[Err] [SystemLoader.cc:92] Failed to load system plugin [gz_ros2_control-system] : Could not find shared library.

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

(robostack:jazzy) frederikschulze@arm64-apple-darwin20 jess_ws2 % gz sim -s-v4
[Msg] Gazebo Sim Server v8.6.0
[Msg] Loading default world.
[Msg] Serving entity system service on [/entity/system/add]
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Dbg] [ServerConfig.cc:1034] Loaded (3) plugins from file [/Users/frederikschulze/.gz/sim/8/server.config]
[Dbg] [Physics.cc:870] Loaded [gz::physics::dartsim::Plugin] from library [/Users/frederikschulze/robostack/.pixi/envs/jazzy/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.dylib]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/default/create]
[Msg] Remove service on [/world/default/remove]
[Msg] Pose service on [/world/default/set_pose]
[Msg] Pose service on [/world/default/set_pose_vector]
[Msg] Light configuration service on [/world/default/light_config]
[Msg] Physics service on [/world/default/set_physics]
[Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates]
[Msg] Enable collision service on [/world/default/enable_collision]
[Msg] Disable collision service on [/world/default/disable_collision]
[Msg] Material service on [/world/default/visual_config]
[Msg] Material service on [/world/default/wheel_slip]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]
[Msg] Serving GUI information on [/world/default/gui/info]
[Msg] World [default] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/default/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Wrn] [SimulationRunner.cc:729] Found additional publishers on /stats, using namespaced stats topic only
[Dbg] [SimulationRunner.cc:731] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:736]   tcp://192.168.178.28:57594, gz.msgs.WorldStatistics
[Wrn] [SimulationRunner.cc:763] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SimulationRunner.cc:765] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:770]   tcp://192.168.178.28:57594, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:551] Creating PostUpdate worker threads: 2
[Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (0)
[Msg] Serving scene information on [/world/default/scene/info]
[Msg] Serving graph information on [/world/default/scene/graph]
[Msg] Serving full state on [/world/default/state]
[Msg] Serving full state (async) on [/world/default/state_async]
[Msg] Publishing scene information on [/world/default/scene/info]
[Msg] Publishing entity deletions on [/world/default/scene/deletion]
[Msg] Publishing state changes on [/world/default/state]
[Msg] Publishing pose messages on [/world/default/pose/info]
[Msg] Publishing dynamic pose messages on [/world/default/dynamic_pose/info]
Warning [Utils.cc:132] [/sdf/model[@name="jesse"]/link[@name="gestell_1"]/sensor[@name="camera"]/camera_info_topic:<urdf-string>:L0]: XML Element[camera_info_topic], child of element[sensor], not defined in SDF. Copying[camera_info_topic] as children of [sensor].
Warning [Utils.cc:132] [/sdf/model[@name="jesse"]/link[@name="gestell_1"]/sensor[@name="camera"]/gz_frame_id:<urdf-string>:L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
Warning [Utils.cc:132] [/sdf/model[@name="jesse"]/link[@name="gestell_1"]/sensor[@name="camera_depth"]/camera_info_topic:<urdf-string>:L0]: XML Element[camera_info_topic], child of element[sensor], not defined in SDF. Copying[camera_info_topic] as children of [sensor].
Warning [Utils.cc:132] [/sdf/model[@name="jesse"]/link[@name="gestell_1"]/sensor[@name="camera_depth"]/gz_frame_id:<urdf-string>:L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Silver
[Wrn] [SdfEntityCreator.cc:840] Material Gazebo/Silver not recognized or supported, using default.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz_ros2_control-system] : Could not find shared library.
[Dbg] [UserCommands.cc:1311] Created entity [4] named [tuto]
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [base_link_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [gestell_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [gestell_1_fixed_joint_lump__base12_1_collision_1] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [gestell_1_fixed_joint_lump__camera_link_collision_2] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [2M1D_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [link_2_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [link_2_1_fixed_joint_lump__Smooth_bar_8mm_x_121mm.SLDPRT_1_collision_1] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [3m22_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [4MD3_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [aha_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [Idol_Gear_B.SLDPRT_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [Gripper_Right_B.SLDPRT_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [Servo_Gear_B.SLDPRT_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [Gripper_Left_B.SLDPRT_1_collision] couldn't be created

Installed packages

pixi list

Environment info

(robostack:jazzy) frederikschulze@arm64-apple-darwin20 robostack % pixi info
System
------------
       Pixi version: 0.61.0
           Platform: osx-arm64
   Virtual packages: __unix=0=0
                   : __osx=26.1=0
                   : __archspec=1=m1
          Cache dir: /Users/frederikschulze/Library/Caches/rattler/cache
       Auth storage: /Users/frederikschulze/.rattler/credentials.json
   Config locations: /Users/frederikschulze/robostack/.pixi/config.toml

Global
------------
            Bin dir: /Users/frederikschulze/.pixi/bin
    Environment dir: /Users/frederikschulze/.pixi/envs
       Manifest dir: /Users/frederikschulze/.pixi/manifests/pixi-global.toml

Workspace
------------
               Name: robostack
      Manifest file: /Users/frederikschulze/robostack/pixi.toml
       Last updated: 18-12-2025 13:40:08

Environments
------------
        Environment: default
           Features: default
           Channels: https://prefix.dev/conda-forge, https://prefix.dev/robostack-jazzy
   Dependency count: 58
       Dependencies: python, compilers, cmake, pkg-config, make, ninja, rosdep, colcon-common-extensions, ros-jazzy-moveit, ros-jazzy-controller-interface, ros-jazzy-controller-manager-msgs, ros-jazzy-control-msgs, ros-jazzy-control-toolbox, ros-jazzy-diff-drive-controller, ros-jazzy-forward-command-controller, ros-jazzy-geometric-shapes, ros-jazzy-geographic-msgs, ros-jazzy-geometry-msgs, ros-jazzy-gz-ros2-control, ros-jazzy-hardware-interface, ros-jazzy-joint-state-publisher, ros-jazzy-joint-state-broadcaster, ros-jazzy-joint-limits, ros-jazzy-xacro, ros-jazzy-joint-trajectory-controller, ros-jazzy-ros-gz, ros-jazzy-ros-gz-bridge, ros-jazzy-ros-gz-image, ros-jazzy-ros-gz-interfaces, ros-jazzy-ros-gz-sim, ros-jazzy-ros2-control, ros-jazzy-ros2-controllers, ros-jazzy-rmw-cyclonedds-cpp, filelock, spdlog, ros-jazzy-gz-cmake-vendor, ros-jazzy-gz-common-vendor, ros-jazzy-gz-dartsim-vendor, ros-jazzy-gz-fuel-tools-vendor, ros-jazzy-gz-gui-vendor, ros-jazzy-gz-math-vendor, ros-jazzy-gz-msgs-vendor, ros-jazzy-gz-ogre-next-vendor, ros-jazzy-gz-physics-vendor, ros-jazzy-gz-plugin-vendor, ros-jazzy-gz-rendering-vendor, ros-jazzy-gz-ros2-control-demos, ros-jazzy-gz-sensors-vendor, ros-jazzy-gz-sim-vendor, ros-jazzy-gz-tools-vendor, ros-jazzy-gz-transport-vendor, ros-jazzy-gz-utils-vendor, ros-jazzy-navigation2, ros-jazzy-nav2-bringup, ros-jazzy-nav2-minimal-tb3-sim, ogre-next, ros-jazzy-desktop, ros-jazzy-desktop-full
   Target platforms: osx-arm64
    Prefix location: /Users/frederikschulze/robostack/.pixi/envs/default

        Environment: jazzy
           Features: jazzy, build, default
           Channels: https://prefix.dev/robostack-jazzy, https://prefix.dev/conda-forge
   Dependency count: 58
       Dependencies: ros-jazzy-desktop, python, compilers, cmake, pkg-config, make, ninja, rosdep, colcon-common-extensions, ros-jazzy-moveit, ros-jazzy-controller-interface, ros-jazzy-controller-manager-msgs, ros-jazzy-control-msgs, ros-jazzy-control-toolbox, ros-jazzy-diff-drive-controller, ros-jazzy-forward-command-controller, ros-jazzy-geometric-shapes, ros-jazzy-geographic-msgs, ros-jazzy-geometry-msgs, ros-jazzy-gz-ros2-control, ros-jazzy-hardware-interface, ros-jazzy-joint-state-publisher, ros-jazzy-joint-state-broadcaster, ros-jazzy-joint-limits, ros-jazzy-xacro, ros-jazzy-joint-trajectory-controller, ros-jazzy-ros-gz, ros-jazzy-ros-gz-bridge, ros-jazzy-ros-gz-image, ros-jazzy-ros-gz-interfaces, ros-jazzy-ros-gz-sim, ros-jazzy-ros2-control, ros-jazzy-ros2-controllers, ros-jazzy-rmw-cyclonedds-cpp, filelock, spdlog, ros-jazzy-gz-cmake-vendor, ros-jazzy-gz-common-vendor, ros-jazzy-gz-dartsim-vendor, ros-jazzy-gz-fuel-tools-vendor, ros-jazzy-gz-gui-vendor, ros-jazzy-gz-math-vendor, ros-jazzy-gz-msgs-vendor, ros-jazzy-gz-ogre-next-vendor, ros-jazzy-gz-physics-vendor, ros-jazzy-gz-plugin-vendor, ros-jazzy-gz-rendering-vendor, ros-jazzy-gz-ros2-control-demos, ros-jazzy-gz-sensors-vendor, ros-jazzy-gz-sim-vendor, ros-jazzy-gz-tools-vendor, ros-jazzy-gz-transport-vendor, ros-jazzy-gz-utils-vendor, ros-jazzy-navigation2, ros-jazzy-nav2-bringup, ros-jazzy-nav2-minimal-tb3-sim, ogre-next, ros-jazzy-desktop-full
   Target platforms: osx-arm64
    Prefix location: /Users/frederikschulze/robostack/.pixi/envs/jazzy
              Tasks: build


(robostack:jazzy) frederikschulze@arm64-apple-darwin20 robostack %

Start by reproducing the failure with gz sim -s-v4 and use the SystemLoader.cc:92 message to trace why gz_ros2_control-system cannot be found. Inspect the relevant ros-jazzy recipe or patch and verify that the shared library is available to the Jazzy environment; done means the plugin loads without this error.