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[Bug]: Exception occured in the Load function of plugin with name[locobot/wheel_drop_left_plugin] and filename[libgazebo_ros_create_wheel_drop.so] #72

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ncnynl opened this issue Jul 12, 2024 · 0 comments
Open

[Bug]: Exception occured in the Load function of plugin with name[locobot/wheel_drop_left_plugin] and filename[libgazebo_ros_create_wheel_drop.so] #72

ncnynl opened this issue Jul 12, 2024 · 0 comments
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bug Something isn't working rovers Issues related to rovers

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@ncnynl
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ncnynl commented Jul 12, 2024

What happened?

gzserver-1] [INFO] [1720760152.741571849] [locobot.camera_frame_controller]: Publishing depth camera info to [/locobot/camera_frame_sensor/depth/camera_info]
[gzserver-1] [INFO] [1720760152.744494261] [locobot.camera_frame_controller]: Publishing pointcloud to [/locobot/camera_frame_sensor/points]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 39071]
[INFO] [spawner-6]: process started with pid [39292]
[gzserver-1] [Err] [Model.cc:1160] Exception occured in the Load function of plugin with name[locobot/wheel_drop_left_plugin] and filename[libgazebo_ros_create_wheel_drop.so]. This plugin will not run.
[gzserver-1] [Err] [Model.cc:1160] Exception occured in the Load function of plugin with name[locobot/wheel_drop_right_plugin] and filename[libgazebo_ros_create_wheel_drop.so]. This plugin will not run.
[gzserver-1] [INFO] [1720760153.297180499] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1720760153.342823686] [locobot.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /locobot
[gzserver-1] [INFO] [1720760153.342978960] [locobot.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control

Robot Model

ros2 launch interbotix_xslocobot_sim xslocobot_gz_classic.launch.py robot_model:=locobot_wx200 verbose:=true

Operating System

Ubuntu 22.04

ROS Distro

ROS 2 Humble

Steps To Reproduce

ros2 launch interbotix_xslocobot_sim xslocobot_gz_classic.launch.py robot_model:=locobot_wx200 verbose:=true

Relevant log output

ubuntu@T4ARM-V400:~$ ros2 launch interbotix_xslocobot_sim xslocobot_gz_classic.launch.py robot_model:=locobot_wx200 verbose:=true
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-07-12-12-55-46-544388-T4ARM-V400-39065
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [39067]
[INFO] [gzclient-2]: process started with pid [39069]
[INFO] [spawn_entity.py-3]: process started with pid [39071]
[INFO] [robot_state_publisher-4]: process started with pid [39073]
[INFO] [rviz2-5]: process started with pid [39075]
[gzclient-2] Gazebo multi-robot simulator, version 11.10.2
[gzclient-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-2] Released under the Apache 2 License.
[gzclient-2] http://gazebosim.org
[gzclient-2] 
[gzserver-1] Gazebo multi-robot simulator, version 11.10.2
[gzserver-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-1] Released under the Apache 2 License.
[gzserver-1] http://gazebosim.org
[gzserver-1] 
[gzclient-2] [Msg] Waiting for master.
[gzclient-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-2] [Msg] Publicized address: 192.168.0.222
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ubuntu/ros2_turbot4_arm_ws/install/interbotix_common_sim/share/ament_index"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ubuntu/ros2_turbot4_arm_ws/install/interbotix_common_sim/share/colcon-core"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ubuntu/ros2_turbot4_arm_ws/install/interbotix_common_sim/share/interbotix_common_sim"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ubuntu/ros2_turbot4_arm_ws/install/interbotix_xslocobot_descriptions/share/ament_index"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ubuntu/ros2_turbot4_arm_ws/install/interbotix_xslocobot_descriptions/share/colcon-core"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ubuntu/ros2_turbot4_arm_ws/install/interbotix_xslocobot_descriptions/share/interbotix_xslocobot_descriptions"
[gzclient-2] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available.
[gzserver-1] [INFO] [1720760152.026650388] [locobot.cliff_front_left]: Started plugin
[gzserver-1] [INFO] [1720760152.038404373] [locobot.cliff_front_right]: Started plugin
[gzserver-1] [INFO] [1720760152.047511130] [locobot.cliff_side_left]: Started plugin
[gzserver-1] [INFO] [1720760152.064242016] [locobot.cliff_side_right]: Started plugin
[gzserver-1] [Msg] Waiting for master.
[gzserver-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-1] [Msg] Publicized address: 192.168.0.222
[gzserver-1] [Msg] Loading world file [/home/ubuntu/ros2_turbot4_arm_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world]
[gzserver-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-1] [INFO] [1720760152.727139293] [locobot.camera_frame_controller]: Publishing camera info to [/locobot/camera_frame_sensor/camera_info]
[gzserver-1] [INFO] [1720760152.741571849] [locobot.camera_frame_controller]: Publishing depth camera info to [/locobot/camera_frame_sensor/depth/camera_info]
[gzserver-1] [INFO] [1720760152.744494261] [locobot.camera_frame_controller]: Publishing pointcloud to [/locobot/camera_frame_sensor/points]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 39071]
[INFO] [spawner-6]: process started with pid [39292]
[gzserver-1] [Err] [Model.cc:1160] Exception occured in the Load function of plugin with name[locobot/wheel_drop_left_plugin] and filename[libgazebo_ros_create_wheel_drop.so]. This plugin will not run.
[gzserver-1] [Err] [Model.cc:1160] Exception occured in the Load function of plugin with name[locobot/wheel_drop_right_plugin] and filename[libgazebo_ros_create_wheel_drop.so]. This plugin will not run.
[gzserver-1] [INFO] [1720760153.297180499] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1720760153.342823686] [locobot.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /locobot
[gzserver-1] [INFO] [1720760153.342978960] [locobot.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1720760153.346644661] [locobot.gazebo_ros2_control]: Loading parameter files /home/ubuntu/ros2_turbot4_arm_ws/install/interbotix_xslocobot_sim/share/interbotix_xslocobot_sim/config/create3_version/locobot_wx200_controllers.yaml
[gzserver-1] [INFO] [1720760153.384836733] [locobot.gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1720760153.401072075] [locobot.gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1720760153.525669390] [locobot.gazebo_ros2_control]: Loading joint: left_wheel_joint
[gzserver-1] [INFO] [1720760153.526638867] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.526899083] [locobot.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1720760153.528578449] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.529259552] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.529502760] [locobot.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1720760153.532288203] [resource_manager]: Initialize hardware 'locobot/left_wheel_controller' 
[gzserver-1] [INFO] [1720760153.537257714] [resource_manager]: Successful initialization of hardware 'locobot/left_wheel_controller'
[gzserver-1] [INFO] [1720760153.538857458] [resource_manager]: 'configure' hardware 'locobot/left_wheel_controller' 
[gzserver-1] [INFO] [1720760153.538975571] [resource_manager]: Successful 'configure' of hardware 'locobot/left_wheel_controller'
[gzserver-1] [INFO] [1720760153.539003372] [resource_manager]: 'activate' hardware 'locobot/left_wheel_controller' 
[gzserver-1] [INFO] [1720760153.539028102] [resource_manager]: Successful 'activate' of hardware 'locobot/left_wheel_controller'
[gzserver-1] [INFO] [1720760153.540194293] [locobot.gazebo_ros2_control]: Loading joint: right_wheel_joint
[gzserver-1] [INFO] [1720760153.540588034] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.540656693] [locobot.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1720760153.540719562] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.540777522] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.540891603] [locobot.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1720760153.541128087] [resource_manager]: Initialize hardware 'locobot/right_wheel_controller' 
[gzserver-1] [INFO] [1720760153.541428204] [resource_manager]: Successful initialization of hardware 'locobot/right_wheel_controller'
[gzserver-1] [INFO] [1720760153.541559035] [resource_manager]: 'configure' hardware 'locobot/right_wheel_controller' 
[gzserver-1] [INFO] [1720760153.541601510] [resource_manager]: Successful 'configure' of hardware 'locobot/right_wheel_controller'
[gzserver-1] [INFO] [1720760153.541622300] [resource_manager]: 'activate' hardware 'locobot/right_wheel_controller' 
[gzserver-1] [INFO] [1720760153.541638608] [resource_manager]: Successful 'activate' of hardware 'locobot/right_wheel_controller'
[gzserver-1] [INFO] [1720760153.542193714] [locobot.gazebo_ros2_control]: Loading joint: waist
[gzserver-1] [INFO] [1720760153.542356863] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.542401149] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.542483803] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.542514769] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.544270471] [locobot.gazebo_ros2_control]: Loading joint: shoulder
[gzserver-1] [INFO] [1720760153.544419483] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.544449016] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.544481598] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.544499378] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.545554252] [locobot.gazebo_ros2_control]: Loading joint: elbow
[gzserver-1] [INFO] [1720760153.545629086] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.545654298] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.545713395] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.545730192] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.545795403] [locobot.gazebo_ros2_control]: Loading joint: wrist_angle
[gzserver-1] [INFO] [1720760153.545820873] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.545836199] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.545852077] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.545866862] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.545916965] [locobot.gazebo_ros2_control]: Loading joint: wrist_rotate
[gzserver-1] [INFO] [1720760153.545942602] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.545962482] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.545985113] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.546003099] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.546065216] [locobot.gazebo_ros2_control]: Loading joint: gripper
[gzserver-1] [INFO] [1720760153.546090418] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.546110903] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.546129971] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.546149220] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.546186819] [locobot.gazebo_ros2_control]: Loading joint: left_finger
[gzserver-1] [INFO] [1720760153.546209245] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.546226900] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.546245007] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.546263017] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.546378421] [locobot.gazebo_ros2_control]: Loading joint: right_finger
[gzserver-1] [INFO] [1720760153.546404931] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.546423486] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.546445249] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.546464259] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.546612888] [resource_manager]: Initialize hardware 'XSHardwareInterface' 
[gzserver-1] [INFO] [1720760153.548197295] [resource_manager]: Successful initialization of hardware 'XSHardwareInterface'
[gzserver-1] [INFO] [1720760153.548338332] [resource_manager]: 'configure' hardware 'XSHardwareInterface' 
[gzserver-1] [INFO] [1720760153.548361350] [resource_manager]: Successful 'configure' of hardware 'XSHardwareInterface'
[gzserver-1] [INFO] [1720760153.548380766] [resource_manager]: 'activate' hardware 'XSHardwareInterface' 
[gzserver-1] [INFO] [1720760153.548395618] [resource_manager]: Successful 'activate' of hardware 'XSHardwareInterface'
[gzserver-1] [INFO] [1720760153.548772229] [locobot.gazebo_ros2_control]: Loading joint: pan
[gzserver-1] [INFO] [1720760153.548927555] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.548981400] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.549040697] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.549082820] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.549280761] [locobot.gazebo_ros2_control]: Loading joint: tilt
[gzserver-1] [INFO] [1720760153.549312928] [locobot.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1720760153.549329935] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.549355718] [locobot.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1720760153.549373938] [locobot.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1720760153.549457127] [resource_manager]: Initialize hardware 'camera_controller' 
[gzserver-1] [INFO] [1720760153.549540955] [resource_manager]: Successful initialization of hardware 'camera_controller'
[gzserver-1] [INFO] [1720760153.549639717] [resource_manager]: 'configure' hardware 'camera_controller' 
[gzserver-1] [INFO] [1720760153.549659545] [resource_manager]: Successful 'configure' of hardware 'camera_controller'
[gzserver-1] [INFO] [1720760153.549672640] [resource_manager]: 'activate' hardware 'camera_controller' 
[gzserver-1] [INFO] [1720760153.549684851] [resource_manager]: Successful 'activate' of hardware 'camera_controller'
[gzserver-1] [INFO] [1720760153.551753212] [locobot.gazebo_ros2_control]: Loading controller_manager
[gzserver-1] [INFO] [1720760153.701022810] [locobot.gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gzserver-1] [INFO] [1720760153.781011381] [locobot.mouse_plugin]: Starting optical mouse plugin
[gzserver-1] [INFO] [1720760153.864896559] [locobot.ir_omni_plugin]: Starting ir opcode plugin
[gzserver-1] [INFO] [1720760154.066824652] [locobot.dock_status_publisher]: Starting ir opcode plugin
[gzserver-1] [WARN] [1720760154.072729095] [locobot.dock_status_publisher]: standard_dock model is not ready yet
[gzserver-1] [INFO] [1720760154.975100428] [locobot.controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1720760155.461242717] [joint_state_broadcaster_spawner]: Loaded joint_state_broadcaster
[gzserver-1] [INFO] [1720760155.487409148] [locobot.controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1720760155.493441796] [locobot.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1720760155.777812259] [joint_state_broadcaster_spawner]: Configured and activated joint_state_broadcaster
[gzclient-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
[INFO] [spawner-6]: process has finished cleanly [pid 39292]
[INFO] [spawner-7]: process started with pid [39323]
[INFO] [spawner-8]: process started with pid [39325]
[INFO] [spawner-9]: process started with pid [39327]
[INFO] [spawner-10]: process started with pid [39329]
[gzserver-1] [INFO] [1720760161.174669154] [locobot.controller_manager]: Loading controller 'arm_controller'
[gzserver-1] [WARN] [1720760161.728728316] [locobot.arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[gzserver-1] [WARN] [1720760161.841167628] [locobot.controller_manager.rclcpp]: failed to send response to /locobot/controller_manager/load_controller (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314
[gzserver-1] [WARN] [1720760161.944730334] [locobot.controller_manager.rclcpp]: failed to send response to /locobot/controller_manager/list_controllers (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314
[gzserver-1] [INFO] [1720760161.979028884] [locobot.controller_manager]: Loading controller 'diffdrive_controller'
[gzserver-1] [INFO] [1720760162.571021534] [locobot.controller_manager]: Loading controller 'gripper_controller'
[spawner-10] [INFO] [1720760162.752303382] [diffdrive_controller_spawner]: Loaded diffdrive_controller
[gzserver-1] [WARN] [1720760162.879283235] [locobot.gripper_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[gzserver-1] [INFO] [1720760162.906473860] [locobot.controller_manager]: Configuring controller 'diffdrive_controller'
[spawner-10] [INFO] [1720760163.089073526] [diffdrive_controller_spawner]: Configured and activated diffdrive_controller
[spawner-7] [INFO] [1720760163.098097234] [gripper_controller_spawner]: Loaded gripper_controller
[gzserver-1] [INFO] [1720760163.130603162] [locobot.controller_manager]: Configuring controller 'gripper_controller'
[gzserver-1] [INFO] [1720760163.131594810] [locobot.gripper_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-1] [INFO] [1720760163.131850781] [locobot.gripper_controller]: Command interfaces are [position] and state interfaces are [position].
[gzserver-1] [INFO] [1720760163.131949688] [locobot.gripper_controller]: Using 'splines' interpolation method.
[gzserver-1] [INFO] [1720760163.171454967] [locobot.gripper_controller]: Controller state will be published at 50.00 Hz.
[gzserver-1] [INFO] [1720760163.206510088] [locobot.gripper_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1720760163.438007326] [gripper_controller_spawner]: Configured and activated gripper_controller
[INFO] [spawner-10]: process has finished cleanly [pid 39329]
[INFO] [spawner-7]: process has finished cleanly [pid 39323]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[INFO] [robot_state_publisher-4]: process has finished cleanly [pid 39073]
[INFO] [rviz2-5]: process has finished cleanly [pid 39075]
[INFO] [gzclient-2]: process has finished cleanly [pid 39069]
[gzclient-2] 
[gzclient-2] 
[INFO] [gzserver-1]: process has finished cleanly [pid 39067]
[gzserver-1] 
[gzserver-1] 
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ERROR] [spawner-9]: process[spawner-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [spawner-8]: process[spawner-8] failed to terminate '5' seconds after r

Additional Info

ubuntu@T4ARM-V400:$ ros2 pkg xml ros2_control -t version
2.41.0
ubuntu@T4ARM-V400:$ ros2 pkg xml gazebo_ros2_control -t version
0.4.6
@ncnynl ncnynl added bug Something isn't working rovers Issues related to rovers labels Jul 12, 2024
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