Protobuf error Ros2 Galactic + Ignition Fortress

[andreamaimone]

Hello,
I am trying to run the UR10 + Robotiq140 demo but gazebo crashes when launching
ros2 launch universal_robot_ign ur10_robotiq140_ign.launch.py

The error I get is the following:
[ign gazebo-1] [libprotobuf ERROR google/protobuf/descriptor_database.cc:58] File already exists in database: ignition/msgs/actor.proto [ign gazebo-1] [libprotobuf FATAL google/protobuf/descriptor.cc:1358] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): [ign gazebo-1] terminate called after throwing an instance of 'google::protobuf::FatalException'

I noticed that this error doesn't occur when removing
<plugin filename="RobotiqController" name="ignition::gazebo::systems::RobotiqController"> <fixed>false</fixed> <vel_scale>1.0</vel_scale> </plugin>

from "ur10_robotiq140.sdf.xmacro". In that case the simulation runs and gazebo does not crash, but obviously I am not able to control the gripper when launching "ros2 run universal_robot_ign test_gripper.py".
Could you please help me solve this problem?
To run the simulation, I am using a docker with Ros2 Galactic + Gazebo Ignition Fortress.

[andreamaimone]

UPDATE:
I tried the repo in a docker with Ubuntu 20.04, ROS2 Galactic and Gazebo Ignition Edifice and it works. I am using the repo at the commit 15046e1, before the port to Ignition Fortress. I haven't solved the issue with ROS2 Galactic and Ignition Fortress yet though.