motor3Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor4Gv_1::Motor4Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor4Gv_1::Motor4Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor5Gv_1::Motor5Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor5Gv_1::Motor5Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor6Gv_1::Motor6Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor6Gv_1::Motor6Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor7Gv_1::Motor7Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor7Gv_1::Motor7Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::base_link::base_link_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::base_link::base_link_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor2Gv_1::Motor2Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor3Gv_1::Motor3Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor4Gv_1::Motor4Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor5Gv_1::Motor5Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor6Gv_1::Motor6Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor7Gv_1::Motor7Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor2Gv_1::Motor2Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor3Gv_1::Motor3Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor4Gv_1::Motor4Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor5Gv_1::Motor5Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor6Gv_1::Motor6Gv_1_visual. Object will appear white
[gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor7Gv_1::Motor7Gv_1_visual. Object will appear white
[gazebo-5] [INFO] [1713176579.604446193] [controller_manager]: Loading controller 'joint_state_broadcaster'
[gazebo-5] [INFO] [1713176579.646506575] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[gazebo-5] [INFO] [1713176579.646888172] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2-8] Successfully loaded controller joint_state_broadcaster into state active
[INFO] [ros2-8]: process has finished cleanly [pid 50423]
[INFO] [ros2-9]: process started with pid [50507]
[gazebo-5] [INFO] [1713176580.785087231] [controller_manager]: Loading controller 'arm_controller'
[gazebo-5] [INFO] [1713176580.844175531] [controller_manager]: Configuring controller 'arm_controller'
[gazebo-5] [INFO] [1713176580.844424041] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gazebo-5] [INFO] [1713176580.844523688] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gazebo-5] [INFO] [1713176580.844552419] [arm_controller]: Using 'splines' interpolation method.
[gazebo-5] [INFO] [1713176580.850164078] [arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2-9] Successfully loaded controller arm_controller into state active
Hello, I am trying to export myy RVIZ work to Gazebo. However, whenever I use gezebo_ros2_control packages to control my robot's joints I get these two errors:
[gazebo-5] [ERROR] [1713176577.993734591] [gazebo_ros2_control]: Parameter 'hold_joints' has already been declared, parameter 'hold_joints' has already been declared
and
[gazebo-5] [ERROR] [1713176577.948738083] [control]: No parameter file provided. Configuration might be wrong [gazebo-5] [ERROR] [1713176577.949836711] [control]: failed to parse input yaml file(s)
I dont declare the parameter called hold_joints in my workspace anywhere. How can I solve this?
Terminal Output:
control.xacro file:
My launch file:
ros2_controller.yaml file:
My urdf file:
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