Christoph Fröhlich

I'm tempted to close this issue as it seems to be not related with gz_ros2_control but with gz_sim itself.

I'll reopen this, as it got reported again and it seems that there is no fix for Fortress. (@azeey?)

Which gazebo version are you using? See https://github.com/ros-controls/gz_ros2_control/issues/165#issuecomment-1958180051

v6 is Fortress. As @azeey has written in the linked issue, this has been fixed for harmonic only. I'm tempted to close this issue as it seems to be not...

Seems to be fixed in the meantime? Currently we have > $ apt info ros-humble-ign-ros2-control > Package: ros-humble-ign-ros2-control > Version: 0.7.8-1jammy.20240517.201033

> Thanks for your info, I haven't found any definitive sources on how to start various stuff in a way it can be used for hardware and simulation. At some...

The diff-drive plugin you linked is not a ros2_controller but a gz plugin -> you can't use it on the hardware anyways. All ros2_controller can be configured using the same...

But gz_ros2_control (and gazebo_ros2_control) do not work with ros2_control_node for a good reason. The gazebo diff drive system is something totally independent of ros2_control. But there is a [diff_drive](https://control.ros.org/rolling/doc/gz_ros2_control/doc/index.html#mobile-robots) example...

As far as I understand your comment, this issue can be closed.

Seems to be fixed with https://github.com/ros-controls/gz_ros2_control/pull/92 and https://github.com/ros-controls/gz_ros2_control/pull/128