try build in ros2-humble but have "[ERROR] [ros2-7]: process has died " when lanuch hyperdog_gazebo_sim

[liyang53719]

first some typo in readme
I think it is should be :
ros2 launch hyperdog_gazebo_sim hyperdog_gazebo_sim.launch.py
second
I think
find_package(trajectory_msgs REQUIRED)
should be add in CMakelist in hyperdog_teleop
after fix above I can build all package.
I launched hyperdog_launch, it is goes well
but when I launch hyperdog_gazebo_sim,I find some ERROR

the log is like below:
ros2 launch hyperdog_gazebo_sim hyperdog_gazebo_sim.launch.py
[INFO] [launch]: All log files can be found below /home/yang/.ros/log/2024-07-27-22-55-38-715506-yangli-482043
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [482048]
[INFO] [gzclient-2]: process started with pid [482050]
[INFO] [spawn_entity.py-3]: process started with pid [482052]
[INFO] [robot_state_publisher-4]: process started with pid [482054]
[INFO] [hyperdog_gazebo_joint_ctrl_node-5]: process started with pid [482056]
[robot_state_publisher-4] [INFO] [1722092139.548418738] [robot_state_publisher]: got segment BL_foot
[robot_state_publisher-4] [INFO] [1722092139.548571769] [robot_state_publisher]: got segment BL_hip_link
[robot_state_publisher-4] [INFO] [1722092139.548587484] [robot_state_publisher]: got segment BL_lleg_link
[robot_state_publisher-4] [INFO] [1722092139.548598939] [robot_state_publisher]: got segment BL_uleg_link
[robot_state_publisher-4] [INFO] [1722092139.548609834] [robot_state_publisher]: got segment BR_foot
[robot_state_publisher-4] [INFO] [1722092139.548621918] [robot_state_publisher]: got segment BR_hip_link
[robot_state_publisher-4] [INFO] [1722092139.548633233] [robot_state_publisher]: got segment BR_lleg_link
[robot_state_publisher-4] [INFO] [1722092139.548644198] [robot_state_publisher]: got segment BR_uleg_link
[robot_state_publisher-4] [INFO] [1722092139.548654815] [robot_state_publisher]: got segment FL_foot
[robot_state_publisher-4] [INFO] [1722092139.548664663] [robot_state_publisher]: got segment FL_hip_link
[robot_state_publisher-4] [INFO] [1722092139.548674232] [robot_state_publisher]: got segment FL_lleg_link
[robot_state_publisher-4] [INFO] [1722092139.548684359] [robot_state_publisher]: got segment FL_uleg_link
[robot_state_publisher-4] [INFO] [1722092139.548697141] [robot_state_publisher]: got segment FR_foot
[robot_state_publisher-4] [INFO] [1722092139.548711459] [robot_state_publisher]: got segment FR_hip_link
[robot_state_publisher-4] [INFO] [1722092139.548722495] [robot_state_publisher]: got segment FR_lleg_link
[robot_state_publisher-4] [INFO] [1722092139.548732832] [robot_state_publisher]: got segment FR_uleg_link
[robot_state_publisher-4] [INFO] [1722092139.548744915] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1722092139.548755881] [robot_state_publisher]: got segment inertial_link
[spawn_entity.py-3] [INFO] [1722092139.865221515] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1722092139.865750803] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-3] warnings.warn(
[spawn_entity.py-3] [INFO] [1722092139.867995143] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-3] [INFO] [1722092140.882678780] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1722092140.883046097] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-3] [INFO] [1722092140.886771787] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-3] [INFO] [1722092141.242049773] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [HyperDog]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 482052]
[INFO] [ros2-6]: process started with pid [482228]
[ros2-6] usage: ros2 [-h] [--use-python-default-buffering]
[ros2-6] Call ros2 <command> -h for more detailed usage. ...
[ros2-6] ros2: error: argument Call ros2 <command> -h for more detailed usage.: invalid choice: 'control' (choose from 'action', 'bag', 'component', 'daemon', 'doctor', 'extension_points', 'extensions', 'interface', 'launch', 'lifecycle', 'multicast', 'node', 'param', 'pkg', 'run', 'security', 'service', 'topic', 'wtf')
[ERROR] [ros2-6]: process has died [pid 482228, exit code 2, cmd 'ros2 control load_controller --set-state start joint_state_broadcaster'].
[INFO] [ros2-7]: process started with pid [482230]
[ros2-7] usage: ros2 [-h] [--use-python-default-buffering]
[ros2-7] Call ros2 <command> -h for more detailed usage. ...
[ros2-7] ros2: error: argument Call ros2 <command> -h for more detailed usage.: invalid choice: 'control' (choose from 'action', 'bag', 'component', 'daemon', 'doctor', 'extension_points', 'extensions', 'interface', 'launch', 'lifecycle', 'multicast', 'node', 'param', 'pkg', 'run', 'security', 'service', 'topic', 'wtf')
[ERROR] [ros2-7]: process has died [pid 482230, exit code 2, cmd 'ros2 control load_controller --set-state start gazebo_joint_controller'].

[NDHANA94]

Hi Li,

Thanks, I will update it.
Regarding error in gazebo launch, What's the gazebo version you have installed? Here, it's been developed for gazebo 11.