lukeschmitt-tr

@ROBOTIS-Will We were able to verify that the patch does work. You can feel free to close this. Thanks!

@clalancette Do you have a timeline for the release of these changes for Galactic and Foxy now that they have been merged?

Please see if the advice in [this ROS Answers comment](https://answers.ros.org/question/358847/cannot-launch-gzclient-on-a-launch-file-results-in-shared_ptr-assertion-error/?answer=387418#post-id-387418) solves your issue.

Are your local repos up-to-date? A similar (if not the same) issue was fixes in the recent commit https://github.com/Interbotix/interbotix_ros_manipulators/commit/3ba0e5e55edabb4a116396e9af96e9228409ac88. Try to see if pulling this change solves your issue.

Could you share the entire contents of your terminal where you're seeing this behavior?

> [gzclient-4] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed. Looks like Gazebo is still crashing. This will prevent...

> [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'world' (Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf...

> ``` > [ros2_control_node-1] what(): According to the loaded plugin descriptions the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem interbotix_xs_ros_control/XSHardwareInterface mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem...

You might try to manually install it instead: ``` sudo apt-get install ros-humble-gazebo-ros2-control ``` Check that it is installed using dpkg: ``` dpkg --list | grep gazebo-ros2-control ``` Make sure...

> ``` > [gzserver-1] [INFO] [1685734171.787663761] [vx300s.gazebo_ros2_control]: Loading controller_manager > ... > [ERROR] [gzserver-1]: process has died [pid 767841, exit code -11, cmd 'gzserver /home/robotarm/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so']. >...