Error initializing URDF to resource manager

[tomaszkapron]

After the change of ros2_control from version 2.43.1 to 2.44 gazebo_ros2_control run into the following error during initialization:

[gzserver-1] ?[31m[ERROR 1734368594.176366640] [gazebo_ros2_control]: Error initializing URDF to resource manager! (Load() at ./src/gazebo_ros2_control_plugin.cpp:302)

gazebo_ros2_control pacakge is on version 4.10, ROS 2 version - humble. The error does not occur with 2.43 version of ros2_control.

I was able to reproduce the error having ros2_control version 2.44 installed using gazebo_ros2_control_demos package with:

ros2 launch gazebo_ros2_control_demos cart_example_effort.launch.py

[christophfroehlich]

I built the humble stack now from source, and was able to launch the demo successfully. Same for humble-main binaries. Have you upgraded all upstream ROS packages as well, i.e. sudo apt-get upgrade?

 $ apt list ros-humble-ros2-control ros-humble-gazebo-ros2-control ros-humble-tinyxml2-vendor ros-humble-rclcpp ros-humble-gazebo-ros ros-humble-gazebo-dev
Listing... Done
ros-humble-gazebo-dev/jammy,now 3.7.0-1jammy.20241125.233927 amd64 [installed,automatic]
ros-humble-gazebo-ros2-control/jammy,now 0.4.10-1jammy.20241128.053639 amd64 [installed]
ros-humble-gazebo-ros/jammy,now 3.7.0-1jammy.20241128.043020 amd64 [installed]
ros-humble-rclcpp/jammy,now 16.0.11-1jammy.20241128.012309 amd64 [installed,automatic]
ros-humble-ros2-control/jammy,now 2.44.0-1jammy.20241128.034910 amd64 [installed]
ros-humble-tinyxml2-vendor/jammy,now 0.7.6-1jammy.20241125.234735 amd64 [installed,automatic]

[tomaszkapron]

I mean it launches successfully and works correctly. But the error still exists there. I have the packages upgraded to same version as pointed in your comment. Can you just confirm you were able to launch demo without the error?

[christophfroehlich]

ha, you are right 🙈 I'll have a look

[christophfroehlich]

ros-controls/ros2_control#1960 fixes the error "accidentially": The resource manager does not throw now.

[shr-eyas]

How exactly did you fix this? @tomaszkapron
Thanks.

[tomaszkapron]

You should probably build ros2_control from source until it is released to official apt repositories.