ROS+Gazebo 出现 WARN:Controller Spawner couldn't find the expected controller_manager ROS interface.

ROS+Gazebo 出现 WARN:Controller Spawner couldn't find the expected controller_manager ROS interface.

使用ros+gazebo进行仿真的时候,出现了如下图的问题 控制器无法启动
出现这个问题主要有以下三种原因:

  1. 没有安装好相应的依赖包 解决方法是:按照http://gazebosim.org/tutorials?tut=ros_installing安装相应的包
  2. 没有在机器人模型的urdf/xacro文件中添加gazebo_ros_control插件 解决方法:按http://gazebosim.org/tutorials?tut=ros_control&cat=connect_ros添加
<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/MYROBOT</robotNamespace>
  </plugin>
</gazebo>
  1. 最容易忽略的第三种原因:controller manager和MYROBOT_control.yaml设置的参数不在同一个命名空间里面,下面介绍来识别两者是否在同一个命名空间内。

不在一个命名空间内的:
未在同个命名空间下的
在同一个命名空间下的:
在同一个命名空间下的:
可以看到第

(rosenv) whyros@ubuntu:~/爱死机战队-汪辉耀-何海-朱睿程/ros_ws$ roslaunch mini2_description gazebo_room.launch ... logging to /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/roslaunch-ubuntu-348341.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:37833/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /joint_state_publisher/source_list: ['/joint_states1'] * /mini2/mini2/11_Joint_controller/gravity_compensation: True * /mini2/mini2/11_Joint_controller/joint: 11_Joint * /mini2/mini2/11_Joint_controller/pid/d: 50.0 * /mini2/mini2/11_Joint_controller/pid/i: 0.1 * /mini2/mini2/11_Joint_controller/pid/p: 1000.0 * /mini2/mini2/11_Joint_controller/type: position_controll... * /mini2/mini2/11_Joint_controller/update_rate: 1000 * /mini2/mini2/12_Joint_controller/gravity_compensation: True * /mini2/mini2/12_Joint_controller/joint: 12_Joint * /mini2/mini2/12_Joint_controller/pid/d: 40.0 * /mini2/mini2/12_Joint_controller/pid/i: 0.1 * /mini2/mini2/12_Joint_controller/pid/p: 800.0 * /mini2/mini2/12_Joint_controller/type: position_controll... * /mini2/mini2/12_Joint_controller/update_rate: 1000 * /mini2/mini2/13_Joint_controller/gravity_compensation: True * /mini2/mini2/13_Joint_controller/joint: 13_Joint * /mini2/mini2/13_Joint_controller/pid/d: 60.0 * /mini2/mini2/13_Joint_controller/pid/i: 0.1 * /mini2/mini2/13_Joint_controller/pid/p: 1200.0 * /mini2/mini2/13_Joint_controller/type: position_controll... * /mini2/mini2/13_Joint_controller/update_rate: 1000 * /mini2/mini2/21_Joint_controller/gravity_compensation: True * /mini2/mini2/21_Joint_controller/joint: 21_Joint * /mini2/mini2/21_Joint_controller/pid/d: 20.0 * /mini2/mini2/21_Joint_controller/pid/i: 0.1 * /mini2/mini2/21_Joint_controller/pid/p: 400.0 * /mini2/mini2/21_Joint_controller/type: position_controll... * /mini2/mini2/21_Joint_controller/update_rate: 1000 * /mini2/mini2/22_Joint_controller/gravity_compensation: True * /mini2/mini2/22_Joint_controller/joint: 22_Joint * /mini2/mini2/22_Joint_controller/pid/d: 20.0 * /mini2/mini2/22_Joint_controller/pid/i: 0.1 * /mini2/mini2/22_Joint_controller/pid/p: 400.0 * /mini2/mini2/22_Joint_controller/type: position_controll... * /mini2/mini2/22_Joint_controller/update_rate: 1000 * /mini2/mini2/23_Joint_controller/gravity_compensation: True * /mini2/mini2/23_Joint_controller/joint: 23_Joint * /mini2/mini2/23_Joint_controller/pid/d: 20.0 * /mini2/mini2/23_Joint_controller/pid/i: 0.1 * /mini2/mini2/23_Joint_controller/pid/p: 400.0 * /mini2/mini2/23_Joint_controller/type: position_controll... * /mini2/mini2/23_Joint_controller/update_rate: 1000 * /mini2/mini2/31_Joint_controller/gravity_compensation: True * /mini2/mini2/31_Joint_controller/joint: 31_Joint * /mini2/mini2/31_Joint_controller/pid/d: 20.0 * /mini2/mini2/31_Joint_controller/pid/i: 0.5 * /mini2/mini2/31_Joint_controller/pid/p: 400.0 * /mini2/mini2/31_Joint_controller/type: position_controll... * /mini2/mini2/31_Joint_controller/update_rate: 1000 * /mini2/mini2/32_Joint_controller/gravity_compensation: True * /mini2/mini2/32_Joint_controller/joint: 32_Joint * /mini2/mini2/32_Joint_controller/pid/d: 20.0 * /mini2/mini2/32_Joint_controller/pid/i: 0.1 * /mini2/mini2/32_Joint_controller/pid/p: 400.0 * /mini2/mini2/32_Joint_controller/type: position_controll... * /mini2/mini2/32_Joint_controller/update_rate: 1000 * /mini2/mini2/33_Joint_controller/gravity_compensation: True * /mini2/mini2/33_Joint_controller/joint: 33_Joint * /mini2/mini2/33_Joint_controller/pid/d: 20.0 * /mini2/mini2/33_Joint_controller/pid/i: 0.1 * /mini2/mini2/33_Joint_controller/pid/p: 400.0 * /mini2/mini2/33_Joint_controller/type: position_controll... * /mini2/mini2/33_Joint_controller/update_rate: 1000 * /mini2/mini2/41_Joint_controller/gravity_compensation: True * /mini2/mini2/41_Joint_controller/joint: 41_Joint * /mini2/mini2/41_Joint_controller/pid/d: 20.0 * /mini2/mini2/41_Joint_controller/pid/i: 0.5 * /mini2/mini2/41_Joint_controller/pid/p: 400.0 * /mini2/mini2/41_Joint_controller/type: position_controll... * /mini2/mini2/41_Joint_controller/update_rate: 1000 * /mini2/mini2/42_Joint_controller/gravity_compensation: True * /mini2/mini2/42_Joint_controller/joint: 42_Joint * /mini2/mini2/42_Joint_controller/pid/d: 20.0 * /mini2/mini2/42_Joint_controller/pid/i: 0.5 * /mini2/mini2/42_Joint_controller/pid/p: 400.0 * /mini2/mini2/42_Joint_controller/type: position_controll... * /mini2/mini2/42_Joint_controller/update_rate: 1000 * /mini2/mini2/43_Joint_controller/gravity_compensation: True * /mini2/mini2/43_Joint_controller/joint: 43_Joint * /mini2/mini2/43_Joint_controller/pid/d: 20.0 * /mini2/mini2/43_Joint_controller/pid/i: 0.5 * /mini2/mini2/43_Joint_controller/pid/p: 400.0 * /mini2/mini2/43_Joint_controller/type: position_controll... * /mini2/mini2/43_Joint_controller/update_rate: 1000 * /mini2/mini2/500_Joint_controller/gravity_compensation: True * /mini2/mini2/500_Joint_controller/joint: 500_Joint * /mini2/mini2/500_Joint_controller/pid/d: 20.0 * /mini2/mini2/500_Joint_controller/pid/i: 0.5 * /mini2/mini2/500_Joint_controller/pid/p: 400.0 * /mini2/mini2/500_Joint_controller/type: position_controll... * /mini2/mini2/500_Joint_controller/update_rate: 1000 * /mini2/mini2/50_Joint_controller/gravity_compensation: True * /mini2/mini2/50_Joint_controller/joint: 50_Joint * /mini2/mini2/50_Joint_controller/pid/d: 20.0 * /mini2/mini2/50_Joint_controller/pid/i: 0.5 * /mini2/mini2/50_Joint_controller/pid/p: 400.0 * /mini2/mini2/50_Joint_controller/type: position_controll... * /mini2/mini2/50_Joint_controller/update_rate: 1000 * /mini2/mini2/51_Joint_controller/gravity_compensation: True * /mini2/mini2/51_Joint_controller/joint: 51_Joint * /mini2/mini2/51_Joint_controller/pid/d: 20.0 * /mini2/mini2/51_Joint_controller/pid/i: 0.5 * /mini2/mini2/51_Joint_controller/pid/p: 400.0 * /mini2/mini2/51_Joint_controller/type: position_controll... * /mini2/mini2/51_Joint_controller/update_rate: 1000 * /mini2/mini2/52_Joint_controller/gravity_compensation: True * /mini2/mini2/52_Joint_controller/joint: 52_Joint * /mini2/mini2/52_Joint_controller/pid/d: 30.0 * /mini2/mini2/52_Joint_controller/pid/i: 0.1 * /mini2/mini2/52_Joint_controller/pid/p: 500.0 * /mini2/mini2/52_Joint_controller/type: position_controll... * /mini2/mini2/52_Joint_controller/update_rate: 1000 * /mini2/mini2/53_Joint_controller/gravity_compensation: True * /mini2/mini2/53_Joint_controller/joint: 53_Joint * /mini2/mini2/53_Joint_controller/pid/d: 20.0 * /mini2/mini2/53_Joint_controller/pid/i: 0.5 * /mini2/mini2/53_Joint_controller/pid/p: 400.0 * /mini2/mini2/53_Joint_controller/type: position_controll... * /mini2/mini2/53_Joint_controller/update_rate: 1000 * /mini2/mini2/joint_state_controller/publish_rate: 50 * /mini2/mini2/joint_state_controller/type: joint_state_contr... * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.17.3 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_control (mini2_description/joint_control.py) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) /mini2/ controller_spawner (controller_manager/spawner) spawn_urdf (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [348349] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 4051dbf6-56a8-11f0-8dcd-81cf0e965cb7 process[rosout-1]: started with pid [348359] started core service [/rosout] process[gazebo-2]: started with pid [348367] process[gazebo_gui-3]: started with pid [348370] process[mini2/spawn_urdf-4]: started with pid [348375] process[mini2/controller_spawner-5]: started with pid [348378] process[robot_state_publisher-6]: started with pid [348379] process[joint_state_publisher-7]: started with pid [348380] process[joint_control-8]: started with pid [348385] [WARN] [1751394109.302342, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1751394109.303728, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1751394109.332422, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1751394109.521168280]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394109.523086673]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394109.523249881]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1751394109.524751521]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... Traceback (most recent call last): File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 239, in <module> exit_code = sm.run() File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 132, in run model_xml = rospy.get_param(self.args.param) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 468, in get_param return _param_server[param_name] #MasterProxy does all the magic for us File "/opt/ros/noetic/lib/python3/dist-packages/rospy/msproxy.py", line 123, in __getitem__ raise KeyError(key) KeyError: 'robot_description' [INFO] [1751394110.040706553]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1751394110.089876775, 0.001000000]: Physics dynamic reconfigure ready. [mini2/spawn_urdf-4] process has died [pid 348375, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model mini2_description -param robot_description -x 0.0244236973111199 -y -0.00001185 -z 0.00216909321295 -R 0 -P 0 -Y 0 -unpause __name:=spawn_urdf __log:=/home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4.log]. log file: /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4*.log context mismatch in svga_surface_destroy context mismatch in svga_surface_destroy [WARN] [1751394139.451305, 2.934000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [mini2/controller_spawner-5] process has finished cleanly log file: /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-controller_spawner-5*.log ^C[joint_control-8] killing on exit [joint_state_publisher-7] killing on exit [robot_state_publisher-6] killing on exit [gazebo_gui-3] killing on exit [gazebo-2] killing on exit ^C[gazebo_gui-3] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done (rosenv) whyros@ubuntu:~/爱死机战队-汪辉耀-何海-朱睿程/ros_ws$ roslaunch mini2_description gazebo_room.launch ... logging to /home/whyros/.ros/log/3fc93650-56aa-11f0-8dcd-81cf0e965cb7/roslaunch-ubuntu-361713.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:36143/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /joint_state_publisher/source_list: ['/joint_states1'] * /mini2/arm_controller/constraints/goal_time: 0.6 * /mini2/arm_controller/constraints/joints/11_Joint/goal: True * /mini2/arm_controller/constraints/joints/11_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/12_Joint/goal: True * /mini2/arm_controller/constraints/joints/12_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/13_Joint/goal: True * /mini2/arm_controller/constraints/joints/13_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/21_Joint/goal: True * /mini2/arm_controller/constraints/joints/21_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/22_Joint/goal: True * /mini2/arm_controller/constraints/joints/22_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/23_Joint/goal: True * /mini2/arm_controller/constraints/joints/23_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/31_Joint/goal: True * /mini2/arm_controller/constraints/joints/31_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/32_Joint/goal: True * /mini2/arm_controller/constraints/joints/32_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/33_Joint/goal: True * /mini2/arm_controller/constraints/joints/33_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/41_Joint/goal: True * /mini2/arm_controller/constraints/joints/41_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/42_Joint/goal: True * /mini2/arm_controller/constraints/joints/42_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/43_Joint/goal: True * /mini2/arm_controller/constraints/joints/43_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/500_Joint/goal: True * /mini2/arm_controller/constraints/joints/500_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/50_Joint/goal: True * /mini2/arm_controller/constraints/joints/50_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/51_Joint/goal: True * /mini2/arm_controller/constraints/joints/51_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/52_Joint/goal: True * /mini2/arm_controller/constraints/joints/52_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/53_Joint/goal: True * /mini2/arm_controller/constraints/joints/53_Joint/trajectory: True * /mini2/arm_controller/constraints/stopping_trajectory_duration: 0.5 * /mini2/arm_controller/joints: ['11_Joint', '12_... * /mini2/arm_controller/pid_gains/11_Joint/d: 50.0 * /mini2/arm_controller/pid_gains/11_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/11_Joint/p: 1000.0 * /mini2/arm_controller/pid_gains/12_Joint/d: 40.0 * /mini2/arm_controller/pid_gains/12_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/12_Joint/p: 800.0 * /mini2/arm_controller/pid_gains/13_Joint/d: 60.0 * /mini2/arm_controller/pid_gains/13_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/13_Joint/p: 1200.0 * /mini2/arm_controller/pid_gains/21_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/21_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/21_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/22_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/22_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/22_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/23_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/23_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/23_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/31_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/31_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/31_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/32_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/32_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/32_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/33_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/33_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/33_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/41_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/41_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/41_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/42_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/42_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/42_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/43_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/43_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/43_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/500_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/500_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/500_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/50_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/50_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/50_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/51_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/51_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/51_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/52_Joint/d: 30.0 * /mini2/arm_controller/pid_gains/52_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/52_Joint/p: 500.0 * /mini2/arm_controller/pid_gains/53_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/53_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/53_Joint/p: 400.0 * /mini2/arm_controller/type: effort_controller... * /mini2/joint_state_controller/publish_rate: 50 * /mini2/joint_state_controller/type: joint_state_contr... * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.17.3 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_control (mini2_description/joint_control.py) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) /mini2/ controller_spawner (controller_manager/spawner) spawn_urdf (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [361721] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 3fc93650-56aa-11f0-8dcd-81cf0e965cb7 process[rosout-1]: started with pid [361732] started core service [/rosout] process[gazebo-2]: started with pid [361742] process[gazebo_gui-3]: started with pid [361745] process[mini2/spawn_urdf-4]: started with pid [361750] process[mini2/controller_spawner-5]: started with pid [361753] process[robot_state_publisher-6]: started with pid [361754] process[joint_state_publisher-7]: started with pid [361755] process[joint_control-8]: started with pid [361760] [WARN] [1751394967.320296, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1751394967.322947, 0.000000]: Controller Spawner: Waiting for service /mini2/controller_manager/load_controller [INFO] [1751394967.360534, 0.000000]: Loading model XML from ros parameter /robot_description [INFO] [1751394967.367955, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1751394967.591428043]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394967.592695892]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1751394967.712372708]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394967.714188401]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1751394968.111488158]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1751394968.144013226, 0.003000000]: Physics dynamic reconfigure ready. [INFO] [1751394968.274723, 0.016000]: Calling service /gazebo/spawn_urdf_model [INFO] [1751394968.639988, 0.036000]: Spawn status: SpawnModel: Successfully spawned entity [INFO] [1751394968.641505, 0.036000]: Unpausing physics [mini2/spawn_urdf-4] process has finished cleanly log file: /home/whyros/.ros/log/3fc93650-56aa-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4*.log [INFO] [1751394972.082549432, 0.036000000]: Loading gazebo_ros_control plugin [INFO] [1751394972.082927631, 0.036000000]: Starting gazebo_ros_control plugin in namespace: /mini2 [INFO] [1751394972.083688984, 0.036000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [INFO] [1751394972.197588955, 0.036000000]: Loaded gazebo_ros_control. [INFO] [1751394972.419081, 0.058000]: Controller Spawner: Waiting for service /mini2/controller_manager/switch_controller [INFO] [1751394972.422287, 0.058000]: Controller Spawner: Waiting for service /mini2/controller_manager/unload_controller [INFO] [1751394972.424556, 0.059000]: Loading controller: joint_state_controller [INFO] [1751394972.443607, 0.061000]: Loading controller: arm_controller [ERROR] [1751394972.448703925, 0.061000000]: Could not load controller 'arm_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1751394972.448778446, 0.061000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types context mismatch in svga_surface_destroy context mismatch in svga_surface_destroy [ERROR] [1751394973.449190, 0.161000]: Failed to load arm_controller [INFO] [1751394973.450581, 0.161000]: Controller Spawner: Loaded controllers: joint_state_controller [INFO] [1751394973.456978, 0.162000]: Started controllers: joint_state_controller
07-03
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