Hi everyone I am currently working on a robotic arm project using ROS 2 Humble Hawksbill and Gazebo Ignition Fortress for simulation. I have a URDF file describing the robot, and I am using Gazebo to simulate it. However, I am encountering an error when trying to load the Gazebo plugin for ROS 2 control. Here is the output from the terminal:

[ros2_control_node-5] [INFO] [1689143561.165551950] [resource_manager]: Loading hardware 'GazeboSystem' [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 gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem ros2_control_demo_example_1/RRBotSystemPositionOnlyHardware test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system.

This error prevents me from controlling and interacting with the robot in Gazebo. I have made sure that the controllers are being loaded successfully, as indicated by the terminal output. However, I am still unable to resolve the issue.

Steps to reproduce:

• Launch the simulation using ros2 launch kr210_arm gazebo.launch.py
• Observe the terminal output for error messages

Expected behavior: The Gazebo plugin for ROS 2 control should load successfully, allowing control and interaction with the robot in the simulation.

Additional information:

• ROS 2 version: Humble Hawksbill

• Gazebo version: Ignition Fortress

• WSL2 Ubuntu 22.04

I would appreciate any insights or suggestions on how to resolve this issue. Thank you in advance for your help!

code for my project