Humble NetFt Driver Failing

[dhanushTDS]

Ubuntu 22
ROS2 Humble + Humble Branch of your repo
ATI AXIA-80

Facing the following error, any input would be greatly appreciated :

dhanush@dhanush-XPS-8930:~/dhanush_ati_test_ws$ ros2 launch net_ft_driver net_ft_broadcaster.launch.py ip_address:=192.168.10.100
[INFO] [launch]: All log files can be found below /home/dhanush/.ros/log/2024-04-25-23-15-17-667340-dhanush-XPS-8930-32603
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [32606]
[INFO] [robot_state_publisher-2]: process started with pid [32608]
[INFO] [spawner-3]: process started with pid [32610]
[INFO] [spawner-4]: process started with pid [32612]
[robot_state_publisher-2] [INFO] [1714112117.987804291] [robot_state_publisher]: got segment fts_link
[robot_state_publisher-2] [INFO] [1714112117.987891029] [robot_state_publisher]: got segment tool_mount_link
[robot_state_publisher-2] [INFO] [1714112117.987899771] [robot_state_publisher]: got segment world
[ros2_control_node-1] [WARN] [1714112117.991996897] [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-1] [INFO] [1714112117.992164401] [resource_manager]: Loading hardware 'NetFtHardwareInterface' 
[ros2_control_node-1] [INFO] [1714112117.993862882] [resource_manager]: Initialize hardware 'NetFtHardwareInterface' 
[ros2_control_node-1] [INFO] [1714112118.430865187] [NetFtHardwareInerface]: Initialize connection with F/T Sensor
[ros2_control_node-1] [INFO] [1714112118.430951586] [resource_manager]: Successful initialization of hardware 'NetFtHardwareInterface'
[ros2_control_node-1] [INFO] [1714112118.431281183] [resource_manager]: 'configure' hardware 'NetFtHardwareInterface' 
[ros2_control_node-1] [INFO] [1714112118.431315415] [resource_manager]: Successful 'configure' of hardware 'NetFtHardwareInterface'
[ros2_control_node-1] [INFO] [1714112118.431338525] [resource_manager]: 'activate' hardware 'NetFtHardwareInterface' 
[spawner-4] [INFO] [1714112120.248903224] [spawner_net_ft_diagnostic_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-3] [INFO] [1714112120.287164594] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-4] [INFO] [1714112122.270314684] [spawner_net_ft_diagnostic_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-3] [INFO] [1714112122.307508499] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-4] [INFO] [1714112124.292593363] [spawner_net_ft_diagnostic_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-3] [INFO] [1714112124.330199619] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-4] [INFO] [1714112126.314944851] [spawner_net_ft_diagnostic_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-3] [INFO] [1714112126.353106427] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-4] [ERROR] [1714112128.335541461] [spawner_net_ft_diagnostic_broadcaster]: Controller manager not available
[spawner-3] [ERROR] [1714112128.374917737] [spawner_force_torque_sensor_broadcaster]: Controller manager not available
[ERROR] [spawner-4]: process has died [pid 32612, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner net_ft_diagnostic_broadcaster -c /controller_manager --ros-args'].
[ERROR] [spawner-3]: process has died [pid 32610, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager /controller_manager --ros-args'].

dhanush@dhanush-XPS-8930:~/dhanush_ati_test_ws$ ros2 wtf
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 124: UserWarning: Cannot find the latest versions of packages:  net_ft_driver net_ft_diagnostic_broadcaster net_ft_description
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 45: UserWarning: Subscriber without publisher detected on /joint_states.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /robot_description.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /tf.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /tf_static.

[zachkeane]

I also ran into this issue. We had multiple computers in our lab and it turned out to be that I hadn't changed the network ID on a docker instance, so the controller manager was already in use and this was creating conflict with this driver. If you change your network ID and rebuild, or change the namespace of your controller manager, you should start running fine again.