webots_ros2: ROS2 Humble with Ubuntu 22.04 can't communicate with the demos robots

Describe the Bug I installed the webots from the source files and when i run: ros2 pkg xml webots_ros2 | grep version It returns: <version>2023.1.1</version>

I start the demo with ros2 launch webots_ros2_universal_robot multirobot_launch.py. While both arms spawn and the conveyor starts to move with the soda can on top, both arms remain frozen.

The only warnings the webots console gives is when the soda can touches the arm: WARNING: Contact joints between materials 'default' and 'default' will only be created for the 10 deepest contact points instead of all the 12 contact points.

For what i could understand the controllers and the robots arent communicating with each other. Do you guys know what is happening or can you guys tell me what I’m doing wrong?

The terminal used to launch the demo gives the following response:

[INFO] [launch]: All log files can be found below /home/rui/.ros/log/2024-02-05-16-59-59-481893-rui-REPLANT-5596
[INFO] [launch]: Default logging verbosity is set to INFO
WARNING: No valid Webots directory specified in `ROS2_WEBOTS_HOME` and `WEBOTS_HOME`, fallback to default installation folder /home/rui/.ros/webotsR2023b/webots.
[INFO] [webots-1]: process started with pid [5597]
[INFO] [ros2_supervisor.py-2]: process started with pid [5599]
[INFO] [webots_controller_UR5e-3]: process started with pid [5602]
[INFO] [webots_controller_abbirb4600-4]: process started with pid [5605]
[INFO] [ros2-5]: process started with pid [5607]
[webots_controller_abbirb4600-4] Cannot connect to Webots instance, retrying for another 50 seconds...
[webots_controller_UR5e-3] The specified robot is not in the list of robots with <extern> controllers, retrying for another 50 seconds...
[ros2_supervisor.py-2] The specified robot is not in the list of robots with <extern> controllers, retrying for another 50 seconds...
[webots_controller_abbirb4600-4] The Webots simulation world is not yet ready, pending until loading is done...
[webots_controller_UR5e-3] The Webots simulation world is not yet ready, pending until loading is done...
[ros2_supervisor.py-2] The Webots simulation world is not yet ready, pending until loading is done...
[webots_controller_abbirb4600-4] [INFO] [1707152406.792231304] [resource_manager]: Initialize hardware 'WebotsControl' 
[webots_controller_abbirb4600-4] [INFO] [1707152406.792328131] [resource_manager]: Successful initialization of hardware 'WebotsControl'
[webots_controller_abbirb4600-4] [INFO] [1707152406.792438849] [resource_manager]: 'configure' hardware 'WebotsControl' 
[webots_controller_abbirb4600-4] [INFO] [1707152406.792444473] [resource_manager]: Successful 'configure' of hardware 'WebotsControl'
[webots_controller_abbirb4600-4] [INFO] [1707152406.792453572] [resource_manager]: 'activate' hardware 'WebotsControl' 
[webots_controller_abbirb4600-4] [INFO] [1707152406.792456950] [resource_manager]: Successful 'activate' of hardware 'WebotsControl'
[webots_controller_abbirb4600-4] [INFO] [1707152406.795363743] [abb.controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[webots_controller_abbirb4600-4] [INFO] [1707152406.795778526] [abb.abbirb4600]: Controller successfully connected to robot in Webots simulation.
[ros2_supervisor.py-2] [WARN] [1707152406.842193865] [Ros2Supervisor.Ros2Supervisor]: The URDF Spawner is deprecated. It will be replaced by a new PROTOSpawner in the future. See https://github.com/cyberbotics/webots_ros2/issues/818 for more information.
[ros2_supervisor.py-2] [INFO] [1707152407.077071230] [Ros2Supervisor.Ros2Supervisor]: Ros2Supervisor has imported the URDF robot named "UR5e".
[INFO] [ur5e_controller-6]: process started with pid [5670]
[INFO] [abb_controller-7]: process started with pid [5672]
[INFO] [spawner-8]: process started with pid [5674]
[INFO] [spawner-9]: process started with pid [5676]
[INFO] [spawner-10]: process started with pid [5678]
[INFO] [spawner-11]: process started with pid [5680]
[INFO] [ros2-5]: process has finished cleanly [pid 5607]
[abb_controller-7] [INFO] [1707152407.388614352] [abb.abb_controller]: Waiting for action server to be ready...
[ur5e_controller-6] [INFO] [1707152407.459413697] [ur5e.ur5e_controller]: Waiting for action server to be ready...
[webots_controller_UR5e-3] [INFO] [1707152408.380589273] [resource_manager]: Initialize hardware 'WebotsControl' 
[webots_controller_UR5e-3] [INFO] [1707152408.380711450] [resource_manager]: Successful initialization of hardware 'WebotsControl'
[webots_controller_UR5e-3] [INFO] [1707152408.380846431] [resource_manager]: 'configure' hardware 'WebotsControl' 
[webots_controller_UR5e-3] [INFO] [1707152408.380852592] [resource_manager]: Successful 'configure' of hardware 'WebotsControl'
[webots_controller_UR5e-3] [INFO] [1707152408.380863707] [resource_manager]: 'activate' hardware 'WebotsControl' 
[webots_controller_UR5e-3] [INFO] [1707152408.380868009] [resource_manager]: Successful 'activate' of hardware 'WebotsControl'
[webots_controller_UR5e-3] [INFO] [1707152408.385146517] [ur5e.controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[webots_controller_UR5e-3] [INFO] [1707152408.385616855] [ur5e.UR5e]: Controller successfully connected to robot in Webots simulation.
[spawner-9] [INFO] [1707152409.311290442] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-8] [INFO] [1707152409.312604206] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152409.329472709] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152409.409835686] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-9] [INFO] [1707152411.321595095] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-8] [INFO] [1707152411.322464644] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152411.340501070] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152411.420263965] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-9] [INFO] [1707152413.332441699] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-8] [INFO] [1707152413.332775907] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152413.352002663] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152413.432669351] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-8] [INFO] [1707152415.344530215] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-9] [INFO] [1707152415.344841939] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152415.362234324] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152415.445284734] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-8] [INFO] [1707152417.356326900] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-9] [INFO] [1707152417.356560010] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152417.373139189] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152417.456198134] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-8] [INFO] [1707152419.363920567] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-9] [INFO] [1707152419.363944083] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152419.380367555] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152419.465535209] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-8] [INFO] [1707152421.371208868] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-9] [INFO] [1707152421.371261015] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152421.387558883] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152421.475366892] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-8] [INFO] [1707152423.378185437] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-9] [INFO] [1707152423.378209722] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152423.395142927] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152423.483449723] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-8] [INFO] [1707152425.387458958] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-9] [INFO] [1707152425.387516360] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152425.404244898] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152425.493461555] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-9] [INFO] [1707152427.396123316] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-8] [INFO] [1707152427.396577043] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152427.412796989] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152427.505147375] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available
[spawner-8] [INFO] [1707152429.407198357] [spawner_ur_joint_trajectory_controller]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-9] [INFO] [1707152429.407502654] [spawner_ur_joint_state_broadcaster]: Waiting for '/ur5e/controller_manager' services to be available
[spawner-10] [INFO] [1707152429.423951411] [spawner_abb_joint_trajectory_controller]: Waiting for '/abb/controller_manager' services to be available
[spawner-11] [INFO] [1707152429.516499232] [spawner_abb_joint_state_broadcaster]: Waiting for '/abb/controller_manager' services to be available

And these are the ros2 services that are available with ros2 service list:

/Ros2Supervisor/Ros2Supervisor/describe_parameters
/Ros2Supervisor/Ros2Supervisor/get_parameter_types
/Ros2Supervisor/Ros2Supervisor/get_parameters
/Ros2Supervisor/Ros2Supervisor/list_parameters
/Ros2Supervisor/Ros2Supervisor/set_parameters
/Ros2Supervisor/Ros2Supervisor/set_parameters_atomically
/Ros2Supervisor/animation_start_recording
/Ros2Supervisor/animation_stop_recording
/Ros2Supervisor/spawn_node_from_string
/Ros2Supervisor/spawn_urdf_robot
/abb/abb_controller/describe_parameters
/abb/abb_controller/get_parameter_types
/abb/abb_controller/get_parameters
/abb/abb_controller/list_parameters
/abb/abb_controller/set_parameters
/abb/abb_controller/set_parameters_atomically
/abb/abbirb4600/describe_parameters
/abb/abbirb4600/get_parameter_types
/abb/abbirb4600/get_parameters
/abb/abbirb4600/list_parameters
/abb/abbirb4600/set_parameters
/abb/abbirb4600/set_parameters_atomically
/abb/controller_manager/describe_parameters
/abb/controller_manager/get_parameter_types
/abb/controller_manager/get_parameters
/abb/controller_manager/list_parameters
/abb/controller_manager/set_parameters
/abb/controller_manager/set_parameters_atomically
/spawner_abb_joint_state_broadcaster/describe_parameters
/spawner_abb_joint_state_broadcaster/get_parameter_types
/spawner_abb_joint_state_broadcaster/get_parameters
/spawner_abb_joint_state_broadcaster/list_parameters
/spawner_abb_joint_state_broadcaster/set_parameters
/spawner_abb_joint_state_broadcaster/set_parameters_atomically
/spawner_abb_joint_trajectory_controller/describe_parameters
/spawner_abb_joint_trajectory_controller/get_parameter_types
/spawner_abb_joint_trajectory_controller/get_parameters
/spawner_abb_joint_trajectory_controller/list_parameters
/spawner_abb_joint_trajectory_controller/set_parameters
/spawner_abb_joint_trajectory_controller/set_parameters_atomically
/spawner_ur_joint_state_broadcaster/describe_parameters
/spawner_ur_joint_state_broadcaster/get_parameter_types
/spawner_ur_joint_state_broadcaster/get_parameters
/spawner_ur_joint_state_broadcaster/list_parameters
/spawner_ur_joint_state_broadcaster/set_parameters
/spawner_ur_joint_state_broadcaster/set_parameters_atomically
/spawner_ur_joint_trajectory_controller/describe_parameters
/spawner_ur_joint_trajectory_controller/get_parameter_types
/spawner_ur_joint_trajectory_controller/get_parameters
/spawner_ur_joint_trajectory_controller/list_parameters
/spawner_ur_joint_trajectory_controller/set_parameters
/spawner_ur_joint_trajectory_controller/set_parameters_atomically
/ur5e/UR5e/describe_parameters
/ur5e/UR5e/get_parameter_types
/ur5e/UR5e/get_parameters
/ur5e/UR5e/list_parameters
/ur5e/UR5e/set_parameters
/ur5e/UR5e/set_parameters_atomically
/ur5e/controller_manager/describe_parameters
/ur5e/controller_manager/get_parameter_types
/ur5e/controller_manager/get_parameters
/ur5e/controller_manager/list_parameters
/ur5e/controller_manager/set_parameters
/ur5e/controller_manager/set_parameters_atomically
/ur5e/ur5e_controller/describe_parameters
/ur5e/ur5e_controller/get_parameter_types
/ur5e/ur5e_controller/get_parameters
/ur5e/ur5e_controller/list_parameters
/ur5e/ur5e_controller/set_parameters
/ur5e/ur5e_controller/set_parameters_atomically

About this issue

Original URL
State: closed
Created 5 months ago
Reactions: 3
Comments: 18 (10 by maintainers)

Commits related to this issue

set is_urdf_loaded__ of the resource manager to true (#896) it's probably needed after https://github.com/ros-controls/ros2_control/commit/385293e5d0626c57636a05c66de4380fcfd5bee7 fixes https://gi... — committed to cyberbotics/webots_ros2 by skpawar1305 5 months ago

Most upvoted comments

If CI is working on all distro we should continue with #839 imo

I agree. Can you take the lead on this since @ygoumaz is not working on the project any more?

Sure. But I’m likely to have time only next week or so.

Yadunund on Mar 4, 2024

If CI is working on all distro we should continue with #839 imo

Yadunund on Mar 4, 2024

I wish there was a fix or workaround @omichel … Webots is so nice but I need to use ros2_control

you may build n use ros2_control 2.36.1 for now

skpawar1305 on Feb 15, 2024

Based on my analysis, the problem is the robot_description topic has no publishers. The controller_manager services that are being polled for are not made available until a message is published on this topic. So I think something is failing which prevents the robot_description publisher from being created.

I’ve also tried loading the URDF directly into the resource manager, which I believe bypasses the need to subscribe to robot_description and makes the services available immediately, but I’ve not got it to work without error.

ralphieraccoon on Feb 14, 2024

Same problem with the e_puck demo and ROS humble:

[spawner-7] [INFO] [1707298270.095655670] [spawner_diffdrive_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1707298270.106261863] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available

Acwok on Feb 7, 2024