Difficulty/problem launching ackermann_drive_example.launch.py

[tommyleekaelin]

Describe the bug
I'm getting an error when launching the ackermann_drive_example.launch.py. I'm fairly new to robotics and not sure if I've got something completely wrong.

To Reproduce
Steps to reproduce the behavior:

1. colcon build
2. source install/setup.bash
3. Launch ros2 launch gz_ros2_control_demos ackermann_drive_example.launch.py
4. Error: [spawner-6] spawner: error: unrecognized arguments: --controller-ros-args -r /ackermann_steering_controller/tf_odometry:=/tf``[ERROR] [spawner-6]: process has died [pid 3111, exit code 2, cmd '/opt/ros/jazzy/lib/controller_manager/spawner ackermann_steering_controller --param-file /workspace/install/gz_ros2_control_demos/share/gz_ros2_control_demos/config/ackermann_drive_controller.yaml --controller-ros-args -r /ackermann_steering_controller/tf_odometry:=/tf --ros-args'].

Expected behavior
I think that the ackermann_steering_controller should be configured and activated so that the robot moves when I run ros2 run gz_ros2_control_demos example_ackermann_drive

Environment (please complete the following information):

• OS: Ubuntu 24.04.1 LTS noble
• Version Jazzy
• (working in Docker. Image: unfrobotics/docker-ros2-jazzy-gz-rviz2:latest)

Additional context
I tried it in the jazzy and rolling branch.

[christophfroehlich]

can you check the ros2_control version please? via ros2 pkg xml -t version ros2_control for example

[tommyleekaelin]

yes, I currently have version 4.27.0

[christophfroehlich]

When I launch the demo, I get

[gazebo-2] [INFO] [1741905738.362286409] [controller_manager]: Controller 'ackermann_steering_controller' node arguments: --ros-args --params-file /workspaces/ros2_rolling_ws/install/gz_ros2_control_demos/share/gz_ros2_control_demos/config/ackermann_drive_controller.yaml --params-file /workspaces/ros2_rolling_ws/install/gz_ros2_control_demos/share/gz_ros2_control_demos/config/ackermann_drive_controller.yaml --param use_sim_time:=true --ros-args -r /ackermann_steering_controller/tf_odometry:=/tf

which version of gz_ros2_control and of controller_manager have you installed/compiled?

--controller-ros-args was added with

• ros2_control 4.22.0 Add controller node options args to be able to set controller specific node arguments ros2_control#1713
• and with gz_ros2_control_demos on jazzy branch, Remap to tf to /tf (backport #506) #507

[tommyleekaelin]

so I have for

• gz_ros2_control: 1.2.8
• controller_manager: 4.20.0

[christophfroehlich]

If you compile it from source, you have to use the correct versions of demos, the plugins, and ros2_control.
Your versions are from last November. Can't you just update the system? (sudo apt-get update && sudo apt-get upgrade)
If you use gz_ros2_control from binaries, you can also install gz_ros2_control_demos from binaries.

If you compile the demos from source with your old versions, you have to use the demos from the same tag, which is https://github.com/ros-controls/gz_ros2_control/releases/tag/1.2.8