ROS2 Galactic Gazebo Spawn Error

edit

Hi,

I'm trying to run the first command from the official UR Gazebo package and I'm running into the following error. Support for ROS2 is very limited and I'm not able to pinpoint the problem origin. Please help!

*

   /opt/ros/galactic/lib/python3.8/site-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] Traceback (most recent call last): [spawn_entity.py-6]   

 File "/opt/ros/galactic/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support [spawn_entity.py-6]     

 return importlib.import_module(module_name, package=pkg_name) [spawn_entity.py-6]  

 File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module [spawn_entity.py-6]     

 return _bootstrap._gcd_import(name[level:], package, level) [spawn_entity.py-6]   

 File "<frozen importlib._bootstrap>", line 1014, in _gcd_import [spawn_entity.py-6]   

 File "<frozen importlib._bootstrap>", line 991, in _find_and_load [spawn_entity.py-6]   

 File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked [spawn_entity.py-6]   

 File "<frozen importlib._bootstrap>", line 657, in _load_unlocked [spawn_entity.py-6]   

 File "<frozen importlib._bootstrap>", line 556, in module_from_spec [spawn_entity.py-6]   

 File "<frozen importlib._bootstrap_external>", line 1166, in create_module [spawn_entity.py-6]   

 File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed [spawn_entity.py-6] 

 ImportError: /opt/ros/galactic/lib/libgazebo_msgs__rosidl_generator_c.so: undefined symbol: geometry_msgs__msg__Vector3__Sequence__are_equal 

 [spawn_entity.py-6]  [spawn_entity.py-6] During handling of the above exception, another exception occurred: 

 [spawn_entity.py-6]  [spawn_entity.py-6] Traceback (most recent call last): 

 [spawn_entity.py-6]  File "/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py", line 365, in <module> 

 [spawn_entity.py-6]  main() [spawn_entity.py-6]   File "/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py", line 360, in main 

 [spawn_entity.py-6]  exit_code = spawn_entity_node.run() [spawn_entity.py-6]   File "/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py", line 223, in run 

 [spawn_entity.py-6]   success = self._spawn_entity(entity_xml, initial_pose, self.args.spawn_service_timeout) 

 [spawn_entity.py-6]   File "/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py", line 270, in _spawn_entity 

 [spawn_entity.py-6]   client = self.create_client(SpawnEntity, '%s/spawn_entity' % self.args.gazebo_namespace) 

 [spawn_entity.py-6]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 1407, in create_client 

 [spawn_entity.py-6]   check_is_valid_srv_type(srv_type) 

 [spawn_entity.py-6]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/type_support.py", line 51, in check_is_valid_srv_type 

 [spawn_entity.py-6]   check_for_type_support(srv_type) 

 [spawn_entity.py-6]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support 

 [spawn_entity.py-6]   msg_or_srv_type.__class__.__import_type_support__() 

 [spawn_entity.py-6]   File "/opt/ros/galactic/lib/python3.8/site-packages/gazebo_msgs/srv/_spawn_entity.py", line 355, in __import_type_support__ 

 [spawn_entity.py-6]   module = import_type_support('gazebo_msgs') 

 [spawn_entity.py-6]   File "/opt/ros/galactic/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support 

 [spawn_entity.py-6]   raise UnsupportedTypeSupport(pkg_name) 

 [spawn_entity.py-6]   rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'gazebo_msgs' 

 [ERROR] [spawn_entity.py-6]: process has died [pid 12218, exit code 1, cmd '/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py -entity ur -topic robot_description --ros-args -r __node:=spawn_ur']. 

*