Hi, the environment was working well before, but recently I encountered an error related to /spawn_entity (probably due to some new packages updates). I performed clean installation on two different computers running Ubuntu 22.04 and ROS2 humble, and both systems produce the same error shown below (you can try as well). The /spawn_entity service should be detected, but it is not, which incurs timeout.
Appreciate your help in advance!
$ ros2 launch vehicle_simulator system_garage.launch
[INFO] [launch]: All log files can be found below /home/xxx/.ros/log/2026-01-25-01-20-11-043139-Pluto-31545
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [localPlanner-1]: process started with pid [31547]
[INFO] [pathFollower-2]: process started with pid [31549]
[INFO] [static_transform_publisher-3]: process started with pid [31551]
[INFO] [static_transform_publisher-4]: process started with pid [31553]
[INFO] [terrainAnalysis-5]: process started with pid [31555]
[INFO] [terrainAnalysisExt-6]: process started with pid [31557]
[INFO] [gzserver-7]: process started with pid [31559]
[INFO] [robot_state_publisher-8]: process started with pid [31561]
[INFO] [spawn_entity.py-9]: process started with pid [31563]
[INFO] [spawn_entity.py-10]: process started with pid [31565]
[INFO] [spawn_entity.py-11]: process started with pid [31567]
[INFO] [sensorScanGeneration-12]: process started with pid [31569]
[INFO] [visualizationTools-13]: process started with pid [31571]
[INFO] [realTimePlot.py-14]: process started with pid [31573]
[INFO] [joy_node-15]: process started with pid [31575]
[static_transform_publisher-3] [WARN] [1769275211.567101228] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-4] [WARN] [1769275211.567105536] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-4] [INFO] [1769275211.596982878] [sensorTransPublisher]: Spinning until stopped - publishing transform
[static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-4] rotation: ('-0.500000', '0.500000', '-0.500000', '0.500000')
[static_transform_publisher-4] from '/sensor' to '/camera'
[static_transform_publisher-3] [INFO] [1769275211.598910763] [vehicleTransPublisher]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('-0.000000', '-0.000000', '0.000000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from '/sensor' to '/vehicle'
[localPlanner-1] [INFO] [1769275211.608102061] [localPlanner]: Reading path files.
[robot_state_publisher-8] [INFO] [1769275211.622368874] [robot_state_publisher]: got segment lidar
[robot_state_publisher-8] [INFO] [1769275211.622437492] [robot_state_publisher]: got segment velodyne
[robot_state_publisher-8] [INFO] [1769275211.622442632] [robot_state_publisher]: got segment velodyne_base_link
[spawn_entity.py-9] [INFO] [1769275211.874572030] [spawn_entity]: Spawn Entity started
[spawn_entity.py-9] [INFO] [1769275211.874852143] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-9] [INFO] [1769275211.876621242] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-11] [INFO] [1769275211.878390851] [spawn_entity]: Spawn Entity started
[spawn_entity.py-11] [INFO] [1769275211.878716138] [spawn_entity]: Loading entity XML from file /home/xxx/xxx/autonomous_exploration_development_environment/install/vehicle_simulator/share/vehicle_simulator/urdf/camera.urdf.xacro
[spawn_entity.py-11] [INFO] [1769275211.879674415] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-11] [INFO] [1769275211.880017635] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-9] [INFO] [1769275211.887336091] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-9] [INFO] [1769275211.887723554] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-10] [INFO] [1769275211.902617626] [spawn_entity]: Spawn Entity started
[spawn_entity.py-10] [INFO] [1769275211.902983979] [spawn_entity]: Loading entity XML from file /home/xxx/xxx/autonomous_exploration_development_environment/install/vehicle_simulator/share/vehicle_simulator/urdf/robot.sdf
[spawn_entity.py-10] [INFO] [1769275211.903647917] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-10] [INFO] [1769275211.903979706] [spawn_entity]: Waiting for service /spawn_entity
[localPlanner-1] [INFO] [1769275212.018574129] [localPlanner]: Initialization complete.
[INFO] [vehicleSimulator-16]: process started with pid [31766]
[vehicleSimulator-16] [INFO] [1769275216.941012326] [vehicleSimulator]: Simulation started.
[INFO] [rviz2-17]: process started with pid [31787]
[rviz2-17] [INFO] [1769275220.137198247] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-17] [INFO] [1769275220.137252021] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-17] [INFO] [1769275220.191965927] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-17] [INFO] [1769275220.321605876] [rviz2]: Stereo is NOT SUPPORTED
[spawn_entity.py-11] [ERROR] [1769275241.920945996] [spawn_entity]: Service /spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-11] [ERROR] [1769275241.921409907] [spawn_entity]: Spawn service failed. Exiting.
[spawn_entity.py-9] [ERROR] [1769275241.927431105] [spawn_entity]: Service /spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-9] [ERROR] [1769275241.927726793] [spawn_entity]: Spawn service failed. Exiting.
[spawn_entity.py-10] [ERROR] [1769275241.943496871] [spawn_entity]: Service /spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-10] [ERROR] [1769275241.943959419] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-11]: process has died [pid 31567, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -file /home/xxx/xxx/autonomous_exploration_development_environment/install/vehicle_simulator/share/vehicle_simulator/urdf/camera.urdf.xacro -entity camera --ros-args'].
[ERROR] [spawn_entity.py-9]: process has died [pid 31563, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity lidar -topic robot_description --ros-args'].
[ERROR] [spawn_entity.py-10]: process has died [pid 31565, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -file /home/xxx/xxx/autonomous_exploration_development_environment/install/vehicle_simulator/share/vehicle_simulator/urdf/robot.sdf -entity robot --ros-args'].
Hi, the environment was working well before, but recently I encountered an error related to /spawn_entity (probably due to some new packages updates). I performed clean installation on two different computers running Ubuntu 22.04 and ROS2 humble, and both systems produce the same error shown below (you can try as well). The /spawn_entity service should be detected, but it is not, which incurs timeout.
Appreciate your help in advance!
$ ros2 launch vehicle_simulator system_garage.launch
[INFO] [launch]: All log files can be found below /home/xxx/.ros/log/2026-01-25-01-20-11-043139-Pluto-31545
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [localPlanner-1]: process started with pid [31547]
[INFO] [pathFollower-2]: process started with pid [31549]
[INFO] [static_transform_publisher-3]: process started with pid [31551]
[INFO] [static_transform_publisher-4]: process started with pid [31553]
[INFO] [terrainAnalysis-5]: process started with pid [31555]
[INFO] [terrainAnalysisExt-6]: process started with pid [31557]
[INFO] [gzserver-7]: process started with pid [31559]
[INFO] [robot_state_publisher-8]: process started with pid [31561]
[INFO] [spawn_entity.py-9]: process started with pid [31563]
[INFO] [spawn_entity.py-10]: process started with pid [31565]
[INFO] [spawn_entity.py-11]: process started with pid [31567]
[INFO] [sensorScanGeneration-12]: process started with pid [31569]
[INFO] [visualizationTools-13]: process started with pid [31571]
[INFO] [realTimePlot.py-14]: process started with pid [31573]
[INFO] [joy_node-15]: process started with pid [31575]
[static_transform_publisher-3] [WARN] [1769275211.567101228] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-4] [WARN] [1769275211.567105536] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-4] [INFO] [1769275211.596982878] [sensorTransPublisher]: Spinning until stopped - publishing transform
[static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-4] rotation: ('-0.500000', '0.500000', '-0.500000', '0.500000')
[static_transform_publisher-4] from '/sensor' to '/camera'
[static_transform_publisher-3] [INFO] [1769275211.598910763] [vehicleTransPublisher]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('-0.000000', '-0.000000', '0.000000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from '/sensor' to '/vehicle'
[localPlanner-1] [INFO] [1769275211.608102061] [localPlanner]: Reading path files.
[robot_state_publisher-8] [INFO] [1769275211.622368874] [robot_state_publisher]: got segment lidar
[robot_state_publisher-8] [INFO] [1769275211.622437492] [robot_state_publisher]: got segment velodyne
[robot_state_publisher-8] [INFO] [1769275211.622442632] [robot_state_publisher]: got segment velodyne_base_link
[spawn_entity.py-9] [INFO] [1769275211.874572030] [spawn_entity]: Spawn Entity started
[spawn_entity.py-9] [INFO] [1769275211.874852143] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-9] [INFO] [1769275211.876621242] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-11] [INFO] [1769275211.878390851] [spawn_entity]: Spawn Entity started
[spawn_entity.py-11] [INFO] [1769275211.878716138] [spawn_entity]: Loading entity XML from file /home/xxx/xxx/autonomous_exploration_development_environment/install/vehicle_simulator/share/vehicle_simulator/urdf/camera.urdf.xacro
[spawn_entity.py-11] [INFO] [1769275211.879674415] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-11] [INFO] [1769275211.880017635] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-9] [INFO] [1769275211.887336091] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-9] [INFO] [1769275211.887723554] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-10] [INFO] [1769275211.902617626] [spawn_entity]: Spawn Entity started
[spawn_entity.py-10] [INFO] [1769275211.902983979] [spawn_entity]: Loading entity XML from file /home/xxx/xxx/autonomous_exploration_development_environment/install/vehicle_simulator/share/vehicle_simulator/urdf/robot.sdf
[spawn_entity.py-10] [INFO] [1769275211.903647917] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-10] [INFO] [1769275211.903979706] [spawn_entity]: Waiting for service /spawn_entity
[localPlanner-1] [INFO] [1769275212.018574129] [localPlanner]: Initialization complete.
[INFO] [vehicleSimulator-16]: process started with pid [31766]
[vehicleSimulator-16] [INFO] [1769275216.941012326] [vehicleSimulator]: Simulation started.
[INFO] [rviz2-17]: process started with pid [31787]
[rviz2-17] [INFO] [1769275220.137198247] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-17] [INFO] [1769275220.137252021] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-17] [INFO] [1769275220.191965927] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-17] [INFO] [1769275220.321605876] [rviz2]: Stereo is NOT SUPPORTED
[spawn_entity.py-11] [ERROR] [1769275241.920945996] [spawn_entity]: Service /spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-11] [ERROR] [1769275241.921409907] [spawn_entity]: Spawn service failed. Exiting.
[spawn_entity.py-9] [ERROR] [1769275241.927431105] [spawn_entity]: Service /spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-9] [ERROR] [1769275241.927726793] [spawn_entity]: Spawn service failed. Exiting.
[spawn_entity.py-10] [ERROR] [1769275241.943496871] [spawn_entity]: Service /spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-10] [ERROR] [1769275241.943959419] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-11]: process has died [pid 31567, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -file /home/xxx/xxx/autonomous_exploration_development_environment/install/vehicle_simulator/share/vehicle_simulator/urdf/camera.urdf.xacro -entity camera --ros-args'].
[ERROR] [spawn_entity.py-9]: process has died [pid 31563, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity lidar -topic robot_description --ros-args'].
[ERROR] [spawn_entity.py-10]: process has died [pid 31565, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -file /home/xxx/xxx/autonomous_exploration_development_environment/install/vehicle_simulator/share/vehicle_simulator/urdf/robot.sdf -entity robot --ros-args'].