[spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers (UR robot)

[LucaMIMOUNI]

Describe the bug
I am trying to launch the simulation for a UR10e robot using Universal_Robots_ROS2_Gazebo_Simulation. When launching ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py, I get the following error:
[spawner-2] [INFO] [1727077744.034227709] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1727077744.081321269] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers

(Cf screenshots below for the full message error)

To Reproduce
Steps to reproduce the behavior:

1. Go to Universal_Robots_ROS2_Gazebo_Simulation and Universal_Robots_ROS2_Description to get both simulation launch file and description of the robot.
2. git clone repertories in your workspace
3. do ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py
4. See error

Behavior

• Expected to launch correctly the controller in order to start move the robot.
• Gazebo simulation takes lot of times to load the environment and finally load the following (See 1st screenshot).
• Rviz seems to load correctly, and, thanks to moveit!, successfully plan a trajectory, but of course can't execute it (because controller_manager not available I suppose). (Cf 2nd screenshot)

Screenshots

Environment:

• OS: Ubuntu 22.04 Jammy
• Version ROS Humble
• Gazebo 11.10.2

Additional context
I have install humble through deb packages, but got similar error with source. I have correctly install ros2-control and ros2-controllers through sudo apt install ros-humble-ros2-control and sudo apt install ros-humble-ros2-controllers.

Finally, I've tried to launch following example: ros2_control_demo_example_9_Gazebo and controller_manager load well ! But when doing ros2 launch ros2_control_demo_example_9 test_forward_position_controller.launch.py or simply ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "data:- 0.5 - 0.5", robot start to teleport directly to the desired position, so here (0.5, 0.5).
Thanks !

[fmauch]

I just tried this locally and cannot really reproduce that. It sounds a bit like the problem, we tried to solve in #1680. Which version of ros2_control do you currently have installed? The fix should be available from version 2.43 on.

[fmauch]

I m trying to understand what you did in #1680 , should I pull something ?

No, that should already be included in 2.43.0.

Looking at your output in more detail (Please use a code section in future posts, that is much easier to parse than images) I am missing any output of gazebo_ros2_control. Do you have the package ros-humble-gazebo-ros2-control installed?

I would expect some kind of error output, though, if you did not have that installed.

Specifically, I am missing something like this:

[gzserver-4] [INFO] [1727089566.261520935] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin                                                                                                                                                                                                                        
[gzserver-4] [INFO] [1727089566.307508601] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /                                                                                                                                                                                                       
[gzserver-4] [INFO] [1727089566.308089400] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control                                                                                                                                                                                    
[gzserver-4] [INFO] [1727089566.357301674] [gazebo_ros2_control]: connected to service!! robot_state_publisher                                                                                                                                                                                                              
[gzserver-4] [INFO] [1727089566.369991680] [gazebo_ros2_control]: Received urdf from param server, parsing...                                                                                                                                                                                                               
[gzserver-4] [INFO] [1727089566.370167800] [gazebo_ros2_control]: Loading parameter files /home/ubuntu/checkout/ur_humble/colcon_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur_controllers.yaml                                                                                                      
[gzserver-4] [INFO] [1727089566.497004393] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint                                                                                                                                                                                                                         
[gzserver-4] [INFO] [1727089566.497099555] [gazebo_ros2_control]:       State:                                                                                                                                                                                                                                              
[gzserver-4] [INFO] [1727089566.497119370] [gazebo_ros2_control]:                position                                                                                                                                                                                                                                   
[gzserver-4] [INFO] [1727089566.497193085] [gazebo_ros2_control]:                        found initial value: 0.000000                                                                                                                                                                                                      
[gzserver-4] [INFO] [1727089566.497211993] [gazebo_ros2_control]:                velocity                                                                                                                                                                                                                                   
[gzserver-4] [INFO] [1727089566.497222375] [gazebo_ros2_control]:                effort                                                                                                                                                                                                                                     
[gzserver-4] [INFO] [1727089566.497250768] [gazebo_ros2_control]:       Command:                                                                              
[gzserver-4] [INFO] [1727089566.497261095] [gazebo_ros2_control]:                position                                                                     
[gzserver-4] [INFO] [1727089566.501875324] [gazebo_ros2_control]:                velocity                                                                     
[gzserver-4] [INFO] [1727089566.502011320] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint                                                          
[gzserver-4] [INFO] [1727089566.502032088] [gazebo_ros2_control]:       State:                                                                                
[gzserver-4] [INFO] [1727089566.502043524] [gazebo_ros2_control]:                position                                                                     
[gzserver-4] [INFO] [1727089566.502055277] [gazebo_ros2_control]:                        found initial value: -1.570000                                       
[gzserver-4] [INFO] [1727089566.502069813] [gazebo_ros2_control]:                velocity                                                                     
[gzserver-4] [INFO] [1727089566.502081025] [gazebo_ros2_control]:                effort                                                                       
[gzserver-4] [INFO] [1727089566.502090293] [gazebo_ros2_control]:       Command:                                                                              
[gzserver-4] [INFO] [1727089566.502099938] [gazebo_ros2_control]:                position                                                                     
[gzserver-4] [INFO] [1727089566.502203374] [gazebo_ros2_control]:                velocity                                                                     
[gzserver-4] [INFO] [1727089566.502286688] [gazebo_ros2_control]: Loading joint: elbow_joint                                                                  
[gzserver-4] [INFO] [1727089566.502300566] [gazebo_ros2_control]:       State:                                                                                
[gzserver-4] [INFO] [1727089566.502309550] [gazebo_ros2_control]:                position                                                                     
[gzserver-4] [INFO] [1727089566.502318403] [gazebo_ros2_control]:                        found initial value: 0.000000                                        
[gzserver-4] [INFO] [1727089566.502329560] [gazebo_ros2_control]:                velocity                                                                     
[gzserver-4] [INFO] [1727089566.502338945] [gazebo_ros2_control]:                effort                                                                       
[gzserver-4] [INFO] [1727089566.502360766] [gazebo_ros2_control]:       Command:                                                                              
[gzserver-4] [INFO] [1727089566.502370754] [gazebo_ros2_control]:                position                                                                     
[gzserver-4] [INFO] [1727089566.502456090] [gazebo_ros2_control]:                velocity                                                                     
[gzserver-4] [INFO] [1727089566.502531859] [gazebo_ros2_control]: Loading joint: wrist_1_joint                                                                
[gzserver-4] [INFO] [1727089566.502545910] [gazebo_ros2_control]:       State:                                                                                
[gzserver-4] [INFO] [1727089566.502554333] [gazebo_ros2_control]:                position                                                                     
[gzserver-4] [INFO] [1727089566.502562660] [gazebo_ros2_control]:                        found initial value: -1.570000                                       
[gzserver-4] [INFO] [1727089566.502573435] [gazebo_ros2_control]:                velocity           
[gzserver-4] [INFO] [1727089566.502581830] [gazebo_ros2_control]:                effort
[gzserver-4] [INFO] [1727089566.502589766] [gazebo_ros2_control]:       Command:         
[gzserver-4] [INFO] [1727089566.502597941] [gazebo_ros2_control]:                position                              
[gzserver-4] [INFO] [1727089566.502682755] [gazebo_ros2_control]:                velocity
[gzserver-4] [INFO] [1727089566.502765976] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-4] [INFO] [1727089566.502780875] [gazebo_ros2_control]:       State:                                                                                
[gzserver-4] [INFO] [1727089566.502790380] [gazebo_ros2_control]:                position
[gzserver-4] [INFO] [1727089566.502798954] [gazebo_ros2_control]:                        found initial value: 0.000000
[gzserver-4] [INFO] [1727089566.502809773] [gazebo_ros2_control]:                velocity   
[gzserver-4] [INFO] [1727089566.502818381] [gazebo_ros2_control]:                effort
[gzserver-4] [INFO] [1727089566.502826984] [gazebo_ros2_control]:       Command:         
[gzserver-4] [INFO] [1727089566.502835390] [gazebo_ros2_control]:                position                             
[gzserver-4] [INFO] [1727089566.502916317] [gazebo_ros2_control]:                velocity
[INFO] [spawn_entity.py-6]: process has finished cleanly [pid 36378]                                                                                          
[gzserver-4] [INFO] [1727089566.503011635] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-4] [INFO] [1727089566.503027407] [gazebo_ros2_control]:       State:                                                                                
[gzserver-4] [INFO] [1727089566.503037307] [gazebo_ros2_control]:                position
[gzserver-4] [INFO] [1727089566.503046107] [gazebo_ros2_control]:                        found initial value: 0.000000
[gzserver-4] [INFO] [1727089566.503075635] [gazebo_ros2_control]:                velocity
[gzserver-4] [INFO] [1727089566.503088186] [gazebo_ros2_control]:                effort  
[gzserver-4] [INFO] [1727089566.503098240] [gazebo_ros2_control]:       Command:                                       
[gzserver-4] [INFO] [1727089566.503108619] [gazebo_ros2_control]:                position
[gzserver-4] [INFO] [1727089566.503197917] [gazebo_ros2_control]:                velocity
[gzserver-4] [INFO] [1727089566.503425453] [resource_manager]: Initialize hardware 'ur' 
[gzserver-4] [INFO] [1727089566.503751820] [resource_manager]: Successful initialization of hardware 'ur'
[gzserver-4] [INFO] [1727089566.503915101] [resource_manager]: 'configure' hardware 'ur' 
[gzserver-4] [INFO] [1727089566.503931184] [resource_manager]: Successful 'configure' of hardware 'ur'
[gzserver-4] [INFO] [1727089566.503952590] [resource_manager]: 'activate' hardware 'ur' 
[gzserver-4] [INFO] [1727089566.503961913] [resource_manager]: Successful 'activate' of hardware 'ur'
[gzserver-4] [INFO] [1727089566.509357677] [gazebo_ros2_control]: Loading controller_manager                          
[gzserver-4] [WARN] [1727089566.705769938] [gazebo_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-4] [INFO] [1727089566.707405797] [gazebo_ros2_control]: Loaded gazebo_ros2_control.

Did you run

rosdep update && rosdep install --ignore-src --from-paths . -y

as suggested in https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation?tab=readme-ov-file#setup-ros-workspace?

[LucaMIMOUNI]

Here is my output with codesection (Didn't know about this thx):

luca@luca-TravelMate-TCO:~$ ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py
[INFO] [launch]: All log files can be found below /home/luca/.ros/log/2024-09-23-13-23-16-847606-luca-TravelMate-TCO-77010
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [77021]
[INFO] [spawner-2]: process started with pid [77023]
[INFO] [spawner-3]: process started with pid [77025]
[INFO] [gzserver-4]: process started with pid [77027]
[INFO] [gzclient-5]: process started with pid [77029]
[INFO] [spawn_entity.py-6]: process started with pid [77031]
[INFO] [move_group-7]: process started with pid [77033]
[INFO] [rviz2-8]: process started with pid [77035]
[INFO] [servo_node_main-9]: process started with pid [77037]
[rviz2-8] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[servo_node_main-9] [WARN] [1727090597.860677814] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: 
[servo_node_main-9] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-9] to the Servo composable node in the launch file
[move_group-7] [WARN] [1727090597.869557410] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[robot_state_publisher-1] [INFO] [1727090597.883865970] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1727090597.883985471] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1727090597.884000456] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-1] [INFO] [1727090597.884010461] [robot_state_publisher]: got segment flange
[robot_state_publisher-1] [INFO] [1727090597.884019230] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-1] [INFO] [1727090597.884027667] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-1] [INFO] [1727090597.884035769] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-1] [INFO] [1727090597.884043754] [robot_state_publisher]: got segment tool0
[robot_state_publisher-1] [INFO] [1727090597.884052269] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-1] [INFO] [1727090597.884060419] [robot_state_publisher]: got segment world
[robot_state_publisher-1] [INFO] [1727090597.884068565] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-1] [INFO] [1727090597.884076457] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-1] [INFO] [1727090597.884084510] [robot_state_publisher]: got segment wrist_3_link
[servo_node_main-9] [INFO] [1727090597.888011392] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.026155 seconds
[servo_node_main-9] [INFO] [1727090597.888053554] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node_main-9] [INFO] [1727090597.888063315] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-9] [WARN] [1727090597.900488665] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[move_group-7] [INFO] [1727090597.903603989] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-7] [INFO] [1727090597.903641225] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[move_group-7] [INFO] [1727090597.903650023] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-9] [INFO] [1727090597.934488986] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node_main-9] [INFO] [1727090597.937409553] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-9] [INFO] [1727090597.937441869] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_node_main-9] [INFO] [1727090597.938187317] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node_main-9] [INFO] [1727090597.939476733] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[move_group-7] [INFO] [1727090597.957689770] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-7] [INFO] [1727090597.957886505] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-7] [INFO] [1727090597.958280220] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-7] [INFO] [1727090597.958673277] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-7] [INFO] [1727090597.958692394] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-7] [INFO] [1727090597.960101368] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-7] [INFO] [1727090597.960135202] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-7] [INFO] [1727090597.960896357] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-7] [INFO] [1727090597.961731847] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-7] [WARN] [1727090597.962055388] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-7] [ERROR] [1727090597.962074701] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-7] [INFO] [1727090597.966883284] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-7] [INFO] [1727090597.979460792] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-7] [INFO] [1727090597.982126657] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-7] [INFO] [1727090597.982157321] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-7] [INFO] [1727090597.982164511] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-7] [INFO] [1727090597.982183037] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-7] [INFO] [1727090597.982203443] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-7] [INFO] [1727090597.982211238] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1727090597.982226254] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1727090597.982233067] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-7] [INFO] [1727090597.982239720] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-7] [INFO] [1727090597.982254101] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-7] [INFO] [1727090597.982259863] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-7] [INFO] [1727090597.982264065] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-7] [INFO] [1727090597.982268342] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-7] [INFO] [1727090597.982272519] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-7] [INFO] [1727090598.014394804] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-7] [INFO] [1727090598.015621081] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-7] [INFO] [1727090598.016152803] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-7] [INFO] [1727090598.016185439] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-7] [INFO] [1727090598.018735761] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-7] [INFO] [1727090598.018771545] [move_group.move_group]: MoveGroup debug mode is ON
[servo_node_main-9] [WARN] [1727090598.048020690] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[servo_node_main-9] [WARN] [1727090598.048060933] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows
[move_group-7] [INFO] [1727090598.070871977] [move_group.move_group]: 
[move_group-7] 
[move_group-7] ********************************************************
[move_group-7] * MoveGroup using: 
[move_group-7] *     - ApplyPlanningSceneService
[move_group-7] *     - ClearOctomapService
[move_group-7] *     - CartesianPathService
[move_group-7] *     - ExecuteTrajectoryAction
[move_group-7] *     - GetPlanningSceneService
[move_group-7] *     - KinematicsService
[move_group-7] *     - MoveAction
[move_group-7] *     - MotionPlanService
[move_group-7] *     - QueryPlannersService
[move_group-7] *     - StateValidationService
[move_group-7] ********************************************************
[move_group-7] 
[move_group-7] [INFO] [1727090598.070919168] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-7] [INFO] [1727090598.070930180] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-7] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-7] Loading 'move_group/ClearOctomapService'...
[move_group-7] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-7] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-7] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-7] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-7] Loading 'move_group/MoveGroupMoveAction'...
[move_group-7] Loading 'move_group/MoveGroupPlanService'...
[move_group-7] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-7] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-7] 
[move_group-7] You can start planning now!
[move_group-7] 
[rviz2-8] [INFO] [1727090598.209937459] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-8] [INFO] [1727090598.209990741] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[spawner-3] [INFO] [1727090598.218525422] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-8] [INFO] [1727090598.221275662] [rviz2]: Stereo is NOT SUPPORTED
[spawner-2] [INFO] [1727090598.263756494] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-8] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-8]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[spawn_entity.py-6] [INFO] [1727090598.312246323] [spawn_ur]: Spawn Entity started
[spawn_entity.py-6] [INFO] [1727090598.312431436] [spawn_ur]: Loading entity published on topic robot_description
[spawn_entity.py-6] /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-6]   warnings.warn(
[spawn_entity.py-6] [INFO] [1727090598.313479915] [spawn_ur]: Waiting for entity xml on robot_description
[spawn_entity.py-6] [INFO] [1727090598.315021890] [spawn_ur]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-6] [INFO] [1727090598.315154588] [spawn_ur]: Waiting for service /spawn_entity
[spawn_entity.py-6] [INFO] [1727090598.818004264] [spawn_ur]: Calling service /spawn_entity
[spawn_entity.py-6] [INFO] [1727090599.016775319] [spawn_ur]: Spawn status: SpawnEntity: Successfully spawned entity [ur]
[INFO] [spawn_entity.py-6]: process has finished cleanly [pid 77031]
[rviz2-8] [ERROR] [1727090601.320035094] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-8] [INFO] [1727090601.332538339] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-8] [INFO] [1727090601.397286870] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0143563 seconds
[rviz2-8] [INFO] [1727090601.397322901] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-8] [INFO] [1727090601.397329588] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-8] [INFO] [1727090601.440074785] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-8] [INFO] [1727090601.441029585] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-8] [INFO] [1727090601.591272313] [interactive_marker_display_98382512799808]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-8] [INFO] [1727090601.595247328] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-8] [INFO] [1727090601.595272695] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-8] [INFO] [1727090601.598954921] [interactive_marker_display_98382512799808]: Sending request for interactive markers
[rviz2-8] [INFO] [1727090601.602689379] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-8] [INFO] [1727090601.631013299] [interactive_marker_display_98382512799808]: Service response received for initialization
[spawner-3] [WARN] [1727090608.232206190] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-3] [INFO] [1727090608.232472976] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1727090608.278360134] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1727090608.278627222] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1727090618.247184739] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-3] [INFO] [1727090618.247448934] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1727090618.294007065] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1727090618.294360556] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...

Seems like gazebo-ros2-control is well installed:

luca@luca-TravelMate-TCO:~$ sudo apt install ros-humble-gazebo-ros2-control
[sudo] password for luca: 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-humble-gazebo-ros2-control is already the newest version (0.4.9-1jammy.20240911.164159).
The following packages were automatically installed and are no longer required:
  libwpe-1.0-1 libwpebackend-fdo-1.0-1 linux-headers-6.5.0-18-generic linux-hwe-6.5-headers-6.5.0-18 linux-image-6.5.0-18-generic linux-modules-6.5.0-18-generic linux-modules-extra-6.5.0-18-generic
  mercurial mercurial-common python3-colcon-mixin python3-vcstools ros-build-essential sqlite3
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.

Just did again the installation as explained here UR_Gazebo_installation_for_humble:

• cd $COLCON_WS/src
• git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation.git
• rosdep update && rosdep install --ignore-src --from-paths . -y

luca@luca-TravelMate-TCO:~/ros2_ws/src$ rosdep update && rosdep install --ignore-src --from-paths . -y
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit file:///usr/share/python3-rosdep2/debian.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Add distro "iron"
Skip end-of-life distro "jade"
Add distro "jazzy"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/luca/.ros/rosdep/sources.cache
#All required rosdeps installed successfully

• cd $COLCON_WS
• colcon build --symlink-install

Still got same message error.

Could maybe come from my .bashrc. I tried to use a different dds, but don't changed anything. Also have both humble and gazebo_ros2_control from source, but don't seems to change anything too, so I m using debian packages installed with command: sudo apt install <debian_pkg>

# DDS
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

# Sourcing Ros2
#source /home/luca/ros2_humble/install/setup.bash
source /opt/ros/humble/setup.bash
source /home/luca/ros2_ws/install/setup.bash

# Sourcing gazebo
source /usr/share/gazebo/setup.sh
#source /home/luca/gz_ros2_control_ws/install/setup.bash

[LucaMIMOUNI]

Just find the culprit ! When going on this link Ur_Gazebo_HUMBLE and git clone it, it was git cloning the rolling branch !

The correct command line is git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git, and now it's working fine. Thats totally my bad, as a beginner I didn't notice that I wasn't git clonning the humble branch even if I was on the correct web link Ur_Gazebo_HUMBLE.

Thanks sir to have taken bit of your time to help me.

[fmauch]

Ah, that totally explains it. For rolling we refactored things so that the ros2_control tag gets added in the ur_simulation_gazebo package. So, you never had a ros2_control tag and hence never had any gazebo_ros2_control started.

I'm glad that things are working for you now!