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

[abdu7rahman]

[smoggy-P]

Hi, I got the same problem. Did you manage to solve it?

[smoggy-P]

I looked into the code and it turns out that you need to add the following line to your custom urdf file to load gazebo control plugins:

<gazebo>
  <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
    <alwaysOn>true</alwaysOn>
    <updateRate>10.0</updateRate>
    <bodyName>base_link</bodyName>
    <topicName>odom/ground_truth</topicName>
    <gaussianNoise>0.01</gaussianNoise>
    <frameName>world</frameName>
    <xyzOffsets>0 0 0</xyzOffsets>
    <rpyOffsets>0 0 0</rpyOffsets>
  </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>

Hope that can help those with the same problem!

[abdu7rahman]

has not worked for me, is there some modifications to do in the launch files as well?