Added gz_ros2_control note to jetty too (#642)

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

Author: ahcorde

harmonic/ros2_launch_gazebo.md

@@ -39,7 +39,7 @@ within this tag. Here's an example for launching Gazebo server:
   <arg name="container_name" default="ros_gz_container" />
   <arg name="create_own_container" default="False" />
   <arg name="use_composition" default="False" />
-  <gz_server 
+  <gz_server
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
     container_name="$(var container_name)"
@@ -144,11 +144,11 @@ More info about `ros_gz_bridge` can be viewed [here](ros2_integration).
 More info about composition can be viewed [here](ros2_overview.md#composition).
 
 ## Further Considerations for ROS2 Control
- 
+
  If you're planning to use `ros2_control` with Gazebo, please take a look at the [example launch files](https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch) in the `gz_ros2_control` repository
- 
+
  It is essential to publish the `/clock` topic for the `controller_manager` to function correctly:
- 
+
      gz_bridge = Node(
          package="ros_gz_bridge",
          executable="parameter_bridge",
@@ -158,25 +158,24 @@ More info about composition can be viewed [here](ros2_overview.md#composition).
          }],
          output="screen",
      )
- 
- 
+
 If you **do not** publish the `/clock` topic, the `controller_manager` will issue warnings or errors such as:
- 
+
        [gazebo-1] [WARN] [1744219953.983130822] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available.
- 
+
  Timing Issues
  -------------
- 
+
  By default, the `controller_manager` launched by `gz_ros2_control` has ``use_sim_time=true``. If for any reason this is set to ``false``, it will fall back to the system clock.
- 
+
  This results in logs like:
- 
+
      [gazebo-1] [INFO] [1744209678.974210234] [gz_ros_control]: Loading controller_manager
      [gazebo-1] [INFO] [1744209679.000651931] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
- 
+
  Eventually leading to a fatal error:
- 
+
      [gazebo-1] terminate called after throwing an instance of 'std::runtime_error'
      [gazebo-1]   what():  can't compare times with different time sources
- 
+
  Ensure `use_sim_time` is correctly set to `true` when working with simulation time to avoid such mismatches.

ionic/ros2_launch_gazebo.md

@@ -39,7 +39,7 @@ within this tag. Here's an example for launching Gazebo server:
   <arg name="container_name" default="ros_gz_container" />
   <arg name="create_own_container" default="False" />
   <arg name="use_composition" default="False" />
-  <gz_server 
+  <gz_server
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
     container_name="$(var container_name)"
@@ -143,3 +143,40 @@ In the above launch files you may notice that the `create_own_container` argumen
 
 More info about `ros_gz_bridge` can be viewed [here](ros2_integration).
 More info about composition can be viewed [here](ros2_overview.md#composition).
+
+## Further Considerations for ROS2 Control
+
+ If you're planning to use `ros2_control` with Gazebo, please take a look at the [example launch files](https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch) in the `gz_ros2_control` repository
+
+ It is essential to publish the `/clock` topic for the `controller_manager` to function correctly:
+
+     gz_bridge = Node(
+         package="ros_gz_bridge",
+         executable="parameter_bridge",
+         arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
+         parameters=[{
+             "qos_overrides./tf_static.publisher.durability": "transient_local"
+         }],
+         output="screen",
+     )
+
+If you **do not** publish the `/clock` topic, the `controller_manager` will issue warnings or errors such as:
+
+       [gazebo-1] [WARN] [1744219953.983130822] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available.
+
+ Timing Issues
+ -------------
+
+ By default, the `controller_manager` launched by `gz_ros2_control` has ``use_sim_time=true``. If for any reason this is set to ``false``, it will fall back to the system clock.
+
+ This results in logs like:
+
+     [gazebo-1] [INFO] [1744209678.974210234] [gz_ros_control]: Loading controller_manager
+     [gazebo-1] [INFO] [1744209679.000651931] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
+
+ Eventually leading to a fatal error:
+
+     [gazebo-1] terminate called after throwing an instance of 'std::runtime_error'
+     [gazebo-1]   what():  can't compare times with different time sources
+
+ Ensure `use_sim_time` is correctly set to `true` when working with simulation time to avoid such mismatches.

jetty/ros2_launch_gazebo.md

@@ -39,7 +39,7 @@ within this tag. Here's an example for launching Gazebo server:
   <arg name="container_name" default="ros_gz_container" />
   <arg name="create_own_container" default="False" />
   <arg name="use_composition" default="False" />
-  <gz_server 
+  <gz_server
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
     container_name="$(var container_name)"
@@ -128,7 +128,6 @@ def generate_launch_description():
     return ld
 ```
 
-
 ## Launching with ros_gz_bridge
 
 An example launch file for XML can be viewed [here](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_sim/launch/ros_gz_sim.launch)
@@ -143,3 +142,40 @@ In the above launch files you may notice that the `create_own_container` argumen
 
 More info about `ros_gz_bridge` can be viewed [here](ros2_integration).
 More info about composition can be viewed [here](ros2_overview.md#composition).
+
+## Further Considerations for ROS2 Control
+
+ If you're planning to use `ros2_control` with Gazebo, please take a look at the [example launch files](https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch) in the `gz_ros2_control` repository
+
+ It is essential to publish the `/clock` topic for the `controller_manager` to function correctly:
+
+     gz_bridge = Node(
+         package="ros_gz_bridge",
+         executable="parameter_bridge",
+         arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
+         parameters=[{
+             "qos_overrides./tf_static.publisher.durability": "transient_local"
+         }],
+         output="screen",
+     )
+
+If you **do not** publish the `/clock` topic, the `controller_manager` will issue warnings or errors such as:
+
+       [gazebo-1] [WARN] [1744219953.983130822] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available.
+
+ Timing Issues
+ -------------
+
+ By default, the `controller_manager` launched by `gz_ros2_control` has ``use_sim_time=true``. If for any reason this is set to ``false``, it will fall back to the system clock.
+
+ This results in logs like:
+
+     [gazebo-1] [INFO] [1744209678.974210234] [gz_ros_control]: Loading controller_manager
+     [gazebo-1] [INFO] [1744209679.000651931] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
+
+ Eventually leading to a fatal error:
+
+     [gazebo-1] terminate called after throwing an instance of 'std::runtime_error'
+     [gazebo-1]   what():  can't compare times with different time sources
+
+ Ensure `use_sim_time` is correctly set to `true` when working with simulation time to avoid such mismatches.