Panda robot causing BoxedLcpConstraintSolver when loading using urdf with ign-ros2-control

[09ubberboy90]

Environment

• OS Version: Ubuntu 20.04
• Source or binary build? Using source branch foxy with commit d1f8bec223bb98e77ff0042992d6c9bffc206942

Description

• Expected behavior: Robot stays upright when simulation starts and no error in console
• Actual behavior: Ignition launches with the robot present and as soon as the simulation is started using the play button it collapses like the second picture and following error is spammed in the console

[ign gazebo-1] Error [BoxedLcpConstraintSolver.cpp:291] [BoxedLcpConstraintSolver] The solution of LCP includes NAN values: nan nan. We're setting it zero for safety. Consider using more robust solver such as PGS as a secondary solver. If this happens even with PGS solver, please report this as a bug.

Steps to reproduce

1. Install ign_ros2_control and moveit_resources_panda_description
2. run export IGN_GAZEBO_RESOURCE_PATH=/opt/ros/foxy/share/
3. run attached launch file after modifying path to urdf
4. Press play in ignition panda_gripper.zip

Output

Log included in the zip file

If the following is removed then no physics error happen but the robot doesn't have any joint control.

<gazebo>
   <plugin filename="ignition_ros2_control-system" name="ignition_ros2_control::IgnitionROS2ControlPlugin">
     <robot_param>robot_description</robot_param>
     <robot_param_node>robot_state_publisher</robot_param_node>
     <parameters>/workspaces/Ignition/ubb/ignitiondev/install/share/simple_arm/config/panda_ros_controllers.yaml</parameters>
   </plugin>
 </gazebo>