Compatibility between Webots2025a and ROS2 control

[Faliana2002]

I used Webots2023b for a robot simulation with an old version of ros2_control and ros2_controllers, but I upgrade all the packages, and now I'm with Webots2025a and new version of ros2_control and ros2_controllers.
Normally the simulation ran correctly but it's not anymore the case. Are there possible incompatbility between Webots2025a and ros2_control, new version ?

[wentywenty]

I'm in the same situation, my turtlebot example doesn't load the controller properly either!

[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.307903008] [resource_manager]: Initialize hardware 'WebotsControl'
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.308080220] [resource_manager]: Successful initialization of hardware 'WebotsControl'
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.308112375] [resource_manager]: 'configure' hardware 'WebotsControl'
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.308118857] [resource_manager]: Successful 'configure' of hardware 'WebotsControl'
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.308122394] [resource_manager]: 'activate' hardware 'WebotsControl'
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.308125897] [resource_manager]: Successful 'activate' of hardware 'WebotsControl'
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.845020624] [plugin_node_example]: - properties: {'parameterExample': 'someValue'}
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.845509944] [plugin_node_example]: - robot name: TurtleBot3Burger
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.845767727] [plugin_node_example]: - basic timestep: 20
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.846025736] [plugin_node_example]: - is supervisor? False
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648945.848713204] [TurtleBot3Burger]: Controller successfully connected to robot in Webots simulation.
[INFO] [spawner-2]: process started with pid [148224]
[INFO] [spawner-3]: process started with pid [148226]
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648946.840633509] [controller_manager]: Loading controller 'diffdrive_controller'
[spawner-2] [INFO] [1744648946.868887853] [spawner_diffdrive_controller]: Loaded diffdrive_controller
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648946.870750102] [controller_manager]: Configuring controller 'diffdrive_controller'
[webots_controller_TurtleBot3Burger-1] [ERROR] [1744648951.881263389] [controller_manager]: Switch controller timed out after 5.000000 seconds!
[spawner-2] [ERROR] [1744648951.883002187] [spawner_diffdrive_controller]: Failed to activate controller : diffdrive_controller
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648951.884713159] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1744648951.912000590] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648951.914495540] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648951.914920320] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ERROR] [spawner-2]: process has died [pid 148224, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diffdrive_controller --controller-manager-timeout 50 --ros-args'].
[webots_controller_TurtleBot3Burger-1] [ERROR] [1744648956.925057697] [controller_manager]: Switch controller timed out after 5.000000 seconds!
[spawner-3] [ERROR] [1744648956.926692997] [spawner_joint_state_broadcaster]: Failed to activate controller : joint_state_broadcaster
[ERROR] [spawner-3]: process has died [pid 148226, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager-timeout 50 --ros-args'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[webots_controller_TurtleBot3Burger-1] [INFO] [1744648985.982390324] [rclcpp]: signal_handler(signum=2)
[webots_controller_TurtleBot3Burger-1] realloc(): invalid old size
[ERROR] [webots_controller_TurtleBot3Burger-1]: process[webots_controller_TurtleBot3Burger-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [webots_controller_TurtleBot3Burger-1]: sending signal 'SIGTERM' to process[webots_controller_TurtleBot3Burger-1]
[ERROR] [webots_controller_TurtleBot3Burger-1]: process has died [pid 148174, exit code -15, cmd '/opt/ros/humble/share/webots_ros2_driver/scripts/webots-controller --robot-name=TurtleBot3Burger --protocol=tcp --ip-address=127.0.0.1 --port=1234 ros2 --ros-args -p robot_description:=/home/duzhong/sha32/turtlebot_webots.urdf -p use_sim_time:=True -p webots_server:=http://192.168.137.1:1234 -p set_robot_state_publisher:=True --params-file /home/duzhong/sha32/ros2control.yml'].
duzhong@ucar-mini:~/sha32$

[ralphieraccoon]

Upgrading to ros2_control 4.28.0 seems to fix this. You can get it from the ros2 testing repository, see instructions here on how to change your sources list (remember to run apt upgrade after!). Otherwise you'll have to wait for the next sync, which might not be for another three weeks.