robot_description not accessible from custom ros2 controller

[fafux]

Environment

• OS Version: Ubuntu 22.04
• ROS2 version: humble
• Source or binary build?
  ros-humble-ros-gz/jammy,now 0.244.11-1jammy.20230624.051759 amd64

Description

• Behavior: Launching gz_sim.launch.py and create to spawn the urdf, parsing the xacro in which ign_ros2_control::IgnitionROS2ControlPlugin is contained, I expect the robot_description to be a parameter of the controller_manager but it's not. I want to access from a custom ros2 controller to the robot_description. Since it's not a parameter of the controller manager, the only way to access it is from a client (both service or parameter). In both cases, waiting the response of the future blocks the execution.

[azeey]

Should this be filed at https://github.com/ros-controls/gz_ros2_control?
In general, gz_sim.launch.py doesn't publish anything to robot_description. You'd have to do that from your launch file. Here is a good example.

[fafux]

The standard ros2_control_node publishes the robot_description parameter which is passed to the node in the launch file as for the robot_state_publisher. For gazebo this is not possible. However, if I try to get the robot_description parameter with a parameter client to the robot_state_publisher node inside my controller, the execution is blocked to wait the response of the future callback.