Set use_sim_time through CM NodeOptions

[saikishor]

No description provided.

[christophfroehlich]

gz_ros2_control was broken since ros-controls/ros2_control#2046
I have to see why the downstream build jobs there haven't failed.

[christophfroehlich]

@Mergifyio backport jazzy

[mergify]

backport jazzy

✅ Backports have been created

• #538 Set use_sim_time through CM NodeOptions (backport #533) has been created for branch jazzy

[zacharyyamaoka]

Hi ROS2 Control team,

I am currently trying to use gz_ros2_control on Jazzy.

Previously I was getting this error:

[gazebo-1] [WARN] [1744209681.014324598] [gz_ros_control]:  Desired controller update period (0.002 s) is slower than the gazebo simulation period (0.0005 s).
[gazebo-1] terminate called after throwing an instance of 'std::runtime_error'
[gazebo-1]   what():  can't compare times with different time sources
[gazebo-1] Stack trace (most recent call last) in thread 904995:
[gazebo-1] #14   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0c4729c3b, in 
[gazebo-1] #12   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0c469caa3, in 
[gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb0bececdb3, in 
[gazebo-1] #10   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x7fb0bdd4ed45, in 
[gazebo-1] #9    Object "/home/bam/control_ws/install/gz_ros2_control/lib/libgz_ros2_control-system.so", at 0x7fb07fd717c5, in gz_ros2_control::GazeboSimROS2ControlPlugin::PostUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
[gazebo-1] #8    Object "/home/bam/control_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7fb07f886561, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&)
[gazebo-1] #7    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb07eae2a90, in 
[gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb0becbb390, in __cxa_throw
[gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb0beca5a54, in std::terminate()
[gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb0becbb0d9, in 
[gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb0beca5ff4, in 
[gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0c46288fe, in abort
[gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0c464527d, in gsignal
[gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0c469eb2c, in pthread_kill
[gazebo-1] Aborted (Signal sent by tkill() 904738 1000)
[gazebo-1] 0mLoaded plugin [EntityTree] from path 

Which I found was caused by use_sim_time not being set properly:

[gazebo-1] [INFO] [1744209678.974210234] [gz_ros_control]: Loading controller_manager
[gazebo-1] [INFO] [1744209679.000651931] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.

This change seems to have fixed that issue, but now I am getting these errors:

[gazebo-1] [WARN] [1744219953.983130822] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available
[gazebo-1] [WARN] [1744219954.983370543] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available
[gazebo-1] [WARN] [1744219955.984920823] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available
[gazebo-1] [WARN] [1744219956.986762555] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available
[gazebo-1] [WARN] [1744219957.988553717] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available
[gazebo-1] [WARN] [1744219958.988554350] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available

I will be investigating further... (i am new to gazebo) so not sure the effect. but just letting you guys know I am looking at this right now!

best,

Zach :)

[zacharyyamaoka]

Ok it seems the issue is related to: #137

using the bridge to get gazebo to publish to the /clock is likely the fix

[zacharyyamaoka]

Yay! ok all seems to be working now :)

I think the documentation should be updated if bridge is needed for it to work...

Reading through this: https://gazebosim.org/docs/latest/ros2_launch_gazebo/ I got the impression it should just work without using bridge....

[christophfroehlich]

@zacharyyamaoka do you mind contributing a PR by adding this here? The ros2_launch_gazebo doc is not managed by us (but you also can hand in a PR there!)

[zacharyyamaoka]

@zacharyyamaoka do you mind contributing a PR by adding this here? The ros2_launch_gazebo doc is not managed by us (but you also can hand in a PR there!)

Yes I will give it a go!

Made a PR here: #549