ROS2 上的机械臂控制器启动文件（controller_manager 问题）

Question

我可以在 gazebo 上看到我的机器人，但是当启动文件启动时我收到一个错误，如下所示关于 controller_manager。我该如何解决？我已经安装了这些包；

• joint_state_broadcaster
• 联合状态控制器
• joint_trajectory_controller

是关于ROS2版本还是现在不支持启动文件类型？

凉亭上的屏幕截图：https://i.ibb.co/vQmgL6m/Screenshot-from-2023-02-23-13-12-59.png

错误：

[spawn_entity.py-2] [INFO] [1677146674.436718834] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-2] [INFO] [1677146674.546574796] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [robotic_arm]
[spawn_entity.py-2] [INFO] [1677146674.546986992] [spawn_entity]: Waiting for shutdown to delete entity [robotic_arm]
[spawner.py-5] [INFO] [1677146675.487867687] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1677146675.520714798] [spawner_joint_trajectory_controller]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1677146677.503342629] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1677146677.535238788] [spawner_joint_trajectory_controller]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1677146679.521864875] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1677146679.554316012] [spawner_joint_trajectory_controller]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1677146681.537992430] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1677146681.572181275] [spawner_joint_trajectory_controller]: Waiting for /controller_manager services
[spawner.py-5] [ERROR] [1677146683.557500368] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner.py-6] [ERROR] [1677146683.591099846] [spawner_joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner.py-5]: process has died [pid 18233, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner.py-6]: process has died [pid 18235, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_trajectory_controller -c /controller_manager --ros-args'].

我的启动文件：

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from scripts import GazeboRosPaths

def generate_launch_description():
    package_share_dir = get_package_share_directory("robotic_arm")
    urdf_file = os.path.join(package_share_dir, "urdf", "robotic_arm.urdf")
    
    controller_file = os.path.join(package_share_dir, "config", "jtc.yaml")
    robot_description = {"robot_description": urdf_file}
    return LaunchDescription(
        [
            ExecuteProcess(
                cmd=["gazebo","-s","libgazebo_ros_factory.so",],
                output="screen",
            ),
            Node(
                package="gazebo_ros",
                executable="spawn_entity.py",
                arguments=["-entity","robotic_arm","-b","-file", urdf_file,],
            ),
            Node(
                package="robot_state_publisher",
                executable="robot_state_publisher",
                output="screen",
                arguments=[urdf_file],
            ),
            
            Node(
                package="controller_manager",
                executable="ros2_control_node",
                parameters=[robot_description, controller_file],
                output={
                    "stdout": "screen",
                    "stderr": "screen",
                },
            ),
            Node(
            package="controller_manager",
            executable="spawner.py",
            arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
                ),

            Node(
                package="controller_manager",
                executable="spawner.py",
                arguments=["joint_trajectory_controller", "-c", "/controller_manager"],
            )
        ]
    )