HI, I am trying to add cumotion as a planning pipeline for my robot but having troubles with the control manager. The controllers are not loading inside docker.
I made a similar launch file (without cumotion) to run on my local machine and it worked without any issue. I was able to use moveit to move the robot and the movement was replicated inside isaac sim environment. The same launch files fails inside docker as it keeps waiting for the controllers to be loaded.
I didn’t face this issue with the franka arm when i used the franka_isaac_sim.launch.py.
Hello @ArsEnIOUs28,
Thanks for posting in the Isaac ROS forum!
It would be easier for us to assist you if you could provide the log.
Could you also share more details about your setup and check the versions of the following packages on your system?
apt-cache policy ros-jazzy-controller-interface
apt-cache policy ros-jazzy-hardware-interface
apt-cache policy ros-jazzy-realtime-tools
apt-cache policy ros-jazzy-ros2-control
apt-cache policy ros-jazzy-controller-manager
Hey @vchuang, here’s the information requested:
The versions of the packages:
ros-jazzy-controller-interface:
Installed: 4.42.2-1noble.20260126.195028
Candidate: 4.42.2-1noble.20260126.195028
Version table:
*** 4.42.2-1noble.20260126.195028 500
500 ``http://packages.ros.org/ros2/ubuntu`` noble/main amd64 Packages
100 /var/lib/dpkg/status
ros-jazzy-hardware-interface:
Installed: 4.42.2-1noble.20260126.193506
Candidate: 4.42.2-1noble.20260126.193506
Version table:
*** 4.42.2-1noble.20260126.193506 500
500 ``http://packages.ros.org/ros2/ubuntu`` noble/main amd64 Packages
100 /var/lib/dpkg/status
ros-jazzy-realtime-tools:
Installed: 3.10.1-1noble.20260126.192921
Candidate: 3.10.1-1noble.20260126.192921
Version table:
*** 3.10.1-1noble.20260126.192921 500
500 ``http://packages.ros.org/ros2/ubuntu`` noble/main amd64 Packages
100 /var/lib/dpkg/status
ros-jazzy-ros2-control:
Installed: 4.42.2-1noble.20260126.200511
Candidate: 4.42.2-1noble.20260126.200511
Version table:
*** 4.42.2-1noble.20260126.200511 500
500 ``http://packages.ros.org/ros2/ubuntu`` noble/main amd64 Packages
100 /var/lib/dpkg/status
ros-jazzy-controller-manager:
Installed: 4.42.2-1noble.20260126.195504
Candidate: 4.42.2-1noble.20260126.195504
Version table:
*** 4.42.2-1noble.20260126.195504 500
500 ``http://packages.ros.org/ros2/ubuntu`` noble/main amd64 Packages
100 /var/lib/dpkg/status
The complete logs of the launch file:
From your log, ros2_control_node hits
free(): invalid next size (fast) inside hardware_interface::ResourceManager::read() when calling topic_based_ros2_control::TopicBasedSystem::read(), then ros2_control_node crashes and /controller_manager disappears.
That’s why the controller spawners keep printing Could not contact service /controller_manager/list_controllers.
This is a heap‑corruption crash.
It can be caused by: a library/ABI mismatch between ros2_control/rclcpp/rmw and the plugin, or a bug or build/ENV issue in the TopicBasedSystem plugin (especially if some things were built on the host and then run inside Docker).
Your ros-jazzy-ros2-control / controller-manager / hardware-interface versions (4.42.2) look consistent, so it’s less likely to be a simple apt version skew.
To rule out build/ENV issues in the container, could you try rebuilds all packages already in the workspace from source:
# inside the Docker container
source /opt/ros/jazzy/setup.bash
cd /workspaces/isaac_ros-dev
rm -rf build install log
colcon build --symlink-install
source install/setup.bash
Then relaunch your MoveIt + cuMotion launch file from the same container and see if ros2_control_node still crashes.
Also, which Isaac ROS version are you using? That will help narrow down whether this matches any known issues.
Is the problem still persisting? If not, we’ll close this topic.
Feel free to open a new one if you encounter any other issues, thanks.