Controller manager not available error on my local

Hello,

I created a 5dof urdf model, and tried adding controllers to it as shown in URDF course. chapter 4.
but, i am getting the following error:

[INFO] [launch]: All log files can be found below /home/ashish/.ros/log/2022-11-19-20-11-13-568031-Ashish-16593
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [spawner-1]: process started with pid [16595]
[INFO] [spawner-2]: process started with pid [16597]
[spawner-2] [INFO] [1668913873.775780015] [spawner_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-1] [INFO] [1668913873.776670103] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-2] [INFO] [1668913875.787676975] [spawner_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-1] [INFO] [1668913875.787907758] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-1] [INFO] [1668913877.803183043] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-2] [INFO] [1668913877.803195393] [spawner_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-1] [INFO] [1668913879.818809059] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-2] [INFO] [1668913879.818823139] [spawner_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-2] [INFO] [1668913881.834547921] [spawner_joint_trajectory_controller]: Waiting for ‘/controller_manager’ node to exist
[spawner-1] [INFO] [1668913881.834615430] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ node to exist
[spawner-1] [ERROR] [1668913883.848099771] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner-2] [ERROR] [1668913883.848169781] [spawner_joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner-1]: process has died [pid 16595, exit code 1, cmd ‘/opt/ros/galactic/lib/controller_manager/spawner joint_state_broadcaster --ros-args’].
[ERROR] [spawner-2]: process has died [pid 16597, exit code 1, cmd ‘/opt/ros/galactic/lib/controller_manager/spawner joint_trajectory_controller --ros-args’].

here is the link for my code - Bitbucket
branch - ros_control_1
directory - final_project/src/ros_control
direct link to code - Bitbucket

could someone help me figure out what is going wrong with my code and provide the solution for my code.
Thankyou in advance.

I didn’t know gazebo_ros2_control is a package that we have to download. now, its working as intended.

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