[Bug]: [robotnik_base_controller]: Imu data not received

[Sean-Katagiri]

What happened?

The warning message [robotnik_base_controller]: Imu data not received appears constantly after launching a world and spawning a robot (regardless of which rb robot). The imu topic does not publish data and the odometry seems to be affected as well, impacting any attempts at running a SLAM node reliably.

Recreating the problem:

• Fresh Ubuntu 22.04 system with ros-humble-dekstop
• Installation steps followed as per humble-branch instructions
• Terminal 1: Run ros2 launch robotnik_gazebo_ignition spawn_world.launch.py
• Terminal 2: Run ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbvogui
• Warning messages appear in Terminal 1 indefinitely, /robot/imu/data topic does not publish any data.

Relevant log output

$ ros2 launch robotnik_gazebo_ignition spawn_world.launch.py 
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [20545]
[INFO] [ign gazebo-2]: process started with pid [20547]
[ign gazebo-2] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-2] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] [INFO] [1753353212.081729553] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher
[ign gazebo-1] [INFO] [1753353212.081759119] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description
[ign gazebo-1] [INFO] [1753353212.096059698] [robot.gz_ros2_control]: connected to service!! /robot/robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1753353212.096431512] [robot.gz_ros2_control]: Received URDF from param server
[ign gazebo-1] [INFO] [1753353212.100160910] [robot.gz_ros2_control]: The position_proportional_gain has been set to: 0.1
[ign gazebo-1] [INFO] [1753353212.100247829] [robot.gz_ros2_control]: Loading joint: robot_front_left_wheel_joint
[ign gazebo-1] [INFO] [1753353212.100253823] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1753353212.100258596] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1753353212.100264549] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1753353212.100268006] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1753353212.100270866] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1753353212.100275687] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1753353212.100294351] [robot.gz_ros2_control]: Loading joint: robot_front_right_wheel_joint
[ign gazebo-1] [INFO] [1753353212.100297201] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1753353212.100299990] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1753353212.100303149] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1753353212.100305994] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1753353212.100308446] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1753353212.100310947] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1753353212.100322406] [robot.gz_ros2_control]: Loading joint: robot_back_left_wheel_joint
[ign gazebo-1] [INFO] [1753353212.100325124] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1753353212.100328061] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1753353212.100330653] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1753353212.100333271] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1753353212.100336254] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1753353212.100338621] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1753353212.100346826] [robot.gz_ros2_control]: Loading joint: robot_back_right_wheel_joint
[ign gazebo-1] [INFO] [1753353212.100349399] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1753353212.100351916] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1753353212.100354406] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1753353212.100356884] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1753353212.100359257] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1753353212.100361526] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1753353212.100459268] [robot.gz_ros2_control]: Loading sensor: imu_sensor
[ign gazebo-1] [INFO] [1753353212.100462919] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1753353212.100474860] [resource_manager]: Initialize hardware 'IgnitionSystem' 
[ign gazebo-1] [INFO] [1753353212.100511975] [resource_manager]: Successful initialization of hardware 'IgnitionSystem'
[ign gazebo-1] [INFO] [1753353212.100533031] [resource_manager]: 'configure' hardware 'IgnitionSystem' 
[ign gazebo-1] [INFO] [1753353212.100535335] [robot.gz_ros2_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1753353212.100540638] [resource_manager]: Successful 'configure' of hardware 'IgnitionSystem'
[ign gazebo-1] [INFO] [1753353212.100544794] [resource_manager]: 'activate' hardware 'IgnitionSystem' 
[ign gazebo-1] [INFO] [1753353212.100547428] [resource_manager]: Successful 'activate' of hardware 'IgnitionSystem'
[ign gazebo-1] [INFO] [1753353212.100550400] [robot.gz_ros2_control]: Loading controller_manager
[ign gazebo-1] [WARN] [1753353212.292792863] [robot.gz_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] [INFO] [1753353212.663479972] [robot.controller_manager]: Loading controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1753353214.198826704] [robot.controller_manager]: Configuring controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1753353214.199007577] [robot.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ign gazebo-1] [INFO] [1753353215.063773303] [robot.controller_manager]: Loading controller 'robotnik_base_controller'
[ign gazebo-1] [INFO] [1753353215.092564930] [robot.controller_manager]: Configuring controller 'robotnik_base_controller'
[ign gazebo-1] [INFO] [1753353215.100273657] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [INFO] [1753353215.100321887] [robot.robotnik_base_controller]: BaseController::state_interface_configuration
[ign gazebo-1] [INFO] [1753353215.105219164] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [INFO] [1753353215.105301946] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [INFO] [1753353215.113530517] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [INFO] [1753353215.113586066] [robot.robotnik_base_controller]: BaseController::state_interface_configuration
[ign gazebo-1] [INFO] [1753353215.113612163] [robot.robotnik_base_controller]: robotnik_controllers -> RobotnikController::on_activate
[ign gazebo-1] [INFO] [1753353215.113634554] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [WARN] [1753353215.123971972] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.136509142] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.147084868] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.157014471] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.167620727] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.177642365] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.187805974] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.199090262] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.209003315] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.219036134] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1753353215.229467651] [robotnik_base_controller]: Imu data not received

[rafa-martin]

Could you attach the log output after running

ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbvogui

[Sean-Katagiri]

Thanks for the response, the relevant log files are attached.

spawn_world.log
spawn_robot.log

[rafa-martin]

I mean the text output of the each commands, also the command you run.

Would be ideal if you can attach a video of the screen.

[Sean-Katagiri]

Also I'm unable to upload the screen recording for some reason, but in case the log file does miss something here's the output from the robot spawner:

~$ ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbvogui
[INFO] [launch]: All log files can be found below /home/sean-nr/.ros/log/2025-08-06-17-58-33-684404-seannr-ROG-Zephyrus-M16-GU603ZW-GU603ZW-6411
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [6413]
[INFO] [create-2]: process started with pid [6415]
[INFO] [parameter_bridge-3]: process started with pid [6417]
[INFO] [rviz2-4]: process started with pid [6419]
[create-2] [INFO] [1754499513.927845663] [robot.ros_gz_sim]: Requesting list of world names.
[robot_state_publisher-1] [INFO] [1754499513.954438418] [robot.robot_state_publisher]: got segment robot_back_left_base_wheel
[robot_state_publisher-1] [INFO] [1754499513.954518354] [robot.robot_state_publisher]: got segment robot_back_left_wheel
[robot_state_publisher-1] [INFO] [1754499513.954523831] [robot.robot_state_publisher]: got segment robot_back_right_base_wheel
[robot_state_publisher-1] [INFO] [1754499513.954526985] [robot.robot_state_publisher]: got segment robot_back_right_wheel
[robot_state_publisher-1] [INFO] [1754499513.954529744] [robot.robot_state_publisher]: got segment robot_base_footprint
[robot_state_publisher-1] [INFO] [1754499513.954532604] [robot.robot_state_publisher]: got segment robot_base_link
[robot_state_publisher-1] [INFO] [1754499513.954535561] [robot.robot_state_publisher]: got segment robot_base_logos_link
[robot_state_publisher-1] [INFO] [1754499513.954538385] [robot.robot_state_publisher]: got segment robot_battery_link
[robot_state_publisher-1] [INFO] [1754499513.954541178] [robot.robot_state_publisher]: got segment robot_chassis_link
[robot_state_publisher-1] [INFO] [1754499513.954543895] [robot.robot_state_publisher]: got segment robot_contactors_link
[robot_state_publisher-1] [INFO] [1754499513.954546547] [robot.robot_state_publisher]: got segment robot_front_laser_base_link
[robot_state_publisher-1] [INFO] [1754499513.954549137] [robot.robot_state_publisher]: got segment robot_front_laser_link
[robot_state_publisher-1] [INFO] [1754499513.954551854] [robot.robot_state_publisher]: got segment robot_front_left_base_wheel
[robot_state_publisher-1] [INFO] [1754499513.954554382] [robot.robot_state_publisher]: got segment robot_front_left_wheel
[robot_state_publisher-1] [INFO] [1754499513.954556854] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_base_link
[robot_state_publisher-1] [INFO] [1754499513.954559783] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_color_frame
[robot_state_publisher-1] [INFO] [1754499513.954562387] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_color_optical_frame
[robot_state_publisher-1] [INFO] [1754499513.954565635] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_depth_frame
[robot_state_publisher-1] [INFO] [1754499513.954568241] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1754499513.954570800] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_infra1_frame
[robot_state_publisher-1] [INFO] [1754499513.954573364] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_infra1_optical_frame
[robot_state_publisher-1] [INFO] [1754499513.954575939] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_infra2_frame
[robot_state_publisher-1] [INFO] [1754499513.954578521] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_infra2_optical_frame
[robot_state_publisher-1] [INFO] [1754499513.954581346] [robot.robot_state_publisher]: got segment robot_front_rgbd_camera_link
[robot_state_publisher-1] [INFO] [1754499513.954584904] [robot.robot_state_publisher]: got segment robot_front_right_base_wheel
[robot_state_publisher-1] [INFO] [1754499513.954587503] [robot.robot_state_publisher]: got segment robot_front_right_wheel
[robot_state_publisher-1] [INFO] [1754499513.954590323] [robot.robot_state_publisher]: got segment robot_imu_base_link
[robot_state_publisher-1] [INFO] [1754499513.954593180] [robot.robot_state_publisher]: got segment robot_imu_link
[robot_state_publisher-1] [INFO] [1754499513.954596080] [robot.robot_state_publisher]: got segment robot_leds_link
[robot_state_publisher-1] [INFO] [1754499513.954598835] [robot.robot_state_publisher]: got segment robot_rear_laser_base_link
[robot_state_publisher-1] [INFO] [1754499513.954601573] [robot.robot_state_publisher]: got segment robot_rear_laser_link
[robot_state_publisher-1] [INFO] [1754499513.954604230] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_base_link
[robot_state_publisher-1] [INFO] [1754499513.954607110] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_color_frame
[robot_state_publisher-1] [INFO] [1754499513.954609721] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_color_optical_frame
[robot_state_publisher-1] [INFO] [1754499513.954612547] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_depth_frame
[robot_state_publisher-1] [INFO] [1754499513.954615383] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1754499513.954618205] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_infra1_frame
[robot_state_publisher-1] [INFO] [1754499513.954620851] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_infra1_optical_frame
[robot_state_publisher-1] [INFO] [1754499513.954623480] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_infra2_frame
[robot_state_publisher-1] [INFO] [1754499513.954625985] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_infra2_optical_frame
[robot_state_publisher-1] [INFO] [1754499513.954658148] [robot.robot_state_publisher]: got segment robot_rear_rgbd_camera_link
[rviz2-4] [INFO] [1754499514.121939834] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1754499514.122017437] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO] [1754499514.134017197] [rviz2]: Stereo is NOT SUPPORTED
[create-2] [INFO] [1754499514.191825385] [robot.ros_gz_sim]: Waiting messages on topic [robot_description].
[create-2] [INFO] [1754499514.203476525] [robot.ros_gz_sim]: Requested creation of entity.
[create-2] [INFO] [1754499514.203512486] [robot.ros_gz_sim]: OK creation of entity.
[rviz2-4] [INFO] [1754499514.221667987] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [create-2]: process has finished cleanly [pid 6415]
[INFO] [launch.user]: Robot spawned
[INFO] [spawner-5]: process started with pid [6527]
[parameter_bridge-3] [INFO] [1754499514.951156921] [robot.ros_gz_bridge]: Creating GZ->ROS Bridge: [clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-3] [INFO] [1754499514.951977847] [robot.ros_gz_bridge]: Creating GZ->ROS Bridge: [/robot/front_laser/scan (gz.msgs.LaserScan) -> /robot/front_laser/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-3] [INFO] [1754499514.952941872] [robot.ros_gz_bridge]: Creating GZ->ROS Bridge: [/robot/rear_laser/scan (gz.msgs.LaserScan) -> /robot/rear_laser/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-3] [INFO] [1754499514.953146797] [robot.ros_gz_bridge]: Creating GZ->ROS Bridge: [/robot/front_camera_color/color/camera_info (gz.msgs.CameraInfo) -> /robot/front_rgbd_camera/color/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[parameter_bridge-3] [INFO] [1754499514.953443363] [robot.ros_gz_bridge]: Creating GZ->ROS Bridge: [/robot/front_camera_color/color/image_raw (gz.msgs.Image) -> /robot/front_rgbd_camera/color/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-3] [INFO] [1754499514.953863670] [robot.ros_gz_bridge]: Creating GZ->ROS Bridge: [/robot/rear_camera_color/color/camera_info (gz.msgs.CameraInfo) -> /robot/rear_rgbd_camera/color/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[parameter_bridge-3] [INFO] [1754499514.954106677] [robot.ros_gz_bridge]: Creating GZ->ROS Bridge: [/robot/rear_camera_color/color/image_raw (gz.msgs.Image) -> /robot/rear_rgbd_camera/color/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-3] [INFO] [1754499514.954299213] [robot.ros_gz_bridge]: Creating GZ->ROS Bridge: [/robot/imu/data (ignition.msgs.IMU) -> /robot/imu/data (sensor_msgs/msg/Imu)] (Lazy 0)
[spawner-5] [INFO] [1754499518.183597282] [robot.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[spawner-5] [INFO] [1754499520.513984042] [robot.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-5]: process has finished cleanly [pid 6527]
[INFO] [launch.user]: Joint States spawned
[INFO] [launch.user]: Joint States spawned
[INFO] [spawner-6]: process started with pid [6666]
[spawner-6] [INFO] [1754499521.324904244] [robot.spawner_robotnik_base_controller]: Loaded robotnik_base_controller
[spawner-6] [INFO] [1754499523.647547326] [robot.spawner_robotnik_base_controller]: Configured and activated robotnik_base_controller
[INFO] [spawner-6]: process has finished cleanly [pid 6666]

And the world spawner:

~$: ros2 launch robotnik_gazebo_ignition spawn_world.launch.py 
[INFO] [launch]: All log files can be found below /home/sean-nr/.ros/log/2025-08-06-17-58-09-688501-seannr-ROG-Zephyrus-M16-GU603ZW-GU603ZW-6177
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [6178]
[INFO] [ign gazebo-2]: process started with pid [6180]
[ign gazebo-2] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-2] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] [INFO] [1754499514.294432508] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher
[ign gazebo-1] [INFO] [1754499514.294500398] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description
[ign gazebo-1] [INFO] [1754499514.313394099] [robot.gz_ros2_control]: connected to service!! /robot/robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1754499514.314038792] [robot.gz_ros2_control]: Received URDF from param server
[ign gazebo-1] [INFO] [1754499514.318895891] [robot.gz_ros2_control]: The position_proportional_gain has been set to: 0.1
[ign gazebo-1] [INFO] [1754499514.318967213] [robot.gz_ros2_control]: Loading joint: robot_front_left_steering_joint
[ign gazebo-1] [INFO] [1754499514.318976734] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.318983663] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.318991766] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.318996142] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1754499514.318999809] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1754499514.319003283] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319025817] [robot.gz_ros2_control]: Loading joint: robot_front_right_steering_joint
[ign gazebo-1] [INFO] [1754499514.319029998] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.319033353] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319036647] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319039933] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1754499514.319043105] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1754499514.319046301] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319061284] [robot.gz_ros2_control]: Loading joint: robot_back_left_steering_joint
[ign gazebo-1] [INFO] [1754499514.319064836] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.319067981] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319071147] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319074154] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1754499514.319078031] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1754499514.319081224] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319093525] [robot.gz_ros2_control]: Loading joint: robot_back_right_steering_joint
[ign gazebo-1] [INFO] [1754499514.319099162] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.319103222] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319106390] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319109470] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1754499514.319112591] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1754499514.319115509] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319126589] [robot.gz_ros2_control]: Loading joint: robot_front_left_wheel_joint
[ign gazebo-1] [INFO] [1754499514.319129945] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.319133062] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319136145] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319139251] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1754499514.319142250] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1754499514.319146238] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319158805] [robot.gz_ros2_control]: Loading joint: robot_front_right_wheel_joint
[ign gazebo-1] [INFO] [1754499514.319164629] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.319168841] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319172109] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319176217] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1754499514.319179440] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1754499514.319182571] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319197595] [robot.gz_ros2_control]: Loading joint: robot_back_left_wheel_joint
[ign gazebo-1] [INFO] [1754499514.319210836] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.319214602] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319217796] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319220804] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1754499514.319224691] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1754499514.319227797] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319239259] [robot.gz_ros2_control]: Loading joint: robot_back_right_wheel_joint
[ign gazebo-1] [INFO] [1754499514.319242732] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.319246411] [robot.gz_ros2_control]: 		 position
[ign gazebo-1] [INFO] [1754499514.319250642] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319254029] [robot.gz_ros2_control]: 		 effort
[ign gazebo-1] [INFO] [1754499514.319290877] [robot.gz_ros2_control]: 	Command:
[ign gazebo-1] [INFO] [1754499514.319295049] [robot.gz_ros2_control]: 		 velocity
[ign gazebo-1] [INFO] [1754499514.319493061] [robot.gz_ros2_control]: Loading sensor: imu_sensor
[ign gazebo-1] [INFO] [1754499514.319504120] [robot.gz_ros2_control]: 	State:
[ign gazebo-1] [INFO] [1754499514.319524536] [resource_manager]: Initialize hardware 'GazeboSystem' 
[ign gazebo-1] [INFO] [1754499514.319581181] [resource_manager]: Successful initialization of hardware 'GazeboSystem'
[ign gazebo-1] [INFO] [1754499514.319624790] [resource_manager]: 'configure' hardware 'GazeboSystem' 
[ign gazebo-1] [INFO] [1754499514.319629512] [robot.gz_ros2_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1754499514.319638426] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem'
[ign gazebo-1] [INFO] [1754499514.319645424] [resource_manager]: 'activate' hardware 'GazeboSystem' 
[ign gazebo-1] [INFO] [1754499514.319650359] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem'
[ign gazebo-1] [INFO] [1754499514.319657374] [robot.gz_ros2_control]: Loading controller_manager
[ign gazebo-1] [WARN] [1754499514.368189258] [robot.gz_ros2_control]:  Desired controller update period (0.02 s) is slower than the gazebo simulation period (0.001 s).
[ign gazebo-1] [INFO] [1754499514.535920353] [robot.controller_manager]: Loading controller 'joint_state_broadcaster'
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] [INFO] [1754499518.185120899] [robot.controller_manager]: Configuring controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1754499518.185410796] [robot.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ign gazebo-1] [INFO] [1754499520.950931026] [robot.controller_manager]: Loading controller 'robotnik_base_controller'
[ign gazebo-1] [INFO] [1754499521.325937218] [robot.controller_manager]: Configuring controller 'robotnik_base_controller'
[ign gazebo-1] [INFO] [1754499521.335553762] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [INFO] [1754499521.335583298] [robot.robotnik_base_controller]: BaseController::state_interface_configuration
[ign gazebo-1] [INFO] [1754499522.089857036] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [INFO] [1754499522.090053135] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [INFO] [1754499522.864591504] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [INFO] [1754499522.864937616] [robot.robotnik_base_controller]: BaseController::state_interface_configuration
[ign gazebo-1] [INFO] [1754499522.865247806] [robot.robotnik_base_controller]: robotnik_controllers -> RobotnikController::on_activate
[ign gazebo-1] [INFO] [1754499522.865395934] [robot.robotnik_base_controller]: BaseController::command_interface_configuration
[ign gazebo-1] [WARN] [1754499523.645808502] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1754499524.409789526] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1754499525.180907613] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1754499525.963780337] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1754499526.745717351] [robotnik_base_controller]: Imu data not received
[ign gazebo-1] [WARN] [1754499527.556244107] [robotnik_base_controller]: Imu data not received