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Thanks @af-silva for your response. It seems not to be quite deterministic, we've seen 8120 and 8110 motor errors. After some debugging we seem to also be running into https://github.com/christiansandberg/canopen/issues/234....

Thanks @acolomb for your reply. As long as I understood, the `network.sync.start(1.0/40)` will run a background thread which takes care of the periodic sync message. We actually checked with candump...

Hi, thanks for your inputs. Here is some of the the output of a verbose gazebo run: ``` [gzclient --verbose -2] [Msg] Waiting for master. [gzclient --verbose -2] [Msg] Connected...

I managed to build gazebo_ros2_control by following step 1. in https://github.com/AcutronicRobotics/gym-gazebo2/issues/13#issuecomment-482410238 The gazebo segmentation fault still persists however, producing the same exact verbose output.

The compilation errors were solved by following the link referenced in my earlier reply https://github.com/ros-controls/ros2_control_demos/issues/91#issuecomment-841851095 The problem happens on runtime. It possibly still has to do with protobuf. Over the...

I personally moved to Docker for now, so not resolved for me.

Found out that some of the observation means are nan: `[nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan],`, any hints why this could happen?

Your gpu may be too new, not supporting cuda 11.3 - this was my issue with a 4060 recently.

Thanks @stonneau for your reply. If you mean ```python c.init_vel = np.array([[0]], dtype=np.float32) c.end_vel = np.array([[0]], dtype=np.float32) ``` I tried that already, I get the same result.

Could the ROS eigenpy verison be the culprit? I did not manage to install the robotpkg eigenpy from source.