gzserver Does not Find Some Gazebo Plugins

[Amronos]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build?
  Source - ad225a2

Description

• Expected behavior: When launching gazebo through the gz_server.launch.py launch file, I expected gazebo to find the gz_ros2_control-system plugin and not report an error.
• Actual behavior: Gazebo does not find the plugin and outputs Failed to load system plugin [gz_ros2_control-system] : Could not find shared library.

More information can be found in ros-controls/gz_ros2_control#390

Steps to reproduce

Use the following launch file (A slightly modified version of diff_drive_example.launch.py that uses gz_server.launch.py):

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.actions import RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    # Launch Arguments
    use_sim_time = LaunchConfiguration('use_sim_time', default=True)

    # Get URDF via xacro
    robot_description_content = Command(
        [
            PathJoinSubstitution([FindExecutable(name='xacro')]),
            ' ',
            PathJoinSubstitution(
                [FindPackageShare('gz_ros2_control_demos'),
                 'urdf', 'test_diff_drive.xacro.urdf']
            ),
        ]
    )
    robot_description = {'robot_description': robot_description_content}
    robot_controllers = PathJoinSubstitution(
        [
            FindPackageShare('gz_ros2_control_demos'),
            'config',
            'diff_drive_controller_velocity.yaml',
        ]
    )

    node_robot_state_publisher = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        output='screen',
        parameters=[robot_description]
    )

    gz_spawn_entity = Node(
        package='ros_gz_sim',
        executable='create',
        output='screen',
        arguments=['-topic', 'robot_description', '-name',
                   'diff_drive', '-allow_renaming', 'true'],
    )

    joint_state_broadcaster_spawner = Node(
        package='controller_manager',
        executable='spawner',
        arguments=['joint_state_broadcaster'],
    )
    diff_drive_base_controller_spawner = Node(
        package='controller_manager',
        executable='spawner',
        arguments=[
            'diff_drive_base_controller',
            '--param-file',
            robot_controllers,
            ],
    )

    return LaunchDescription([
        # Launch gazebo environment
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                   'launch',
                                   'gz_server.launch.py'])]),
            launch_arguments=[('world_sdf_file', 'empty.sdf'),]),
        RegisterEventHandler(
            event_handler=OnProcessExit(
                target_action=gz_spawn_entity,
                on_exit=[joint_state_broadcaster_spawner],
            )
        ),
        RegisterEventHandler(
            event_handler=OnProcessExit(
                target_action=joint_state_broadcaster_spawner,
                on_exit=[diff_drive_base_controller_spawner],
            )
        ),
        node_robot_state_publisher,
        gz_spawn_entity,
        # Launch Arguments
        DeclareLaunchArgument(
            'use_sim_time',
            default_value=use_sim_time,
            description='If true, use simulated clock'),
    ])

[Amronos]

I tested this with a binary installation of v1.0.7 (jazzy) from the testing repository. The result is the same: using gz_sim.launch.py, the plugin is found successfully while when using gz_server.launch.py, the plugin is not found.