i have problem with spawn entity the spawn entity has not upload the robot successfully even that the gazebo show me the robot and i can move it and go around with teleop node .

i use

• ROS2 Humble
• Ubuntu 22.04

if u need more information i will provide it .thank you

i also have an other problem which is the nav2 when i set the Nav2 goal the robot doesnt move throught the goal that i set for him if there is a relation between this problem and the na2 problem

MY Terminal

ros2 launch agvdescription launchsim.launch.py world:=./src/agv_description/worlds/rend.world [INFO] [launch]: All log files can be found below /home/yb425/.ros/log/2023-05-09-22-38-09-447133-yb425-desktop-336556 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robotstatepublisher-1]: process started with pid [336557] [INFO] [spawnentity.py-2]: process started with pid [336559] [INFO] [gzserver-3]: process started with pid [336561] [INFO] [gzclient-4]: process started with pid [336563] [INFO] [joynode-5]: process started with pid [336565] [INFO] [teleopnode-6]: process started with pid [336567] [robotstatepublisher-1] [INFO] [1683668290.216775662] [robotstatepublisher]: got segment basefootprint [robotstatepublisher-1] [INFO] [1683668290.216918439] [robotstatepublisher]: got segment baselink [robotstatepublisher-1] [INFO] [1683668290.216939116] [robotstatepublisher]: got segment casterwheel [robotstatepublisher-1] [INFO] [1683668290.216951955] [robotstatepublisher]: got segment chassis [robotstatepublisher-1] [INFO] [1683668290.216963612] [robotstatepublisher]: got segment laserframe [robotstatepublisher-1] [INFO] [1683668290.216974413] [robotstatepublisher]: got segment leftwheel [robotstatepublisher-1] [INFO] [1683668290.216985557] [robotstatepublisher]: got segment rightwheel [teleop_node-6] [INFO] [1683668290.221800037] [TeleopTwistJoy]: Teleop enable button 6. [teleop_node-6] [INFO] [1683668290.222843803] [TeleopTwistJoy]: Turbo on button 7. [teleop_node-6] [INFO] [1683668290.223351156] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.500000. [teleop_node-6] [INFO] [1683668290.223827588] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.000000. [teleop_node-6] [INFO] [1683668290.224303727] [TeleopTwistJoy]: Angular axis yaw on 0 at scale 0.500000. [teleop_node-6] [INFO] [1683668290.224432300] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.000000. [spawnentity.py-2] [INFO] [1683668290.819038463] [spawnentity]: Spawn Entity started [spawnentity.py-2] [INFO] [1683668290.819800005] [spawnentity]: Loading entity published on topic /robotdescription [spawnentity.py-2] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMWQOSPOLICYDURABILITYTRANSIENTLOCAL is deprecated. Use DurabilityPolicy.TRANSIENTLOCAL instead. [spawnentity.py-2] warnings.warn( [spawnentity.py-2] [INFO] [1683668290.823182109] [spawnentity]: Waiting for entity xml on /robotdescription [joynode-5] [INFO] [1683668290.838357607] [joynode]: No haptic (rumble) available, skipping initialization [joynode-5] [INFO] [1683668290.838523558] [joynode]: Opened joystick: ShanWan USB WirelessGamepad. deadzone: 0.050000 [spawnentity.py-2] [INFO] [1683668290.840465466] [spawnentity]: Waiting for service /spawnentity, timeout = 30 [spawnentity.py-2] [INFO] [1683668290.841388442] [spawnentity]: Waiting for service /spawnentity [gzserver-3] [WARN] [1683668291.652828464] [rcl]: Found remap rule '~/out:=scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=scan' instead. [gzserver-3] [WARN] [1683668291.661342526] [rcl]: Found remap rule '~/out:=scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=scan' instead. [gzserver-3] [INFO] [1683668291.693744882] [gazeboros2control]: Loading gazeboros2control plugin [gzserver-3] [INFO] [1683668291.703437644] [gazeboros2control]: Starting gazeboros2control plugin in namespace: / [gzserver-3] [INFO] [1683668291.703844557] [gazeboros2control]: Starting gazeboros2control plugin in ros 2 node: gazeboros2control [gzserver-3] [INFO] [1683668291.705545307] [gazeboros2control]: Loading parameter files /home/yb425/agvws/install/agvdescription/share/agvdescription/config/mycontrollers.yaml [gzserver-3] [INFO] [1683668291.715218158] [gazeboros2control]: connected to service!! robotstatepublisher [gzserver-3] [INFO] [1683668291.718315356] [gazeboros2control]: Recieved urdf from param server, parsing... [gzserver-3] [INFO] [1683668291.737189227] [gazeboros2control]: Loading joint: leftwheeljoint [gzserver-3] [INFO] [1683668291.737485361] [gazeboros2control]: State: [gzserver-3] [INFO] [1683668291.737558476] [gazeboros2control]: velocity [gzserver-3] [INFO] [1683668291.738071681] [gazeboros2control]: position [gzserver-3] [INFO] [1683668291.738289582] [gazeboros2control]: Command: [gzserver-3] [INFO] [1683668291.738379454] [gazeboros2control]: velocity [gzserver-3] [INFO] [1683668291.739049856] [gazeboros2control]: Loading joint: rightwheeljoint [gzserver-3] [INFO] [1683668291.739088491] [gazeboros2control]: State: [gzserver-3] [INFO] [1683668291.739108616] [gazeboros2control]: velocity [gzserver-3] [INFO] [1683668291.739130385] [gazeboros2control]: position [gzserver-3] [INFO] [1683668291.739162181] [gazeboros2control]: Command: [gzserver-3] [INFO] [1683668291.739187486] [gazeboros2control]: velocity [gzserver-3] [INFO] [1683668291.740120589] [resource_manager]: Initialize hardware 'GazeboSystem' [gzserver-3] [INFO] [1683668291.741574049] [resource_manager]: Successful initialization of hardware 'GazeboSystem' [gzserver-3] [INFO] [1683668291.742012913] [resource_manager]: 'configure' hardware 'GazeboSystem' [gzserver-3] [INFO] [1683668291.742032718] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem' [gzserver-3] [INFO] [1683668291.742045254] [resource_manager]: 'activate' hardware 'GazeboSystem' [gzserver-3] [INFO] [1683668291.742056219] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem' [gzserver-3] [INFO] [1683668291.742939200] [gazeboros2control]: Loading controllermanager [gzserver-3] [WARN] [1683668291.782196628] [gazeboros2control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-3] [INFO] [1683668291.783933226] [gazeboros2control]: Loaded gazeboros2control. [spawnentity.py-2] [INFO] [1683668291.848884022] [spawnentity]: Calling service /spawnentity [spawnentity.py-2] [INFO] [1683668291.877985612] [spawnentity]: Spawn status: Entity [myboot] already exists. [spawnentity.py-2] [ERROR] [1683668291.878830205] [spawnentity]: Spawn service failed. Exiting. [ERROR] [spawn_entity.py-2]: process has died [pid 336559, exit code 1, cmd '/opt/ros/humble/lib/gazeboros/spawnentity.py -topic /robotdescription -entity myboot --ros-args']. [INFO] [ros2-7]: process started with pid [336759] [gzserver-3] [INFO] [1683668293.027569702] [controllermanager]: Loading controller 'jointstatebroadcaster' [gzserver-3] [INFO] [1683668293.050220735] [controller_manager]: Setting usesimtime=True for jointstatebroadcaster to match controller manager (see ros2control#325 for details) [gzserver-3] [INFO] [1683668293.060526071] [controllermanager]: Configuring controller 'jointstatebroadcaster' [gzserver-3] [INFO] [1683668293.061815478] [jointstatebroadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ros2-7] Sucessfully loaded controller jointstatebroadcaster into state active [INFO] [ros2-7]: process has finished cleanly [pid 336759] [INFO] [ros2-8]: process started with pid [336802] [gzserver-3] [INFO] [1683668294.451084216] [controllermanager]: Loading controller 'diffdrivebasecontroller' [gzserver-3] [INFO] [1683668294.498095512] [controller_manager]: Setting usesimtime=True for diffdrivebasecontroller to match controller manager (see ros2control#325 for details) [gzserver-3] [INFO] [1683668294.508783212] [controller_manager]: Configuring controller 'diffdrivebasecontroller' [gzserver-3] [INFO] [1683668294.508970339] [diffdrivebasecontroller]: Parameters were updated [ros2-8] Sucessfully loaded controller diffdrivebasecontroller into state active [INFO] [ros2-8]: process has finished cleanly [pid 336802] [gzclient-4] [gzclient-4] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [teleopnode-6] [INFO] [1683668407.377403808] [rclcpp]: signalhandler(signum=2) [robotstatepublisher-1] [INFO] [1683668407.377398860] [rclcpp]: signalhandler(signum=2) [joy_node-5] [INFO] [1683668407.377556328] [rclcpp]: signalhandler(signum=2) [INFO] [teleop_node-6]: process has finished cleanly [pid 336567]