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Controller manager error -[WARN] [1735037100.684428992] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers #998

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Bharath21234 opened this issue Dec 25, 2024 · 0 comments
Open

Controller manager error -[WARN] [1735037100.684428992] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers #998

Bharath21234 opened this issue Dec 25, 2024 · 0 comments

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@Bharath21234
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Bharath21234 commented Dec 25, 2024 •
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I am trying to visualise a 3dof robotic arm and control this using my keyboard. I am on ROS2 Humble Ubuntu 22.04 and am using this moveit2 tutorial for controlling it : https://github.com/moveit/moveit2_tutorials/tree/main/doc/examples/realtime_servo https://moveit.picknik.ai/humble/doc/examples/realtime_servo/realtime_servo_tutorial.html#using-the-c-interface

When I run my launch file, I can see the arm in Rviz, but it its not moving when I run

ros2 run moveit2_tutorials servo_keyboard_input

in a new terminal. Im guessing its because of this error that Im getting : [spawner-5] [WARN] [1735037100.684428992] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers

This is my launch file

`

import os
import launch_ros
import launch
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from ament_index_python.packages import get_package_share_directory
from launch.actions import ExecuteProcess
from moveit_configs_utils import MoveItConfigsBuilder
from launch_param_builder import ParameterBuilder

def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder(robot_name = "omnipointer", package_name = "my_robot_description")
.robot_description(file_path="urdf/three_dof_arm.urdf")
.robot_description_semantic(file_path="urdf/srdf.srdf")
.robot_description_kinematics(file_path = "moveit_config/kinematics.yaml")
.joint_limits(file_path="moveit_config/joint_limits.yaml")
.pilz_cartesian_limits(file_path = "moveit_config/pilz_cartesian_limits.yaml")
.to_moveit_configs()
)
# Launch Servo as a standalone node or as a "node component" for better latency/efficiency
launch_as_standalone_node = LaunchConfiguration(
"launch_as_standalone_node", default="false"
)
# Get parameters for the Servo
servo_params = {
"moveit_servo": ParameterBuilder("my_robot_description")
.yaml("moveit_config/servo_simulated_config.yaml")
.to_dict()
}
# This sets the update rate and planning group name for the acceleration limiting filter.
planning_group_name = {"planning_group_name": "manipulator"}

# RViz
rviz_config_file = (
    get_package_share_directory("my_robot_description")
    + "/moveit_config/rviz_config.rviz"
)
rviz_node = launch_ros.actions.Node(
    package="rviz2",
    executable="rviz2",
    name="rviz2",
    output="log",
    arguments=["-d", rviz_config_file],
    parameters=[
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
    ],
)

robot_publisher_node = launch_ros.actions.Node(
    package="robot_state_publisher",
    executable="robot_state_publisher",
    name="robot_state_publisher",
    parameters=[{"robot_description": moveit_config.robot_description}],
    output="screen",

)

ros2_control using FakeSystem as hardware

ros2_controllers_path = os.path.join(
    get_package_share_directory("my_robot_description"),
    "moveit_config",
    "ros2_controllers.yaml",
)
ros2_control_node = launch_ros.actions.Node(
    package="controller_manager",
    namespace = '/',
    executable="ros2_control_node",
    parameters=[ros2_controllers_path],
    remappings=[
        ("/controller_manager/robot_description", "/robot_description"),
    ],
    output="screen",
)

joint_state_broadcaster_spawner = launch_ros.actions.Node(
    package="controller_manager",
    namespace = "/",
    executable="spawner",
    arguments=[
        "joint_state_broadcaster",
        "--controller-manager-timeout",
        "300",
        "--controller-manager",
        "/controller_manager",
    ],
)
panda_arm_controller_spawner = launch_ros.actions.Node(
    package="controller_manager",
    executable="spawner",
    arguments=["panda_arm_controller", "-c", "/controller_manager"],
)
# Launch as much as possible in components
container = launch_ros.actions.ComposableNodeContainer(
    name="moveit_servo_demo_container",
    namespace = "/",
    package="rclcpp_components",
    executable="component_container_mt",
    composable_node_descriptions=[
        # Example of launching Servo as a node component
        # Launching as a node component makes ROS 2 intraprocess communication more efficient.
        launch_ros.descriptions.ComposableNode(
            package="moveit_servo",
            plugin="moveit_servo::ServoNode",
            name="servo_node",
            parameters=[
                servo_params,
                planning_group_name,
                moveit_config.robot_description,
                moveit_config.robot_description_semantic,
                moveit_config.robot_description_kinematics,
            ],
            condition=UnlessCondition(launch_as_standalone_node),
        ),
        launch_ros.descriptions.ComposableNode(
            package="tf2_ros",
            plugin="tf2_ros::StaticTransformBroadcasterNode",
            name="static_tf2_broadcaster",
            parameters=[{"child_frame_id": "base_link", "frame_id": "world"}],
        ),
    ],
    output="screen",
)

# Servo control node
servo_node = Node(
    package="moveit2_tutorials",  # Ensure this package name is correct
    executable="servo_cpp_interface_demo",  # Check that this executable exists
    output="screen",
    parameters=[
        servo_params,
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
    ],
)

demo_node = launch_ros.actions.Node(
    package="my_robot_description",
    executable="servo_control",
    name="servo_control",
    output="screen",
)

return launch.LaunchDescription(
    [
        rviz_node,
        robot_publisher_node,
        ros2_control_node,
        joint_state_broadcaster_spawner,
        panda_arm_controller_spawner,
        servo_node,
        container,
        launch.actions.TimerAction(period=350.0, actions=[demo_node]),
    ]
)

`

This is my ros2_controllers.yaml file :
` # This config file is used by ros2_control
controller_manager:
ros__parameters:
update_rate: 1000 # Hz

panda_arm_controller:
  type: joint_trajectory_controller/JointTrajectoryController


joint_state_broadcaster:
  type: joint_state_broadcaster/JointStateBroadcaster

panda_arm_controller:
ros__parameters:
joints:
- arm_joint_1,
- arm_joint_2,
- arm_joint_3,
- arm_joint_4,
- arm_joint_5
command_interfaces:
- position
state_interfaces:
-position
-velocity`

Any way to solve this? When I run ros2 node list while the launch file is running, the controller_manager does show up so that node is running. Don't know what is causing this error. Another thing I noticed is that the robot_state_publisher node only shows up for about 10 seconds when I run ros2 node list after running the launch file. Could this be the reason for this issue related to the controller manager or is it a seperate problem? Lastly, I tried only visualising the file and controlling the angles using the slider of joint_state_publisher_gui and this works perfectly well.

This is the what I get on terminal when I launch the above launch file :
[INFO] [launch]: Default logging verbosity is set to INFO WARNING:root:trajectory_execution: Parameter file_path is undefined and no matches for /home/[my name]/ros2_urdf_ws/install/my_robot_description/share/my_robot_description/config/*_controllers.yaml
[INFO] [rviz2-1]: process started with pid [9700]
[INFO] [robot_state_publisher-2]: process started with pid [9702]
[INFO] [ros2_control_node-3]: process started with pid [9704]
[INFO] [spawner-4]: process started with pid [9706]
[INFO] [spawner-5]: process started with pid [9708]
[INFO] [servo_cpp_interface_demo-6]: process started with pid [9710]
[INFO] [component_container_mt-7]: process started with pid [9712]
[rviz2-1] qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in ""
[robot_state_publisher-2] [FATAL] [1735146709.382349856] [robot_state_publisher]: robot_description parameter must not be empty
[robot_state_publisher-2] terminate called after throwing an instance of 'std::runtime_error'
[robot_state_publisher-2] what(): robot_description parameter must not be empty
[ros2_control_node-3] [INFO] [1735146709.829271287] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-3] [INFO] [1735146709.833301145] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-3] [INFO] [1735146709.833364157] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-3] [WARN] [1735146709.833659941] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-3] [INFO] [1735146709.842866194] [controller_manager]: Received robot description file.
[ros2_control_node-3] [ERROR] [1735146709.843205770] [controller_manager]: The published robot description file (urdf) seems not to be genuine. The following error was caught:no ros2_control tag
[component_container_mt-7] [INFO] [1735146709.942549929] [moveit_servo_demo_container]: Load Library: /home/[my name]/ws_moveit2/install/moveit_servo/lib/libservo_node.so
[component_container_mt-7] [INFO] [1735146710.035375464] [moveit_servo_demo_container]: Found class: rclcpp_components::NodeFactoryTemplate<moveit_servo::ServoNode>
[component_container_mt-7] [INFO] [1735146710.036020694] [moveit_servo_demo_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<moveit_servo::ServoNode>
[component_container_mt-7] [WARN] [1735146710.078381281] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding:
[component_container_mt-7] extra_arguments=[{'use_intra_process_comms' : True}]
[component_container_mt-7] to the Servo composable node in the launch file
[component_container_mt-7] [INFO] [1735146710.126216727] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0108166 seconds
[component_container_mt-7] [INFO] [1735146710.126322015] [moveit_robot_model.robot_model]: Loading robot model 'omnipointer'...
[component_container_mt-7] [ERROR] [1735146710.127363505] [moveit_robot_model.robot_model]: The model for joint 'arm_joint_5' requires 0 variable values, but only 1 variable values were supplied in default state 'home' for group 'manipulator'
[component_container_mt-7] [WARN] [1735146710.150408849] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[component_container_mt-7] [INFO] [1735146710.233266742] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[component_container_mt-7] [INFO] [1735146710.242637059] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[component_container_mt-7] [INFO] [1735146710.242695931] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[component_container_mt-7] [INFO] [1735146710.246862618] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[component_container_mt-7] [INFO] [1735146710.246909088] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[component_container_mt-7] [INFO] [1735146710.248174907] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[component_container_mt-7] [INFO] [1735146710.249357168] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[component_container_mt-7] [WARN] [1735146710.251406680] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[component_container_mt-7] [ERROR] [1735146710.251452693] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[component_container_mt-7] [INFO] [1735146710.255909259] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[component_container_mt-7] [ERROR] [1735146710.277353965] [moveit_servo.servo_calcs]: Exception while loading the smoothing plugin 'online_signal_smoothing::AccelerationLimitedPlugin': 'According to the loaded plugin descriptions the class online_signal_smoothing::AccelerationLimitedPlugin with base class type online_signal_smoothing::SmoothingBaseClass does not exist. Declared types are online_signal_smoothing::ButterworthFilterPlugin'
[component_container_mt-7] malloc_consolidate(): unaligned fastbin chunk detected
[rviz2-1] [INFO] [1735146710.453723634] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1735146710.461039416] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1735146710.595530473] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [robot_state_publisher-2]: process has died [pid 9702, exit code -6, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args -r __node:=robot_state_publisher --params-file /tmp/launch_params_cttz8op5'].
[rviz2-1] [INFO] [1735146710.990704289] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0160548 seconds
[rviz2-1] [INFO] [1735146710.990952166] [moveit_robot_model.robot_model]: Loading robot model 'omnipointer'...
[rviz2-1] [ERROR] [1735146710.992397328] [moveit_robot_model.robot_model]: The model for joint 'arm_joint_5' requires 0 variable values, but only 1 variable values were supplied in default state 'home' for group 'manipulator'
[spawner-4] [INFO] [1735146711.018481041] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [INFO] [1735146711.024980766] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-1] [WARN] [1735146711.025598708] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-1] [INFO] [1735146711.120608046] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1735146711.132710722] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/servo_node/publish_planning_scene'
[ERROR] [component_container_mt-7]: process has died [pid 9712, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=moveit_servo_demo_container -r __ns:=/'].
[servo_cpp_interface_demo-6] [INFO] [1735146713.605827598] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00546197 seconds
[servo_cpp_interface_demo-6] [INFO] [1735146713.605914019] [moveit_robot_model.robot_model]: Loading robot model 'omnipointer'...
[servo_cpp_interface_demo-6] [ERROR] [1735146713.606134924] [moveit_robot_model.robot_model]: The model for joint 'arm_joint_5' requires 0 variable values, but only 1 variable values were supplied in default state 'home' for group 'manipulator'
[servo_cpp_interface_demo-6] [WARN] [1735146713.616769075] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[servo_cpp_interface_demo-6] [INFO] [1735146713.711061798] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_cpp_interface_demo-6] [INFO] [1735146713.735125115] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_cpp_interface_demo-6] [INFO] [1735146713.741597472] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/moveit_servo/publish_planning_scene'
[servo_cpp_interface_demo-6] [INFO] [1735146713.742945358] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_cpp_interface_demo-6] [INFO] [1735146713.749894924] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[servo_cpp_interface_demo-6] [ERROR] [1735146713.781699073] [moveit_planning_scene.planning_scene]: Unknown frame: panda_link0
[servo_cpp_interface_demo-6] [ERROR] [1735146713.835742866] [moveit_servo.servo_calcs]: Exception while loading the smoothing plugin 'online_signal_smoothing::AccelerationLimitedPlugin': 'According to the loaded plugin descriptions the class online_signal_smoothing::AccelerationLimitedPlugin with base class type online_signal_smoothing::SmoothingBaseClass does not exist. Declared types are online_signal_smoothing::ButterworthFilterPlugin'
[servo_cpp_interface_demo-6] terminate called after throwing an instance of 'std::system_error'
[servo_cpp_interface_demo-6] what(): Invalid argument
[ERROR] [servo_cpp_interface_demo-6]: process has died [pid 9710, exit code -6, cmd '/home/bharath/ws_moveit2/install/moveit2_tutorials/lib/moveit2_tutorials/servo_cpp_interface_demo --ros-args --params-file /tmp/launch_params_nm5oreql --params-file /tmp/launch_params_y5km9p9s --params-file /tmp/launch_params_cmougzm0'].
[spawner-5] [WARN] [1735146721.040880933] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146721.041608714] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146731.055645532] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146731.056704281] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146741.068915156] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146741.069566324] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146751.080099101] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146751.081137593] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146761.093915545] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146761.094933391] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146771.110263619] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146771.110918990] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146781.124564905] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146781.125815734] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146791.139073076] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146791.139939296] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146801.154393677] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146801.155268309] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-4] [FATAL] [1735146811.155088123] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-5] [WARN] [1735146811.171712245] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146811.174291912] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[ERROR] [spawner-4]: process has died [pid 9706, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager-timeout 100 --controller-manager /controller_manager --ros-args -r __ns:=/'].
[spawner-5] [WARN] [1735146821.191600454] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146821.192423839] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146831.208563333] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146831.209616245] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146841.224321972] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146841.224983048] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146851.243319277] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146851.244599983] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146861.263982667] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146861.264691948] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146871.279809357] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146871.280759948] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146881.297661707] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146881.298367291] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146891.313950482] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146891.315073076] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146901.334442627] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146901.335417380] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146911.354138821] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146911.356726335] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146921.372146176] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146921.373360044] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146931.388661998] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146931.389675495] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146941.407022190] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146941.408817686] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146951.425321737] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146951.426360634] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146961.442715116] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146961.444634108] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146971.460519173] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146971.461675750] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146981.476981706] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146981.479172395] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735146991.497976670] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735146991.499025191] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735147001.518213792] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735147001.519069483] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735147011.534583121] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735147011.535318513] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1735147021.554281194] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1735147021.556333036] [spawner_panda_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)`
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