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Controller Spawner couldn't find the expected controller_manager ROS interface.

asked 2019-02-20 12:08:49 -0600

Chirag gravatar image

Hello! I am getting this error

[WARN] [1549645986.850056, 54.996000]: Controller Spawner couldn't find the expected controller_manager ROS interface

while launching a urdf in gazebo. I am new to ROS and have looked for a solution but couldn't find it. A similar question is asked here. I have done everything suggested in that link and the file is present at opt/ros/kinetic/lib. I have added the gazebo plugin in my .xacro file.

  <plugin name="gazebo_ros_control" filename="">

This is the .launch file.

<?xml version="1.0" encoding="UTF-8"?>
  <group ns="/mushak"> 
      <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mushak_pkg)/urdf/mushak_model.xacro'" />
         <arg name="x" default="0"/>
         <arg name="y" default="0"/>
         <arg name="z" default="0.2412"/>

<!-- Spawn the robot model -->
         <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
      args="-urdf -param robot_description -model mushak -x $(arg x) -y $(arg y) -z $(arg z)" />

<!-- Load controllers -->
         <rosparam command="load" file="$(find mushak_pkg)/config/config.yaml" />

<!-- Controllers -->

         <node name="controller_spawner" pkg="controller_manager" type="spawner"
    respawn="false" output="screen" ns="/mushak"
    --timeout 50

       <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
           <remap from="/joint_states" to="/mushak/joint_states" />



The model is opening in rviz without any error.

This is the output when I run

rospack find joint_state_controller 


I am getting the following error in the terminal in which the gazebo world in running:

[ERROR] [1550681387.800721476, 9.313000000]: GazeboRosControlPlugin missing <legacyModeNS> while using      DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

[FATAL] [1550681387.918475260, 9.313000000]: Could not initialize robot simulation interface

I would be glad if someone can help me with this.

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2 Answers

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answered 2020-04-07 19:50:11 -0600

Fookii gravatar image

For Controller Spawner couldn't find the expected controller_manager ROS interfaceerror, you can refer to

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answered 2019-10-18 12:41:43 -0600

Answer: Make sure your base_link has an inertial element.

for the <legacyModeNS> error, Add this to your urdf files

<plugin name="gazebo_ros_control" filename="">


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Asked: 2019-02-20 12:08:49 -0600

Seen: 5,912 times

Last updated: Apr 07