[Bug]: building and starting simulation on Ros2 humble with gazebo Ignition Fortress 6.17.0 fails

[becketps]

What happened?

I build/installed the packages like it was shown in this description: https://github.com/RobotnikAutomation/robotnik_simulation/tree/humble

The init of gazebo works with: ros2 launch robotnik_gazebo_ignition spawn_world.launch.py

But every other command does fail and only opens rviz:

e.g. ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true

gives as output at the terminal:

[INFO] [spawner-7]: process started with pid [16631]
[spawner-6] [FATAL] [1745771323.639566386] [robot.spawner_robotnik_base_controller]: Failed loading controller robotnik_base_controller
[spawner-7] [FATAL] [1745771323.653947068] [robot.spawner_joint_trajectory_controller]: Failed loading controller joint_trajectory_controller

And

[ruby $(which ign) gazebo-1] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://ur_description/meshes/ur5e/visual/base.dae]
[ruby $(which ign) gazebo-1] [Err] [SystemPaths.cc:473] Could not resolve file [model://ur_description/meshes/ur5e/visual/base.dae]
[ruby $(which ign) gazebo-1] [Err] [MeshManager.cc:173] Unable to find file[model://ur_description/meshes/ur5e/visual/base.dae]
[ruby $(which ign) gazebo-1] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://ur_description/meshes/ur5e/visual/base.dae]
[ruby $(which ign) gazebo-1] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://ur_description/meshes/ur5e/visual/base.dae]
[ruby $(which ign) gazebo-1] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://ur_description/meshes/ur5e/visual/base.dae]
[ruby $(which ign) gazebo-1] [Err] [SceneManager.cc:404] Failed to load geometry for visual: robot_base_footprint_fixed_joint_lump__robot_arm_base_link_inertia_visual_2

Relevant log output

[cgasconb]

Hi,
I see that the issue could be related with #26
First, have you installed the .deb file with the robotnik_controllers?
Try

cd ~/ros2_ws/src/
sudo dpkg -i ./robotnik_simulation/debs/ros-humble-robotnik-controllers*.deb

Then, use this branch of robotnik_description

Thanks for the feedback!

[rafa-martin]

@becketps Could you confirm if the bug is still happening?

[Luigip98]

@rafa-martin is still happening, in particular it does not load the robotnik_controller because the "type is not specified".(I tried to force the type in the launch file and in the end it seems it is not loaded the robotnik controller in the list of the available controller classes, even though it is installed.

[javadibrahimli]

@rafa-martin @Luigip98 I have a very similar problem I think

Title: Robot spawns (Ignition & Classic) but does not move with /cmd_vel (Ubuntu 24.04, ROS 2 Humble)

Environment:

Ubuntu 24.04 (Noble), ROS 2 Humble

Repos: robotnik_description/sensors/common/interfaces/simulation (humble* branches)

Robotnik controllers installed via .deb

Simulations start fine; robot is visible in both Ignition and Classic

Steps to reproduce:

1. source /opt/ros/humble/setup.bash && source ~/ros2_ws/install/setup.bash

2. ros2 launch robotnik_gazebo_ignition spawn_world.launch.py

3. ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbsummit

4. Try to drive:

ros2 topic pub -r 10 /robot/robotnik_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 1.0}, angular: {z: 0.5}}"

or ros2 topic pub -r 10 /robot/robotnik_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "{twist: {linear: {x: 1.0}, angular: {z: 0.5}}}"

Actual result:

/robot/controller_manager node exists, but only joint_state_broadcaster is active.

robotnik_base_controller is not active; loading with spawner times out or fails: ros2 run controller_manager spawner robotnik_base_controller -c /robot/controller_manager --controller-type robotnik_controllers/RBSummitController

Fallback with diff_drive_controller + params also does not lead to motion (no subscriber or no effect).

Publishing to the documented cmd_vel topics does not move the robot.

Expected:

Base controller auto-loads on spawn, or documented spawner command works.

Publishing to /robot/robotnik_base_controller/cmd_vel (or cmd_vel_unstamped) moves the robot.

Request to maintainers:

Clarify in README whether spawn_robot auto-loads the base controller on Ignition and Classic.

Provide the exact spawner command (and required params file) for RBSummit.

Confirm the intended topic name and message type (Twist vs TwistStamped) under the /robot namespace.

If applicable, include a ready-to-use controller config and a quick “health check” section (list_controllers, topic info) so users can verify the controller is active and subscribed before sending /cmd_vel.