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Problem with start controller with roslaunch: controller spawner couldn't find the expected controller_manager ROS interface

asked 2016-02-19 06:00:50 -0500

gabri89 gravatar image

updated 2016-02-19 06:02:03 -0500

Hy everyone, I'm using ros jade with gazebo 5.2. I tried to follow this tutorial. After launching the rrbot_world.launch, I try to do :

 roslaunch rrbot_control rrbot_control.launch

I've this response


 * /rosdistro: jade
 * /rosversion: 1.11.16
 * /rrbot/joint1_position_controller/joint: joint1
 * /rrbot/joint1_position_controller/pid/d: 10.0
 * /rrbot/joint1_position_controller/pid/i: 0.01
 * /rrbot/joint1_position_controller/pid/p: 100.0
 * /rrbot/joint1_position_controller/type: effort_controller...
 * /rrbot/joint2_position_controller/joint: joint2
 * /rrbot/joint2_position_controller/pid/d: 10.0
 * /rrbot/joint2_position_controller/pid/i: 0.01
 * /rrbot/joint2_position_controller/pid/p: 100.0
 * /rrbot/joint2_position_controller/type: effort_controller...
 * /rrbot/joint_state_controller/publish_rate: 50
 * /rrbot/joint_state_controller/type: joint_state_contr...

    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    controller_spawner (controller_manager/spawner)


core service [/rosout] found
process[rrbot/controller_spawner-1]: started with pid [5768]
process[robot_state_publisher-2]: started with pid [5769]
[INFO] [WallTime: 1455881521.257272] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [WallTime: 1455881551.416911] [109.233000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[rrbot/controller_spawner-1] process has finished cleanly
log file: /home/gabriele/.ros/log/33f60b1a-d6fc-11e5-8b0c-e839df8a64f0/rrbot-controller_spawner-1*.log

The WARN says that the spawner couldn't not found the controller manager. I already have this command line :

sudo apt-get install ros-jade-ros-control ros-jade-ros-controllers

What's wrong? Could it be a compatibility problem between my gazebo/ros distro?

Then I don't understand what is control_manager. Should it be a directory? Because in my rrbot_control I can't see it. Have I to create it?

Thank you, bye!

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3 Answers

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answered 2016-02-19 06:38:06 -0500

longforgotten gravatar image

updated 2016-02-19 16:05:40 -0500

Hello again :)

In this tutorial, section Install gazebo_ros_pkgs, it says that there is no ros-jade-gazebo-ros-control debian package released for now. Without this, you can't run simulations using ros_control in Gazebo.

What you can do now is clone the gazebo_ros_pkgs repository and compile the gazebo_ros_control package, so you can run your simulation.

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answered 2016-02-20 11:32:38 -0500

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Thanks for sharing this useful information with us here. Can you please share the details of the running hardware compatible with it? Also what type of MCU i can use with it? Which libraries are available into this?

circuit board manufacturing

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answered 2018-12-15 04:08:08 -0500

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This post is a wiki. Anyone with karma >75 is welcome to improve it.


I have encoutered the same problem. This may possible be caused by the name space inconsistency between robot urdf defintion and the controller manager spawner in Gazebo.

Have a check of the robot urdf file first. Find the following lines:

    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">

Noticet that the name space for robot to load gaze_ros_control is /rrbot. That means that the controller_manager ROS interface will be loaded in the space /rrbot.

Then check the launch file that initializes the robot controller, and find the following lines:

<node name="controller_spawner" 
      type="spawner" respawn="false"
      args="joint_state_controller  joint1_position_controller  joint2_position_controller"

Here the name space for initializing the node (ns="/rrbot") is also /rrbot. Then the gazebo can find the correct controller_manager ROS interface. If this ns for controller_manager is different from the above ns in gazebo_ros_control, then the problem occurs, i.e., Controller Spawner couldn't find the expected controller_manager ROS interface.

Make sure the name for these two name spaces are exactly same, and then restart everything. The Controller Spawner will work properly.

Hope this helps you :)

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Asked: 2016-02-19 06:00:50 -0500

Seen: 10,686 times

Last updated: Dec 15 '18