Edit: @danzimmerman i updated my code. Thanks for mentioning the typo in https://answers.ros.org/question/415787/error-when-running-launch-file-with-joint_trajectory_controller/ :) i literary missed it every time i read my code.

Unfortunetly this didnt solve the issue:

I updated my config.yaml and got rid of the gripper_cont since i don't really need it:

I got the following output in my terminal:

ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch gripper gripper_controller_gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-05-27-08-43-42-615190-ubuntu-3461
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [3470]
[INFO] [gzserver-2]: process started with pid [3472]
[INFO] [gzclient-3]: process started with pid [3474]
[INFO] [spawn_entity.py-4]: process started with pid [3476]
[INFO] [spawner-5]: process started with pid [3478]
[INFO] [spawner-6]: process started with pid [3480]
[INFO] [spawner-7]: process started with pid [3482]
[robot_state_publisher-1] [INFO] [1685169827.349544493] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1685169827.349730990] [robot_state_publisher]: got segment connector_link
[robot_state_publisher-1] [INFO] [1685169827.349759410] [robot_state_publisher]: got segment driver_link
[robot_state_publisher-1] [INFO] [1685169827.349781613] [robot_state_publisher]: got segment finger1_link
[robot_state_publisher-1] [INFO] [1685169827.349799212] [robot_state_publisher]: got segment finger2_link
[spawn_entity.py-4] [INFO] [1685169830.727255726] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1685169830.727972364] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4]   warnings.warn(
[spawn_entity.py-4] [INFO] [1685169830.817836743] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1685169831.855498863] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1685169831.856419237] [spawn_entity]: Waiting for service /spawn_entity
[spawner-6] [INFO] [1685169832.161125669] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685169832.166090505] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685169832.169933025] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685169834.199456874] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685169834.201106433] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1685169834.201461619] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-4] [INFO] [1685169835.930446415] [spawn_entity]: Calling service /spawn_entity
[spawner-6] [INFO] [1685169836.229827286] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685169836.232396027] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685169836.233710320] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-4] [INFO] [1685169836.309265487] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [gripper]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3476]
[gzserver-2] [INFO] [1685169836.947884642] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1685169836.954752098] [gripper.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /gripper
[gzserver-2] [INFO] [1685169836.955309496] [gripper.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1685169836.955426101] [gripper.gazebo_ros2_control]: Loading parameter files /home/ubuntu/Schreibtisch/ros2_ws/install/gripper/share/gripper/config/config.yaml
[gzserver-2] [ERROR] [1685169837.477446313] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169837.977926120] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[spawner-7] [INFO] [1685169838.264927333] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1685169838.266127958] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685169838.266565068] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[gzserver-2] [ERROR] [1685169838.478121233] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169838.978502205] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169839.478918275] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169839.979173572] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[spawner-5] [ERROR] [1685169840.104053119] [spawner_joint_trajectory_controller]: Controller manager not available
[spawner-6] [ERROR] [1685169840.305494344] [joint_state_braodcaster]: Controller manager not available
[spawner-7] [ERROR] [1685169840.306189187] [joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner-5]: process has died [pid 3478, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller --controller-manager /controller_manager --ros-args'].
[gzserver-2] [ERROR] [1685169840.480564643] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[ERROR] [spawner-7]: process has died [pid 3482, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller --controller-manager /controller_manager --ros-args -r __node:=joint_trajectory_controller'].
[ERROR] [spawner-6]: process has died [pid 3480, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_braodcaster'].
[gzserver-2] [ERROR] [1685169840.981675140] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169841.482154156] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169841.982395564] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169842.482807979] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169842.983191204] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169843.483617736] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169843.983864628] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169844.484162958] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169844.984676913] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169845.485174477] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169845.985757113] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169846.486308097] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169846.986569417] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169847.486970347] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169847.987335216] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169848.489000230] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169848.995988202] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169849.497094513] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169849.998063978] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169850.498456242] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1685169850.768508736] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 3470]
[gzserver-2] [ERROR] [1685169850.998866748] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169851.499197366] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[ERROR] [gzclient-3]: process has died [pid 3474, exit code -11, cmd 'gzclient'].
[gzserver-2] [ERROR] [1685169851.999488309] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169852.499755027] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169853.000094934] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169853.500486142] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169854.000778735] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169854.501162984] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169855.001664655] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169855.502086002] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[ERROR] [gzserver-2]: process[gzserver-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-2]: sending signal 'SIGTERM' to process[gzserver-2]
[gzserver-2] [INFO] [1685169855.794156384] [rclcpp]: signal_handler(signum=15)
[gzserver-2] [ERROR] [1685169855.795318261] [gripper.gazebo_ros2_control]: Interrupted while waiting for robot_state_publisher service. Exiting.
[gzserver-2] 
[gzserver-2] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[gzserver-2] This error state is being overwritten:
[gzserver-2] 
[gzserver-2]   'rcl node's context is invalid, at ./src/rcl/node.c:428'
[gzserver-2] 
[gzserver-2] with this new error message:
[gzserver-2] 
[gzserver-2]   'publisher's context is invalid, at ./src/rcl/publisher.c:389'
[gzserver-2] 
[gzserver-2] rcutils_reset_error() should be called after error handling to avoid this.
[gzserver-2] <<<
[gzserver-2] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389
[ERROR] [gzserver-2]: process has died [pid 3472, exit code -11, cmd 'gzserver -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ 

Because there is an issue with the robotstatepublisher heres the launchfile that is included in the one above:

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node

import xacro


def generate_launch_description():

    # Check if we're told to use sim time
    use_sim_time = LaunchConfiguration('use_sim_time')

    # Process the URDF file
    pkg_path = os.path.join(get_package_share_directory('gripper'))
    xacro_file = os.path.join(pkg_path,'description','gripper.xacro')
    robot_description_config = xacro.process_file(xacro_file)

    # Create a robot_state_publisher node
    params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time}
    node_robot_state_publisher = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        output='screen',
        parameters=[params],
        arguments=[('__log_level:=info')]
    ) 


    # Launch!
    return LaunchDescription([
        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use sim time if true'),

        node_robot_state_publisher
    ])

So my problem really is that i'm now getting multiple errors. The Controller_manager that doesn't exist and the robot state publisher, that isn't available...

---

Original: HI everyone,

i created a launch file to start a Simulation of a self designed gripper in gazebo. It should be controlled by ros2Control and especially the Jointtrajectory_controller and the Joint state broadcaster.

Here's the code form the launch file:

 import os

from ament_index_python.packages import get_package_share_directory

import launch 
from launch import LaunchDescription
import launch.actions 
import launch_ros
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource


from launch_ros.actions import Node

def generate_launch_description():

    package_name='gripper'

    gripper = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory(package_name), 'launch', 'gripper_controller.launch.py'
            )]), launch_arguments={'use_sim_time': 'true'}.items()
    )

    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py'
        )]),
    )

    rviz2 = Node(
          package='rviz2', executable='rviz2', name="rviz2", output='screen',
        )

    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                        arguments=['-topic', 'robot_description',
                                   '-entity', 'gripper'],
                        output='screen'
    )


    controller_manager_node = Node(
        package='controller_manager',
        executable='spawner',
        output='screen',
        arguments=["config", "--controller-manager", "/controller_manager"]
        # config here(^) is my config.yaml file in my config directory
    )

    joint_state_broadcaster_spawner = Node(
        package="controller_manager",
        executable="spawner",
        name='joint_state_braodcaster',
        output='screen',
        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
    )

    joint_trajectory_controller = launch_ros.actions.Node(
        package='controller_manager',
        executable='spawner',
        name='joint_trajectory_controller',
        output='screen',
        arguments=["joint_trajectory_controller", "--controller-manager", "/controller_manager"],
    )


    return LaunchDescription([
        gripper,
        gazebo,
        # rvis2,
        spawn_entity,
        controller_manager_node,
        joint_state_broadcaster_spawner,
        joint_trajectory_controller
    ])

Hereis my config. yaml file code:

controller_manager:
  ros__parameters:
    update_rate: 100 #Hz
    use_sim_time: True

joint_trajectory_controller:
  ros__parameters:
    type: joint_trajactory_controller/JointTrajectoryController
    joints:
      - driver_finger1_joint
      - driver_finger2_joint

    interface_name: position

    command_interfaces:
      - position

    state_interfaces: 
      - position
      - velocity

    effort_interface:
      - effort
gripper_cont:
      type: diff_drive_controller/DiffDriveController

joint_state_broadcaster:
  ros__parameters: 
    type: joint_state_broadcaster/JointStateBroadcaster

And this is what i get as a result in the terminal:

ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch gripper gripper_controller_gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-05-26-17-21-09-841186-ubuntu-4447
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4450]
[INFO] [gzserver-2]: process started with pid [4452]
[INFO] [gzclient-3]: process started with pid [4454]
[INFO] [spawn_entity.py-4]: process started with pid [4456]
[INFO] [spawner-5]: process started with pid [4458]
[INFO] [spawner-6]: process started with pid [4460]
[INFO] [spawner-7]: process started with pid [4462]
[robot_state_publisher-1] [INFO] [1685114475.031120924] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1685114475.031286288] [robot_state_publisher]: got segment connector_link
[robot_state_publisher-1] [INFO] [1685114475.031345494] [robot_state_publisher]: got segment driver_link
[robot_state_publisher-1] [INFO] [1685114475.031358007] [robot_state_publisher]: got segment finger1_link
[robot_state_publisher-1] [INFO] [1685114475.031369092] [robot_state_publisher]: got segment finger2_link
[spawner-6] [INFO] [1685114477.857228078] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685114477.866239088] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685114477.866612761] [spawner_config]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-4] [INFO] [1685114477.974952364] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1685114477.975737330] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4]   warnings.warn(
[spawn_entity.py-4] [INFO] [1685114478.258517929] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1685114478.321105969] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1685114478.325575691] [spawn_entity]: Waiting for service /spawn_entity
[spawner-6] [INFO] [1685114479.879748839] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685114479.892404424] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685114479.893732039] [spawner_config]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-4] [INFO] [1685114481.334272285] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1685114481.596225159] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [gripper]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 4456]
[spawner-6] [INFO] [1685114481.912845750] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685114481.933427586] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685114481.933965170] [spawner_config]: Waiting for '/controller_manager' node to exist
[gzserver-2] [INFO] [1685114482.717483643] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1685114482.722516745] [gripper.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /gripper
[gzserver-2] [INFO] [1685114482.722926202] [gripper.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1685114482.723106359] [gripper.gazebo_ros2_control]: Loading parameter files /home/ubuntu/Schreibtisch/ros2_ws/install/gripper/share/gripper/config/config.yaml
[gzserver-2] [ERROR] [1685114482.728372507] [gripper.gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/ubuntu/Schreibtisch/ros2_ws/install/gripper/share/gripper/config/config.yaml'. Error: Cannot have a value before ros__parameters at line 25, at ./src/parse.c:793, at ./src/rcl/arguments.c:406
[gzserver-2] 
[spawner-6] [INFO] [1685114483.967172060] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685114483.979277898] [spawner_config]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685114483.982666044] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [ERROR] [1685114485.813305749] [joint_state_braodcaster]: Controller manager not available
[spawner-5] [ERROR] [1685114485.820503487] [spawner_config]: Controller manager not available
[spawner-7] [ERROR] [1685114485.820577710] [joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner-5]: process has died [pid 4458, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner config --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-6]: process has died [pid 4460, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_braodcaster'].
[ERROR] [spawner-7]: process has died [pid 4462, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller --controller-manager /controller_manager --ros-args -r __node:=joint_trajectory_controller'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1685114487.488651509] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 4450]
[ERROR] [gzclient-3]: process has died [pid 4454, exit code -2, cmd 'gzclient'].
[ERROR] [gzserver-2]: process has died [pid 4452, exit code -11, cmd 'gzserver -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].

My problem is that the Controller manager is not available and i don't know how to fix it...