패키지 재실행시 spawner_dsr_controller2, spawner_dsr_moveit_controller, spawner_joint_state_broadcaster 이슈

[hanprd]

안녕하세요.
지원을 통해 패키지 설치와 Rviz 및 Moveit 실행이 가능해졌습니다만 추가적인 이슈가 있어 문의를 드립니다.
OS 부팅 후 두산 로봇 패키지를 최초로 실행하는 경우에는 정상적으로 작동됩니다만 종료 후 다시 실행을 하는 경우 문제가 발생하여 실행 로그를 아래와 같이 첨부하여 문의 드립니다. 추가적으로 필요하신 정보가 있으면 말씀 부탁 드리겠습니다.
감사합니다.

lamm@lamm-Precision-5530:$ ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py mode:=virtual model:=m0609 host:=127.0.0.1
[INFO] [launch]: All log files can be found below /home/lamm/.ros/log/2025-01-24-10-17-03-854226-lamm-Precision-5530-31143
[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[INFO] [set_config-1]: process started with pid [31146]
[INFO] [run_emulator-2]: process started with pid [31148]
[INFO] [robot_state_publisher-3]: process started with pid [31150]
[INFO] [spawner-4]: process started with pid [31152]
[INFO] [spawner-5]: process started with pid [31154]
[INFO] [spawner-6]: process started with pid [31156]
[INFO] [move_group-7]: process started with pid [31158]
[robot_state_publisher-3] [INFO] [1737731824.270364642] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1737731824.270519759] [robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1737731824.270541706] [robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1737731824.270552271] [robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1737731824.270563449] [robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1737731824.270573106] [robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1737731824.270582161] [robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1737731824.270591309] [robot_state_publisher]: got segment world
[move_group-7] Error: Semantic description is not specified for the same robot as the URDF
[move_group-7] at line 681 in ./src/model.cpp
[move_group-7] [INFO] [1737731824.281005434] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0442816 seconds
[move_group-7] [INFO] [1737731824.281065124] [moveit_robot_model.robot_model]: Loading robot model 'm0609'...
[move_group-7] [WARN] [1737731824.407656949] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[run_emulator-2] Run Emulator of the Doosan Robot Controller
[run_emulator-2] dirname: /home/lamm/ros2_ws/install/common2/share/common2/bin/run_drcf.sh
[run_emulator-2] server_port: 12345
[run_emulator-2] robot model: m0609
[run_emulator-2] ns:
[run_emulator-2] run : 'emulator' ...
[spawner-4] [INFO] [1737731824.603896768] [spawner_dsr_controller2]: waiting for service /controller_manager/list_controllers to become available...
[run_emulator-2] b2a15dc0b0bd41c37e5b884f4e19d00946c844f95fe9b25b170a4d07db3ae625
[INFO] [set_config-1]: process has finished cleanly [pid 31146]
[move_group-7] [INFO] [1737731824.701108916] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-7] [INFO] [1737731824.701358324] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-7] [INFO] [1737731824.702184092] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-7] [INFO] [1737731824.702649811] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-7] [INFO] [1737731824.702671007] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-7] [INFO] [1737731824.703010635] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-7] [INFO] [1737731824.703029656] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-7] [INFO] [1737731824.703507803] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-7] [INFO] [1737731824.703934326] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-7] [WARN] [1737731824.704831494] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-7] [ERROR] [1737731824.704853483] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-7] [INFO] [1737731824.897919230] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[spawner-6] [INFO] [1737731824.737291012] [spawner_dsr_moveit_controller]: waiting for service /controller_manager/list_controllers to become available...
[INFO] [ros2_control_node-8]: process started with pid [31371]
[spawner-5] [INFO] [1737731824.748608888] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[run_emulator-2] ARCH: 64-bit
[move_group-7] [INFO] [1737731824.916587358] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-7] [INFO] [1737731824.920500778] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-7] [INFO] [1737731824.920527685] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-7] [INFO] [1737731824.920535720] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-7] [INFO] [1737731824.920566162] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-7] [INFO] [1737731824.920590811] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-7] [INFO] [1737731824.920599850] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1737731824.920619565] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1737731824.920627885] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-7] [INFO] [1737731824.920635842] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-7] [INFO] [1737731824.920653747] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-7] [INFO] [1737731824.920660814] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-7] [INFO] [1737731824.920666793] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-7] [INFO] [1737731824.920672396] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-7] [INFO] [1737731824.920678436] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-7] [INFO] [1737731824.920714570] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-7] [INFO] [1737731824.923620216] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-7] [INFO] [1737731824.932241431] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-7] [ERROR] [1737731824.936874628] [moveit.ros_planning.planning_pipeline]: Exception while loading planning adapter plugin 'default_planner_request_adapters/AddTimeParameterization': According to the loaded plugin descriptions the class default_planner_request_adapters/AddTimeParameterization with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are chomp/OptimizerAdapter default_planner_request_adapters/AddRuckigTrajectorySmoothing default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/ResolveConstraintFrames
[move_group-7] [INFO] [1737731824.937191271] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-7] [INFO] [1737731824.937224306] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-7] [INFO] [1737731824.937234187] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1737731824.937253763] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1737731824.937262962] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-7] [INFO] [1737731824.937269557] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-7] [INFO] [1737731824.937287781] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-7] [INFO] [1737731824.937294947] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-7] [INFO] [1737731824.937300417] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-7] [INFO] [1737731824.937305771] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-7] [INFO] [1737731824.940314657] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-7] [INFO] [1737731824.949880131] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-7] [INFO] [1737731824.954809677] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-7] [INFO] [1737731824.954846788] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-7] [INFO] [1737731824.957075330] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-7] [INFO] [1737731824.957111243] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-7] [INFO] [1737731824.959160874] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-7] [INFO] [1737731824.959188526] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-7] [INFO] [1737731824.960692271] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-7] [INFO] [1737731824.960734080] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[ros2_control_node-8] [WARN] [1737731824.976646482] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-8] [INFO] [1737731824.977344341] [resource_manager]: Loading hardware 'm0609'
[ros2_control_node-8] [INFO] [1737731824.996284450] [resource_manager]: Initialize hardware 'm0609'
[ros2_control_node-8] [INFO] [1737731824.996784601] [dsr_hw_interface2]: [on_init] Hardware name : m0609, type : system, class type : dsr_hardware2/DRHWInterface
[ros2_control_node-8] [INFO] [1737731825.020042321] [dsr_hw_interface2]: name:
[ros2_control_node-8] [INFO] [1737731825.020148012] [dsr_hw_interface2]: rate: 100
[ros2_control_node-8] [INFO] [1737731825.020217258] [dsr_hw_interface2]: standby: 5000
[ros2_control_node-8] [INFO] [1737731825.020254646] [dsr_hw_interface2]: command: true
[ros2_control_node-8] [INFO] [1737731825.020281921] [dsr_hw_interface2]: host: 127.0.0.1
[ros2_control_node-8] [INFO] [1737731825.020317129] [dsr_hw_interface2]: port: 12345
[ros2_control_node-8] [INFO] [1737731825.020346263] [dsr_hw_interface2]: mode: virtual
[ros2_control_node-8] [INFO] [1737731825.022152378] [dsr_hw_interface2]: model: m0609
[ros2_control_node-8] [INFO] [1737731825.022194302] [dsr_hw_interface2]: gripper: none
[ros2_control_node-8] [INFO] [1737731825.022252877] [dsr_hw_interface2]: mobile: none
[ros2_control_node-8] [INFO] [1737731825.022290926] [dsr_hw_interface2]: rt_host: 192.168.137.50
[ros2_control_node-8] [INFO] [1737731825.022834552] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-8]
[ros2_control_node-8] [INFO] [1737731825.022868442] [dsr_hw_interface2]: INITAILIZE
[ros2_control_node-8] [INFO] [1737731825.022888762] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-8]
[move_group-7] [INFO] [1737731825.056537791] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for dsr_moveit_controller
[move_group-7] [INFO] [1737731825.056902593] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-7] [INFO] [1737731825.056937049] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-7] [INFO] [1737731825.058607429] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-7] [INFO] [1737731825.058815260] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-7] [INFO] [1737731825.118103722] [move_group.move_group]:
[move_group-7]
[move_group-7] ********************************************************
[move_group-7] * MoveGroup using:
[move_group-7] * - ApplyPlanningSceneService
[move_group-7] * - ClearOctomapService
[move_group-7] * - CartesianPathService
[move_group-7] * - ExecuteTrajectoryAction
[move_group-7] * - GetPlanningSceneService
[move_group-7] * - KinematicsService
[move_group-7] * - MoveAction
[move_group-7] * - MotionPlanService
[move_group-7] * - QueryPlannersService
[move_group-7] * - StateValidationService
[move_group-7] ********************************************************
[move_group-7]
[move_group-7] [INFO] [1737731825.118289152] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-7] [INFO] [1737731825.118312071] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-7] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-7] Loading 'move_group/ClearOctomapService'...
[move_group-7] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-7] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-7] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-7] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-7] Loading 'move_group/MoveGroupMoveAction'...
[move_group-7] Loading 'move_group/MoveGroupPlanService'...
[move_group-7] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-7] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-7]
[move_group-7] You can start planning now!
[move_group-7]
[ros2_control_node-8] [INFO] [1737731825.135435136] [dsr_hw_interface2]: Connected to DRCF
[ros2_control_node-8] [INFO] [1737731825.136540819] [dsr_hw_interface2]: ROBOT_STATE : STATE_SAFE_OFF
[ros2_control_node-8] [INFO] [1737731825.356629200] [dsr_hw_interface2]: AUTHORITY : MONITORING_ACCESS_CONTROL_GRANT
[ros2_control_node-8] [INFO] [1737731825.356691515] [dsr_hw_interface2]: INITIAL AUTHORITY GRANTED !!!
[ros2_control_node-8] [INFO] [1737731826.137515146] [dsr_hw_interface2]: ROBOT_STATE : STATE_STANDBY
[ros2_control_node-8] [INFO] [1737731826.137662284] [dsr_hw_interface2]: INITIAL STATE_STANDBY !!!
[ros2_control_node-8] [INFO] [1737731826.253615046] [dsr_hw_interface2]: AUTHORITY : MONITORING_ACCESS_CONTROL_LOSS
[ros2_control_node-8] [INFO] [1737731826.253690621] [dsr_hw_interface2]: ROBOT_STATE : STATE_STANDBY
[ros2_control_node-8] [INFO] [1737731826.253711991] [dsr_hw_interface2]: INITIAL STATE_STANDBY !!!
[ros2_control_node-8] [INFO] [1737731826.256371334] [dsr_hw_interface2]: ROBOT_STATE : STATE_STANDBY
[ros2_control_node-8] [INFO] [1737731826.256399666] [dsr_hw_interface2]: INITIAL STATE_STANDBY !!!
[ros2_control_node-8] [INFO] [1737731827.137071826] [dsr_hw_interface2]: ROBOT_STATE : STATE_SAFE_OFF
[ros2_control_node-8] [INFO] [1737731827.355668628] [dsr_hw_interface2]: AUTHORITY : MONITORING_ACCESS_CONTROL_GRANT
[ros2_control_node-8] [INFO] [1737731827.355729016] [dsr_hw_interface2]: INITIAL AUTHORITY GRANTED !!!
[ros2_control_node-8] [INFO] [1737731827.356069670] [dsr_hw_interface2]: ROBOT_STATE : STATE_SAFE_OFF
[ros2_control_node-8] [INFO] [1737731828.136800370] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-8]
[ros2_control_node-8] [INFO] [1737731828.136872961] [dsr_hw_interface2]: OPEN CONNECTION
[ros2_control_node-8] [INFO] [1737731828.136894820] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-8]
[ros2_control_node-8] Depreciated API.. deleted soon.
[ros2_control_node-8] Please use 'set_on_monitoring_data_ex'
[ros2_control_node-8] Depreciated API.. deleted soon.
[ros2_control_node-8] Please use 'set_on_monitoring_ctrl_io_ex'.
[ros2_control_node-8] [INFO] [1737731828.137920223] [dsr_hw_interface2]: Emulator Mode
[ros2_control_node-8] [INFO] [1737731828.137955687] [dsr_hw_interface2]: DRCF version = GF03020000
[ros2_control_node-8] [INFO] [1737731828.137984698] [dsr_hw_interface2]: DRFL version = GL013100
[ros2_control_node-8] [INFO] [1737731828.138003566] [dsr_hw_interface2]: m_nVersionDRCF = 3020000
[ros2_control_node-8] [INFO] [1737731828.138020241] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-8]
[spawner-4] [WARN] [1737731834.621042739] [spawner_dsr_controller2]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1737731834.622007636] [spawner_dsr_controller2]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1737731834.751035945] [spawner_dsr_moveit_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1737731834.752022881] [spawner_dsr_moveit_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1737731834.765310629] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1737731834.766241561] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1737731844.634685470] [spawner_dsr_controller2]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1737731844.635630811] [spawner_dsr_controller2]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1737731844.764485690] [spawner_dsr_moveit_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1737731844.765427433] [spawner_dsr_moveit_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1737731844.778977024] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1737731844.779911495] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1737731854.648979979] [spawner_dsr_controller2]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1737731854.649998859] [spawner_dsr_controller2]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1737731854.780716789] [spawner_dsr_moveit_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1737731854.781729017] [spawner_dsr_moveit_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1737731854.803874037] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1737731854.804887525] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1737731864.665016537] [spawner_dsr_controller2]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1737731864.666003442] [spawner_dsr_controller2]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1737731864.795788886] [spawner_dsr_moveit_controller]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1737731864.796801618] [spawner_dsr_moveit_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [WARN] [1737731864.818436297] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1737731864.819457871] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...