Entity Component Manager is unable to attach component to entity. ROS2 Iron with Gazebo Harmonic
Lalith321 opened this issue · 0 comments
Hi,
I am facing issue with ros2 hardware controls plugin. (This is just my assumption after analyzing the error)
ROS2 - Iron
Gazebo - Harmonic
I have already set environment variable using export GZ_VERSION=harmonic.
Gazebo built from source for ros2 iron.
gz_ros2_control
ros2_control
ros2_controllers
are present as packages.
Inside my model urdf file I have <ros2_control name="GazeboSimSystem" type="system">
gz_ros2_control/GazeboSimSystem
<command_interface name="position">
-1
1
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<command_interface name="position">
-1
1
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</ros2_control>
Whenever I remove the hardware tag completely including the plugin tag inside it it runs fine but it does not interact with hardware on gazebo. But when I keep the hardware and the plugin tags inside it like the above example I get the error as below.
[Err] [EntityComponentManager.cc:1083] Trying to create a component of type [8319580315957903596] attached to entity [0], but this entity does not exist. This create component request will be ignored.
You can refer to my entire console output below
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-04-24-17-08-16-451186-docker-desktop-22496
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [22500]
[INFO] [robot_state_publisher-2]: process started with pid [22502]
[INFO] [create-3]: process started with pid [22505]
[create-3] [INFO] [1713978496.686175535] [ros_gz_sim]: Requesting list of world names.
[robot_state_publisher-2] [WARN] [1713978496.702804849] [kdl_parser]: The root link chassis has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1713978496.702968262] [robot_state_publisher]: got segment Wheel1_1
[robot_state_publisher-2] [INFO] [1713978496.703076470] [robot_state_publisher]: got segment Wheel2_1
[robot_state_publisher-2] [INFO] [1713978496.703088471] [robot_state_publisher]: got segment Wheel3_1
[robot_state_publisher-2] [INFO] [1713978496.703093672] [robot_state_publisher]: got segment Wheel4_1
[robot_state_publisher-2] [INFO] [1713978496.703098472] [robot_state_publisher]: got segment chassis
[ruby $(which gz) sim-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[create-3] [INFO] [1713978497.317422310] [ros_gz_sim]: Waiting messages on topic [robot_description].
[create-3] [INFO] [1713978497.416288021] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1713978497.416425632] [ros_gz_sim]: OK creation of entity.
[ruby $(which gz) sim-1] �[1;36m[Dbg] [gz.cc:166] �[0m�[1;36mSubscribing to [�[0m�[1;36m/gazebo/starting_world�[0m�[1;36m].�[0m�[1;36m�[0m
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[INFO] [create-3]: process has finished cleanly [pid 22505]
[INFO] [ros2-4]: process started with pid [22597]
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[ruby $(which gz) sim-1] [ERROR] [1713978499.682360963] [gz_ros_control]: robot_state_publisher service not available, waiting again...
[ruby $(which gz) sim-1] [ERROR] [1713978500.183077725] [gz_ros_control]: robot_state_publisher service not available, waiting again...
[ruby $(which gz) sim-1] [INFO] [1713978500.228720831] [gz_ros_control]: connected to service!! robot_state_publisher asking for robot_description
[ruby $(which gz) sim-1] [INFO] [1713978500.231825177] [gz_ros_control]: Received URDF from param server
[ruby $(which gz) sim-1] [INFO] [1713978500.286148769] [gz_ros_control]: The position_proportional_gain has been set to: 0.1
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m8319580315957903596�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
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[ruby $(which gz) sim-1] [INFO] [1713978500.287557980] [gz_ros_control]: Loading joint: wheel2_1__Chassis
[ruby $(which gz) sim-1] [INFO] [1713978500.287807700] [gz_ros_control]: State:
[ruby $(which gz) sim-1] [INFO] [1713978500.287861104] [gz_ros_control]: position
[ruby $(which gz) sim-1] [INFO] [1713978500.288413648] [gz_ros_control]: velocity
[ruby $(which gz) sim-1] [INFO] [1713978500.288556959] [gz_ros_control]: effort
[ruby $(which gz) sim-1] [INFO] [1713978500.288628165] [gz_ros_control]: Command:
[ruby $(which gz) sim-1] [INFO] [1713978500.288643966] [gz_ros_control]: position
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m7092658231261739227�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m3683240423554730519�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m8319580315957903596�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m99696134570833896�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m3686471274447957498�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] [INFO] [1713978500.289751253] [gz_ros_control]: Loading joint: wheel1_1__Chassis
[ruby $(which gz) sim-1] [INFO] [1713978500.289808958] [gz_ros_control]: State:
[ruby $(which gz) sim-1] [INFO] [1713978500.289821859] [gz_ros_control]: position
[ruby $(which gz) sim-1] [INFO] [1713978500.289836360] [gz_ros_control]: velocity
[ruby $(which gz) sim-1] [INFO] [1713978500.289854661] [gz_ros_control]: effort
[ruby $(which gz) sim-1] [INFO] [1713978500.289867862] [gz_ros_control]: Command:
[ruby $(which gz) sim-1] [INFO] [1713978500.289879163] [gz_ros_control]: position
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m7092658231261739227�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m3683240423554730519�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] [INFO] [1713978500.295661720] [resource_manager]: Initialize hardware 'GazeboSimSystem'
[ruby $(which gz) sim-1] [WARN] [1713978500.295714824] [gz_ros_control]: On init...
[ruby $(which gz) sim-1] [INFO] [1713978500.296921420] [resource_manager]: Successful initialization of hardware 'GazeboSimSystem'
[ruby $(which gz) sim-1] [INFO] [1713978500.297605474] [resource_manager]: 'configure' hardware 'GazeboSimSystem'
[ruby $(which gz) sim-1] [INFO] [1713978500.297678780] [gz_ros_control]: System Successfully configured!
[ruby $(which gz) sim-1] [INFO] [1713978500.297764986] [resource_manager]: Successful 'configure' of hardware 'GazeboSimSystem'
[ruby $(which gz) sim-1] [INFO] [1713978500.297777787] [resource_manager]: 'activate' hardware 'GazeboSimSystem'
[ruby $(which gz) sim-1] [INFO] [1713978500.297787788] [resource_manager]: Successful 'activate' of hardware 'GazeboSimSystem'
[ruby $(which gz) sim-1] [INFO] [1713978500.297837492] [gz_ros_control]: Loading controller_manager
[ruby $(which gz) sim-1] [INFO] [1713978500.349840601] [controller_manager]: Subscribing to '/controller_manager/robot_description' topic for robot description.
[ruby $(which gz) sim-1] �[1;33m[Wrn] [Component.hh:144] �[0m�[1;33mTrying to serialize component with data type [�[0m�[1;33mN3sdf3v145WorldE�[0m�[1;33m], which doesn't have �[0m�[1;33moperator<<. Component will not be serialized.�[0m�[1;33m�[0m
[ruby $(which gz) sim-1] [WARN] [1713978500.390247493] [gz_ros_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;33m[GUI] [Wrn] [Component.hh:189] �[0m�[1;33mTrying to deserialize component with data type [�[0m�[1;33mN3sdf3v145WorldE�[0m�[1;33m], which doesn't have �[0m�[1;33moperator>>. Component will not be deserialized.�[0m�[1;33m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] �[1;31m[Err] [EntityComponentManager.cc:1083] �[0m�[1;31mTrying to create a component of type [�[0m�[1;31m10078773228734069488�[0m�[1;31m] attached to entity [�[0m�[1;31m0�[0m�[1;31m], but this entity does not �[0m�[1;31mexist. This create component request will be ignored.�[0m�[1;31m�[0m
[ruby $(which gz) sim-1] Stack trace (most recent call last) in thread 22666:
[ruby $(which gz) sim-1] #10 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
[ruby $(which gz) sim-1] #9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff5b535e84f, in
[ruby $(which gz) sim-1] #8 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff5b52ccac2, in
[ruby $(which gz) sim-1] #7 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ff5b18a3252, in
[ruby $(which gz) sim-1] #6 Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7ff5b0c6696d, in
[ruby $(which gz) sim-1] #5 Object "/ros2iron_ws/install/gz_ros2_control/lib/libgz_ros2_control-system.so", at 0x7ff584999440, in gz_ros2_control::GazeboSimROS2ControlPlugin::PostUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
[ruby $(which gz) sim-1] #4 Object "/opt/ros/iron/lib/libcontroller_manager.so", at 0x7ff5847529c2, in controller_manager::ControllerManager::read(rclcpp::Time const&, rclcpp::Duration const&)
[ruby $(which gz) sim-1] #3 Object "/opt/ros/iron/lib/libhardware_interface.so", at 0x7ff58466a942, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&)
[ruby $(which gz) sim-1] #2 Object "/opt/ros/iron/lib/libhardware_interface.so", at 0x7ff58468c24f, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&)
[ruby $(which gz) sim-1] #1 Object "/ros2iron_ws/install/gz_ros2_control/lib/libgz_hardware_plugins.so", at 0x7ff57c1fb506, in gz_ros2_control::GazeboSimSystem::read(rclcpp::Time const&, rclcpp::Duration const&)
[ruby $(which gz) sim-1] #0 Object "/ros2iron_ws/install/gz_ros2_control/lib/libgz_hardware_plugins.so", at 0x7ff57c20f280, in std::vector<double, std::allocator >::operator[](unsigned long) const
[ruby $(which gz) sim-1] Segmentation fault (Address not mapped to object [0x8])
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [Application.cc:671] �[0m�[1;36mApplying config�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [MinimalScene.cc:802] �[0m�[1;36mCreating gz-rendering interface for OpenGL�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [MinimalScene.cc:986] �[0m�[1;36mCreating render thread interface for OpenGL�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mLoading plugin [�[0m�[1;32mgz-rendering-ogre2�[0m�[1;32m]�[0m�[1;32m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [MinimalScene.cc:749] �[0m�[1;36mCreate scene [�[0m�[1;36mscene�[0m�[1;36m]�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [MinimalScene.cc:1037] �[0m�[1;36mCreating texture node render interface for OpenGL�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [TransformControl.cc:453] �[0m�[1;36mTransformControl plugin is using camera [�[0m�[1;36mscene::Camera(65527)�[0m�[1;36m]�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [Spawn.cc:308] �[0m�[1;36mSpawn plugin is using camera [�[0m�[1;36mscene::Camera(65527)�[0m�[1;36m]�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [SelectEntities.cc:452] �[0m�[1;36mSelectEntities plugin is using camera [�[0m�[1;36mscene::Camera(65527)�[0m�[1;36m]�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [MarkerManager.cc:169] �[0m�[1;36mAdvertise �[0m�[1;36m/marker�[0m�[1;36m/list service.�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [MarkerManager.cc:179] �[0m�[1;36mAdvertise �[0m�[1;36m/marker�[0m�[1;36m/list.�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [MarkerManager.cc:189] �[0m�[1;36mAdvertise �[0m�[1;36m/marker�[0m�[1;36m_array.�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [CameraTracking.cc:172] �[0m�[1;36mCameraTrackingPrivate plugin is moving camera [�[0m�[1;36mscene::Camera(65527)�[0m�[1;36m]�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mMove to service on [�[0m�[1;32m/gui/move_to�[0m�[1;32m]�[0m�[1;32m�[0m
[ruby $(which gz) sim-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mFollow service on [�[0m�[1;32m/gui/follow�[0m�[1;32m]�[0m�[1;32m�[0m
[ruby $(which gz) sim-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mMove to pose service on [�[0m�[1;32m/gui/move_to/pose�[0m�[1;32m]�[0m�[1;32m�[0m
[ruby $(which gz) sim-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mCamera pose topic advertised on [�[0m�[1;32m/gui/camera/pose�[0m�[1;32m]�[0m�[1;32m�[0m
[ruby $(which gz) sim-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mFollow offset service on [�[0m�[1;32m/gui/follow/offset�[0m�[1;32m]�[0m�[1;32m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [InteractiveViewControl.cc:176] �[0m�[1;36mInteractiveViewControl plugin is moving camera [�[0m�[1;36mscene::Camera(65527)�[0m�[1;36m]�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] �[0m�[1;36mEntity context menu plugin is using camera [�[0m�[1;36mscene::Camera(65527)�[0m�[1;36m]�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [SignalHandler.cc:142] �[0m�[1;36mReceived signal[�[0m�[1;36m2�[0m�[1;36m].�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [Gui.cc:523] �[0m�[1;36mShutting down gz-sim-gui�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [Application.cc:237] �[0m�[1;36mTerminating application.�[0m�[1;36m�[0m
[ruby $(which gz) sim-1] �[1;36m[GUI] [Dbg] [MinimalScene.cc:841] �[0m�[1;36mDestroy scene [�[0m�[1;36mscene�[0m�[1;36m]�[0m�[1;36m�[0m
[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 22500]
[INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system
[INFO] [ros2-4]: sending signal 'SIGINT' to process[ros2-4]
[INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2]
[robot_state_publisher-2] [INFO] [1713978500.893447651] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 22502]
[ERROR] [ros2-4]: process has died [pid 22597, exit code 2, cmd 'ros2 control load_controller --set-state active joint_state_broadcaster'].
There are multiple instances of the error and I have made one part of the error instance bold.