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I was unable to determine the root cause of this error statement.

I was able to resolve my issue through checking and taking a few steps. If you are attempting to troubleshoot, I would suggest these steps.

Ensure Gazebo works in Standalone.
..Have you checked if you need to turn off hardware acceleration?

Is your environment setup properly? Sourced?
..Manually source your 'build' in each terminal.

Ensure Gazebo ROS & Gazebo ROS Control Packages are Installed

sudo apt-get install -y ros-melodic-gazebo-ros
sudo apt-get install -y ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

Ensure the appropriate PID controller package is installed

sudo apt-get install -y ros-melodic-position-controllers
sudo apt-get install -y ros-melodic-effort-controllers
sudo apt-get install -y ros-melodic-joint-state-controller

Ensure your robot description and controllers are in the same namespace.
..I utilized a Xacro and have a <xacro robot: NAME> and a controller initializer that separately 'name' the robot. These needed to be the same (obvs) to function.