[ROS 2 Jazzy] Missing GazeboSimSystem plugin when launching simulation (gz_ros2_control/GazeboSimSystem not found)

[aalmrad]

Describe the bug
When launching a Kinova robot simulation that uses the gz_ros2_control/GazeboSimSystem plugin under ROS 2 Jazzy, Gazebo fails to load the hardware interface. The error indicates that the class gz_ros2_control/GazeboSimSystem cannot be found among the declared plugin types.

This prevents controllers (e.g. joint_trajectory_controller) from initializing and effectively breaks the simulation environment.

To Reproduce
Steps to reproduce the behavior:

1. Install ROS 2 Jazzy and Gazebo harmonic.

2. Follow the README instructions of the ros2_kortex repository (main branch): https://github.com/Kinovarobotics/ros2_kortex

3. Launch a Gazebo simulation:

ros2 launch kortex_bringup kortex_sim_control.launch.py use_sim_time:=true launch_rviz:=false

4. Observe Gazebo console output.
   Expected behavior
   Working simulation with a robotic arm spawned in the environment

Terminal Logs
[gazebo-2] [ERROR] [1761337244.669889207] [gz_ros_control]: Caught exception of type : N9pluginlib20LibraryLoadExceptionE while loading hardware: According to the loaded plugin descriptions the class gz_ros2_control/GazeboSimSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are kortex_driver/KortexMultiInterfaceHardware mock_components/GenericSystem robotiq_driver/RobotiqGripperHardwareInterface test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system test_uninitializable_system

Environment (please complete the following information):

• OS: Ubuntu 24
• ROS version: Jazzy
• Gazebo version: Harmonic

Additional context
I am not facing this issue with the humble branch of the repository using ROS2 Humble on Ubuntu 22

[christophfroehlich]

How have you installed gz_ros2_control? What do you get from ros2 pkg xml -t version gz_ros2_control?

Do the gz_ros2_control_demos work?

[berito]

same issue here,my dev environment is

• OS: Ubuntu 24.04
• ROS version: Jazzy
• Gazebo version: Harmonic

ros2 pkg xml -t version gz_ros2_control
output 1.2.16
ros2 launch gz_ros2_control_demos diff_drive_example.launch.py
output
After printing this log,Gazebo Crashes
[gazebo-1] [ERROR] [1761647524.339811796] [gz_ros_control.GZResourceManager]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class with base class type gz_ros2_control::GazeboSimSystemInterface does not exist. Declared types are gz_ros2_control/GazeboSimSystem ign_ros2_control/IgnitionSystem
[gazebo-1]
[gazebo-1] [ERROR] [1761647524.339864803] [gz_ros_control.GZResourceManager]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class with base class type gz_ros2_control::GazeboSimSystemInterface does not exist. Declared types are gz_ros2_control/GazeboSimSystem ign_ros2_control/IgnitionSystem
[gazebo-1]
[gazebo-1] terminate called after throwing an instance of 'std::length_error'
[gazebo-1] what(): basic_string::M_create
[gazebo-1] Stack trace (most recent call last) in thread 64314:
[gazebo-1] #20 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
[gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x70aec3d29c6b, in
[gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x70aec3c9caa3, in
[gazebo-1] #17 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x70aebececdb3, in
[gazebo-1] #16 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x70ae8b51bab6, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[gazebo-1] #15 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x70ae8b509039, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[gazebo-1] #14 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x70ae8b50890a, in rclcpp::Executor::execute_subscription(std::shared_ptrrclcpp::SubscriptionBase)
[gazebo-1] #13 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x70ae8d795b64, in
[gazebo-1] #12 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x70ae8d710d2a, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String<std::allocator > const&)
[gazebo-1] #11 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x70ae8d715f63, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[gazebo-1] #10 Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x70ae8e7490fc, in
[gazebo-1] #9 Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x70ae8e76dd1a, in
[gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x70aebed682ab, in std::__cxx11::basic_string<char, std::char_traits, std::allocator >::_M_create(unsigned long&, unsigned long)
[gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x70aebeca92d1, in std::__throw_length_error(char const*)
[gazebo-1] #6 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x70aebecbb390, in __cxa_throw
[gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x70aebeca5a54, in std::terminate()
[gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x70aebecbb0d9, in
[gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x70aebeca5ff4, in
[gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x70aec3c288fe, in abort
[gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x70aec3c4527d, in gsignal
[gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x70aec3c9eb2c, in pthread_kill
[gazebo-1] Aborted (Signal sent by tkill() 64099 1000)
[INFO] [gazebo-1]: process has finished cleanly [pid 64040]

[Young-Yihang]

same bug when trying to run my package with Ubuntu 24.04 GAZEBO Harmonic
[gazebo-1] libEGL warning: egl: failed to create dri2 screen
[gazebo-1] [INFO] [1761712493.642230715] [gz_ros_control]: [gz_ros2_control] Fixed joint [world_to_base] (Entity=17)] is skipped
[gazebo-1] [INFO] [1761712493.642885864] [gz_ros_control]: Loading controller_manager
[gazebo-1] [INFO] [1761712493.655207801] [controller_manager]: Using ROS clock for triggering controller manager cycles.
[gazebo-1] [INFO] [1761712493.659704143] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[gazebo-1] [WARN] [1761712493.788438530] [gz_ros_control]: Waiting RM to load and initialize hardware...
[gazebo-1] [INFO] [1761712493.871734279] [controller_manager]: Received robot description from topic.
[gazebo-1] [ERROR] [1761712493.873866155] [gz_ros_control.GZResourceManager]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class with base class type gz_ros2_control::GazeboSimSystemInterface does not exist. Declared types are gz_ros2_control/GazeboSimSystem ign_ros2_control/IgnitionSystem
[gazebo-1]
[gazebo-1] terminate called after throwing an instance of 'std::bad_alloc'
[gazebo-1] what(): std::bad_alloc
[gazebo-1] Stack trace (most recent call last) in thread 30314:
[gazebo-1] #20 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
[gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x73e643529c6b, in
[gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x73e64349caa3, in
[gazebo-1] #17 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73e63e0ecdb3, in
[gazebo-1] #16 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x73e604d1bf03, in rclcpp::executors::MultiThreadedExecutor::spin()
[gazebo-1] #15 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x73e604d1bbe6, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[gazebo-1] #14 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x73e604d09179, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[gazebo-1] #13 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x73e604d08a4a, in rclcpp::Executor::execute_subscription(std::shared_ptrrclcpp::SubscriptionBase)
[gazebo-1] #12 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x73e604f8ee34, in
[gazebo-1] #11 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x73e604f0c22a, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String_<std::allocator > const&)
[gazebo-1] #10 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x73e604f09ffe, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[gazebo-1] #9 Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x73e6076930fc, in
[gazebo-1] #8 Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x73e6076b7d1a, in
[gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73e63e0a5ac7, in
[gazebo-1] #6 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73e63e0bb390, in __cxa_throw
[gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73e63e0a5a54, in std::terminate()
[gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73e63e0bb0d9, in
[gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73e63e0a5ff4, in
[gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x73e6434288fe, in abort
[gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x73e64344527d, in gsignal
[gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x73e64349eb2c, in pthread_kill
[gazebo-1] Aborted (Signal sent by tkill() 30099 1000)

[aalmrad]

Eventually, i have recloned all the dependency repos to make sure all is up to date. Moreover, both system packages: realtime_tools and pal_statistics, have been upgraded to the latest versions.

This introduced some API compatibility issues that I fixed manually for now and the simulation runs well now however the robotiq gripper is introducing issues, mainly carshing the controller manager and I am currently looking into this issue.

Best,
Abed

[lmaddira]

Hi, I'm facing the exact same issue.
Is there any fork for this new changes or can you provide any more information about how you fixed this issue?

[christophfroehlich]

I doubt that there is an issue with this repo, as the build status on github as well as on the build farm is green: https://github.com/ros-controls/gz_ros2_control?tab=readme-ov-file#build-status

Such issues with pluginlib might come from an incomplete update of a single package. To all of you, have you installed gz_ros2_control as debian package via apt? Please run sudo apt update && sudo apt upgrade, then test the demos and report if the error still persists.

[mltejas88]

I am using Ubuntu 22.04 ROS Humble and Gazebo Fortress. I am facing similar issue:
[ros2_control_node-2] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[ros2_control_node-2] what(): According to the loaded plugin descriptions the class gz_ros2_control/GazeboSimSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem

Demo is running properly and also the plugin description in URDF file is :

gz_ros2_control/GazeboSimSystem

when i run this command ros2 pkg xml -t version gz_ros2_control, i get 0.7.17
I am unable to resolve this, if anyone has resolved this please provide your fix.

below is the urdf file:

<?xml version="1.0" ?>
<robot name="mycobot" xmlns:xacro="http://ros.org/wiki/xacro">
  <link name="g_base">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.0"/>
      <inertia ixx="0.003000" ixy="0.0" ixz="0.0" iyy="0.003000" iyz="0.0" izz="0.003000"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/G_base.dae"/>
      </geometry>
      <origin rpy="0 0 1.5708" xyz="0 0 -0.03"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/G_base.dae"/>
      </geometry>
      <origin rpy="0 0 1.5708" xyz="0 0 -0.03"/>
    </collision>
  </link>
  
  <link name="joint1">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.6"/>
      <inertia ixx="0.000900" ixy="0.0" ixz="0.0" iyy="0.000900" iyz="0.0" izz="0.000900"/>
    </inertial>
    <visual>
      <geometry>
        <!--- 0.0 0 -0.04  1.5708 3.14159-->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint1.stl"/>
      </geometry>
      <origin rpy=" 1.5708 0 0" xyz="0 0 0 "/>
    </visual>
    <collision>
      <geometry>
        <!--- 0.0 0 -0.04  1.5708 3.14159-->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint1.stl"/>
      </geometry>
      <origin rpy=" 0 0 0" xyz="0 0 0 "/>
    </collision>
  </link>
  
  <link name="joint2">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.5"/>
      <inertia ixx="0.000750" ixy="0.0" ixz="0.0" iyy="0.000750" iyz="0.0" izz="0.000750"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint2.dae"/>
      </geometry>
      <origin rpy=" 0 0 -1.5708" xyz="0 0 -0.06096 "/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint2.dae"/>
      </geometry>
      <origin rpy=" 0 0 -1.5708" xyz="0 0 -0.06096 "/>
    </collision>
  </link>
  
  <link name="joint3">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.4"/>
      <inertia ixx="0.000600" ixy="0.0" ixz="0.0" iyy="0.000600" iyz="0.0" izz="0.000600"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint3.dae"/>
      </geometry>
      <origin rpy=" 0 -1.5708 0" xyz="0 0 0.03256 "/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint3.dae"/>
      </geometry>
      <origin rpy=" 0 -1.5708 0" xyz="0 0 0.03256 "/>
    </collision>
  </link>
  
  <link name="joint4">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.35"/>
      <inertia ixx="0.000525" ixy="0.0" ixz="0.0" iyy="0.000525" iyz="0.0" izz="0.000525"/>
    </inertial>
    <visual>
      <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint4.dae"/>
      </geometry>
      <origin rpy=" 0 -1.5708 0" xyz="0 0 0.03056 "/>
    </visual>
    <collision>
      <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint4.dae"/>
      </geometry>
      <origin rpy=" 0 -1.5708 0" xyz="0 0 0.03056 "/>
    </collision>
  </link>
  
  <link name="joint5">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.25"/>
      <inertia ixx="0.000375" ixy="0.0" ixz="0.0" iyy="0.000375" iyz="0.0" izz="0.000375"/>
    </inertial>
    <visual>
      <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint5.stl"/>
      </geometry>
      <origin rpy=" 0 -1.5708 3.1416" xyz="0 -0.001 -0.0345 "/>
    </visual>
    <collision>
      <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint5.stl"/>
      </geometry>
      <origin rpy=" 0 -1.5708 1.5708" xyz="0 -0.001 -0.0345 "/>
    </collision>
  </link>
  
  <link name="joint6">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.2"/>
      <inertia ixx="0.000300" ixy="0.0" ixz="0.0" iyy="0.000300" iyz="0.0" izz="0.000300"/>
    </inertial>
    <visual>
      <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint6.dae"/>
      </geometry>
      <origin rpy=" 0 0 0" xyz="0 0 -0.038 "/>
    </visual>
    <collision>
      <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint6.dae"/>
      </geometry>
      <origin rpy=" 0 0 0" xyz="0 0 -0.038 "/>
    </collision>
  </link>
  
  <link name="joint6_flange">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.1"/>
      <inertia ixx="0.000150" ixy="0.0" ixz="0.0" iyy="0.000150" iyz="0.0" izz="0.000150"/>
    </inertial>
    <visual>
      <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint7.dae"/>
      </geometry>
      <origin rpy=" 0 0 0" xyz="0 0 -0.012 "/>
    </visual>
    <collision>
      <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/urdf/meshes/joint7.dae"/>
      </geometry>
      <origin rpy=" 0 0 0" xyz="0 0 -0.012 "/>
    </collision>
  </link>
  
  
  <joint name="g_base_to_joint1" type="fixed">
    <parent link="g_base"/>
    <child link="joint1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  
  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-2.9322" upper="2.9322" velocity="1.0"/>
    <parent link="joint1"/>
    <child link="joint2"/>
    <origin rpy="0 0 0" xyz="0 0 0.13956"/>
  </joint>
  
  <joint name="joint3_to_joint2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-2.3562" upper="2.3562" velocity="1.0"/>
    <parent link="joint2"/>
    <child link="joint3"/>
    <origin rpy="0 1.5708 -1.5708" xyz="0 0 -0.001"/>
  </joint>
  
  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort="1000.0" lower="-2.618" upper="2.618" velocity="1.0"/>
    <parent link="joint3"/>
    <child link="joint4"/>
    <origin rpy="0 0 0" xyz="-0.1104 0 0"/>
  </joint>
  
  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort="1000.0" lower="-2.5307" upper="2.5307" velocity="1.0"/>
    <parent link="joint4"/>
    <child link="joint5"/>
    <origin rpy="0 0 -1.5708" xyz="-0.096 0 0.06462"/>
  </joint>
  
  <joint name="joint6_to_joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-2.8798" upper="2.8798" velocity="1.0"/>
    <parent link="joint5"/>
    <child link="joint6"/>
    <origin rpy="1.5708 -1.5708 0" xyz="0 -0.07318 -0.001"/>
  </joint>
  
  <joint name="joint6output_to_joint6" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-3.14159" upper="3.14159" velocity="1.0"/>
    <parent link="joint6"/>
    <child link="joint6_flange"/>
    <origin rpy="-1.5708 0 0" xyz="0 0.0456 0"/>
  </joint>
  
  
  <!-- ros2_control block: use Gazebo-backed hardware -->
  <ros2_control name="GazeboSimSystem" type="system">
    <hardware>
      <plugin>gz_ros2_control/GazeboSimSystem</plugin>
    </hardware>
    <joint name="joint2_to_joint1">
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    
    <joint name="joint3_to_joint2">
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    
    <joint name="joint4_to_joint3">
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    
    <joint name="joint5_to_joint4">
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    
    <joint name="joint6_to_joint5">
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    
    <joint name="joint6output_to_joint6">
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>
  
  <gazebo>
    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
      <parameters>/home/tejas/Desktop/ros_project/workspace/src/mycobot_description/src/config/ros2_controllers.yaml</parameters>
    </plugin>
  </gazebo>
  
</robot>

[christophfroehlich]

Have you run apt upgrade as I have suggested above?
AFAIK: colons in xml comments are a problem: remove <!-- ros2_control block: use Gazebo-backed hardware --> and try again.