Controller Spawner couldn't find the expected controller_manager ROS interface

asked 2020-03-31 13:48:56 -0500

drone_logic gravatar image

updated 2020-04-01 03:37:55 -0500

gvdhoorn gravatar image

Hi, I get this warning whenever I try to launch my robot in gazebo with diff_drive_controller and gazebo plugins libgazebo_ros_laser.so, libgazebo_ros_control.so.

Controller Spawner couldn't find the expected controller_manager ROS interface

It seems like ros_control doesn't run at all when I include the laser? This is not a problem with just the diff_drive

[INFO] [1585678585.252298, 89.853000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1585678586.063855, 89.958000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1585678586.066683, 89.958000]: Unpausing physics
[ INFO] [1585678586.100315200, 89.958000000]: Loading gazebo_ros_control plugin
[ INFO] [1585678586.101205700, 89.958000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1585678586.104152300, 89.958000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.

But it is with the laser, with nothing else changed

[INFO] [1585679144.481995, 89.942000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1585679145.164258, 89.951000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1585679145.171709, 89.957000]: Unpausing physics
[ INFO] [1585679145.178927200, 89.963000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1585679145.179602500, 89.964000000]: Starting Laser Plugin (ns = /)
[ INFO] [1585679145.187735000, 89.970000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[urdf_spawner-3] process has finished cleanly
log file: /home/gdev/.ros/log/30c85e64-7376-11ea-ac35-7085c25fb5eb/urdf_spawner-3*.log
[WARN] [1585679173.236681, 106.541000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[fourwheeler_controller_spawner-6] process has finished cleanly
log file: /home/gdev/.ros/log/30c85e64-7376-11ea-ac35-7085c25fb5eb/fourwheeler_controller_spawner-6*.log

Some parts of output omitted. I read posts by others who had the same problem and it looks like maybe WSL which I am using cannot load ros control fast enough for controller manager? This might be the problem, but I am not sure how to workaround this. I've included the controller spawner in a seperate launch file and load that last. There is conflicting evidence pointing to this being a timing issue as I can load the erratic robot with both fine. On the other hand, occasionally both do manage to load.

ROS Melodic, Ubuntu 18.04.4 LTS on WSL

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Comments

Hello, did you ever resolve Controller Spawner couldn't find the expected controller_manager ROS interface.?

matthewmarkey gravatar image matthewmarkey  ( 2020-05-12 05:04:12 -0500 )edit