y@y-Dell-G15-5511:~$ cd ~/colcon_ws
colcon build --packages-select learning_gazebo franka_robot_ign_pkg --symlink-install
source install/setup.bash
export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$HOME/colcon_ws/install/franka_description/share/franka_description:$HOME/colcon_ws/src/franka_description
ros2 launch franka_robot_ign_pkg load_car_arm_into_ign.launch.py
Starting >>> franka_robot_ign_pkg
Starting >>> learning_gazebo
Finished <<< franka_robot_ign_pkg [0.25s]
Finished <<< learning_gazebo [0.82s]
Summary: 2 packages finished [1.23s]
[INFO] [launch]: All log files can be found below /home/y/.ros/log/2025-10-21-10-59-56-597850-y-Dell-G15-5511-63420
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [63421]
[INFO] [create-2]: process started with pid [63423]
[INFO] [robot_state_publisher-3]: process started with pid [63426]
[INFO] [parameter_bridge-4]: process started with pid [63428]
[INFO] [ros2_control_node-5]: process started with pid [63430]
[create-2] [INFO] [1761015597.098326194] [ros_gz_sim]: Requesting list of world names.
[ros2_control_node-5] [WARN] [1761015597.102026634] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-5] text not specified in the prefix tag
[ros2_control_node-5] text not specified in the robot_ip tag
[ros2_control_node-5] text not specified in the arm_prefix tag
[ros2_control_node-5] [INFO] [1761015597.103024511] [resource_manager]: Loading hardware 'MbotBase'
[ros2_control_node-5] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[ros2_control_node-5] what(): According to the loaded plugin descriptions the class ign_ros2_control/IgnitionSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system test_unitilizable_system
[ros2_control_node-5] Stack trace (most recent call last):
[ros2_control_node-5] #21 Object "", at 0xffffffffffffffff, in
[ros2_control_node-5] #20 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x5593c1dbb7a4, in _start
[robot_state_publisher-3] [INFO] [1761015597.111174407] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-3] [INFO] [1761015597.111261558] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1761015597.111268179] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1761015597.111271931] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1761015597.111275913] [robot_state_publisher]: got segment fr3_hand
[robot_state_publisher-3] [INFO] [1761015597.111279344] [robot_state_publisher]: got segment fr3_hand_tcp
[robot_state_publisher-3] [INFO] [1761015597.111282323] [robot_state_publisher]: got segment fr3_leftfinger
[robot_state_publisher-3] [INFO] [1761015597.111285142] [robot_state_publisher]: got segment fr3_link0
[robot_state_publisher-3] [INFO] [1761015597.111287986] [robot_state_publisher]: got segment fr3_link1
[robot_state_publisher-3] [INFO] [1761015597.111290713] [robot_state_publisher]: got segment fr3_link2
[robot_state_publisher-3] [INFO] [1761015597.111293486] [robot_state_publisher]: got segment fr3_link3
[robot_state_publisher-3] [INFO] [1761015597.111296242] [robot_state_publisher]: got segment fr3_link4
[robot_state_publisher-3] [INFO] [1761015597.111299982] [robot_state_publisher]: got segment fr3_link5
[robot_state_publisher-3] [INFO] [1761015597.111304168] [robot_state_publisher]: got segment fr3_link6
[robot_state_publisher-3] [INFO] [1761015597.111308966] [robot_state_publisher]: got segment fr3_link7
[robot_state_publisher-3] [INFO] [1761015597.111313266] [robot_state_publisher]: got segment fr3_link8
[robot_state_publisher-3] [INFO] [1761015597.111318111] [robot_state_publisher]: got segment fr3_rightfinger
[robot_state_publisher-3] [INFO] [1761015597.111322888] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-3] [INFO] [1761015597.111327495] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-3] [INFO] [1761015597.111332362] [robot_state_publisher]: got segment rgbd_camera_frame
[robot_state_publisher-3] [INFO] [1761015597.111337056] [robot_state_publisher]: got segment right_wheel_link
[parameter_bridge-4] [INFO] [1761015597.116708178] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/points (ignition.msgs.PointCloudPacked) -> /d435/depth_camera/points (sensor_msgs/msg/PointCloud2)] (Lazy 0)
[parameter_bridge-4] [INFO] [1761015597.118111416] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/points (sensor_msgs/msg/PointCloud2) -> /d435/depth_camera/points (ignition.msgs.PointCloudPacked)] (Lazy 0)
[parameter_bridge-4] [INFO] [1761015597.118555704] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/camera_info (ignition.msgs.CameraInfo) -> /d435/depth_camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[parameter_bridge-4] [INFO] [1761015597.118940676] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/camera_info (sensor_msgs/msg/CameraInfo) -> /d435/depth_camera/camera_info (ignition.msgs.CameraInfo)] (Lazy 0)
[parameter_bridge-4] [INFO] [1761015597.119257287] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/image (ignition.msgs.Image) -> /d435/depth_camera/image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-4] [INFO] [1761015597.119558886] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/image (sensor_msgs/msg/Image) -> /d435/depth_camera/image (ignition.msgs.Image)] (Lazy 0)
[parameter_bridge-4] [INFO] [1761015597.119836591] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/depth_image (ignition.msgs.Image) -> /d435/depth_camera/depth_image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-4] [INFO] [1761015597.120069434] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/depth_image (sensor_msgs/msg/Image) -> /d435/depth_camera/depth_image (ignition.msgs.Image)] (Lazy 0)
[parameter_bridge-4] [INFO] [1761015597.120330272] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/ign/joint_states (ignition.msgs.JointState) -> /ign/joint_states (sensor_msgs/msg/JointState)] (Lazy 0)
[parameter_bridge-4] [WARN] [1761015597.120391377] [ros_gz_bridge]: Failed to create a bridge for topic [/ign/joint_states] with ROS2 type [sensor_msgs/msg/JointState] to topic [/ign/joint_states] with Gazebo Transport type [ignition.msgs.JointState]
[ros2_control_node-5] #19 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x70a361829e3f]
[ros2_control_node-5] #18 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x70a361829d8f]
[ros2_control_node-5] #17 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x5593c1dbad8a, in main
[ros2_control_node-5] #16 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x5593c1dbf3b6, in std::__shared_ptr<controller_manager::ControllerManager, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<controller_manager::ControllerManager>, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>(std::_Sp_alloc_shared_tag<std::allocator<controller_manager::ControllerManager> >, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)
[ros2_control_node-5] #15 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x5593c1dbdfd5, in void __gnu_cxx::new_allocator<controller_manager::ControllerManager>::construct<controller_manager::ControllerManager, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>(controller_manager::ControllerManager*, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) [clone .isra.0]
[ros2_control_node-5] #14 Object "/home/y/colcon_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x70a3621ccf30, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, 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&, rclcpp::NodeOptions const&)
[ros2_control_node-5] #13 Object "/home/y/colcon_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x70a3621cc0ef, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-5] #12 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a36176c602, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool)
[ros2_control_node-5] #11 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a361776cde, in hardware_interface::ResourceStorage::load_and_initialize_system(hardware_interface::HardwareInfo const&)
[ros2_control_node-5] #10 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a361776aa4, in auto hardware_interface::ResourceStorage::load_and_initialize_system(hardware_interface::HardwareInfo const&)::{lambda(auto:1&)#1}::operator()<std::vector<hardware_interface::System, std::allocator<hardware_interface::System> > >(std::vector<hardware_interface::System, std::allocator<hardware_interface::System> >&) const
[ros2_control_node-5] #9 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a36177c5b8, in void hardware_interface::ResourceStorage::load_hardware<hardware_interface::System, hardware_interface::SystemInterface>(hardware_interface::HardwareInfo const&, pluginlib::ClassLoader<hardware_interface::SystemInterface>&, std::vector<hardware_interface::System, std::allocator<hardware_interface::System> >&)
[ros2_control_node-5] #8 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a3617856f8, in pluginlib::ClassLoader<hardware_interface::SystemInterface>::createUnmanagedInstance(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-5] #7 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a3617932b2, in pluginlib::ClassLoader<hardware_interface::SystemInterface>::loadLibraryForClass(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x70a361cae4d7, in __cxa_throw
[ros2_control_node-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x70a361cae276, in std::terminate()
[ros2_control_node-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x70a361cae20b, in
[ros2_control_node-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x70a361ca2b9d, in
[ros2_control_node-5] #2 Source "./stdlib/abort.c", line 79, in abort [0x70a3618287f2]
[ros2_control_node-5] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x70a361842475]
[ros2_control_node-5] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-5] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-5] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x70a3618969fc]
[ros2_control_node-5] Aborted (Signal sent by tkill() 63430 1000)
[ERROR] [ros2_control_node-5]: process has died [pid 63430, exit code -6, cmd '/home/y/colcon_ws/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_kj56e4y8 --params-file /home/y/colcon_ws/install/franka_robot_ign_pkg/share/franka_robot_ign_pkg/config/combined_control.yaml'].
[create-2] [INFO] [1761015597.299843011] [ros_gz_sim]: Waiting messages on topic [robot_description].
[create-2] [INFO] [1761015597.310986549] [ros_gz_sim]: Requested creation of entity.
[create-2] [INFO] [1761015597.311007217] [ros_gz_sim]: OK creation of entity.
[INFO] [create-2]: process has finished cleanly [pid 63423]
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae]
[ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae]
[ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae]
[ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae]
[ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae]
[ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_link7_fixed_joint_lump__fr3_hand_visual_visual_1
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_leftfinger_visual_visual
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae]
[ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_rightfinger_visual_visual
[INFO] [spawner-6]: process started with pid [63636]
[spawner-6] [INFO] [1761015601.336484276] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[INFO] [spawner-7]: process started with pid [63647]
[spawner-7] [INFO] [1761015602.675100480] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1761015611.349752514] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1761015611.350203521] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1761015612.687883968] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1761015612.688196307] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1761015621.363558351] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1761015621.363927475] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1761015622.701563053] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1761015622.702023037] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1761015631.376885708] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1761015631.377258977] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1761015632.715195159] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1761015632.715501976] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1761015641.390840526] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1761015641.391161955] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1761015642.728738193] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1761015642.729250916] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1761015651.404737919] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1761015651.405213382] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1761015652.743278709] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1761015652.743677785] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1761015661.418379278] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1761015661.418844919] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1761015662.756565307] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1761015662.756932333] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1761015671.432476371] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1761015671.432818192] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1761015672.770154595] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1761015672.770469213] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1761015681.445747649] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1761015681.446056000] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1761015682.782932902] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1761015682.783458513] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...