Controller manager

[Femi1984]

Any idea what can be causing the Controller manager to hang?

femi@ubuntu:/ar4_ws$ ros2 launch annin_ar4_driver driver.launch.py calibrate:=True serial_port:=/dev/ttyACM1
[INFO] [launch]: All log files can be found below /home/femi/.ros/log/2025-08-19-16-00-03-313385-ubuntu-8640
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [8642]
[INFO] [spawner-2]: process started with pid [8644]
[INFO] [spawner-3]: process started with pid [8646]
[INFO] [robot_state_publisher-4]: process started with pid [8648]
[INFO] [spawner-5]: process started with pid [8650]
[ros2_control_node-1] [INFO] [1755637203.943059979] [controller_manager]: Subscribing to '/robot_description' topic for robot description file.
[ros2_control_node-1] [INFO] [1755637203.946151590] [controller_manager]: update rate is 60 Hz
[ros2_control_node-1] [INFO] [1755637203.948757878] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1755637203.949827079] [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.
[robot_state_publisher-4] [INFO] [1755637203.952504372] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1755637203.952775656] [robot_state_publisher]: got segment dummy_mimic_fix
[robot_state_publisher-4] [INFO] [1755637203.952798887] [robot_state_publisher]: got segment ee_link
[robot_state_publisher-4] [INFO] [1755637203.952809767] [robot_state_publisher]: got segment gripper_base_link
[robot_state_publisher-4] [INFO] [1755637203.952817959] [robot_state_publisher]: got segment gripper_jaw1_link
[robot_state_publisher-4] [INFO] [1755637203.952825062] [robot_state_publisher]: got segment gripper_jaw2_link
[robot_state_publisher-4] [INFO] [1755637203.952831974] [robot_state_publisher]: got segment link_1
[robot_state_publisher-4] [INFO] [1755637203.952839334] [robot_state_publisher]: got segment link_2
[robot_state_publisher-4] [INFO] [1755637203.952845861] [robot_state_publisher]: got segment link_3
[robot_state_publisher-4] [INFO] [1755637203.952852837] [robot_state_publisher]: got segment link_4
[robot_state_publisher-4] [INFO] [1755637203.952859717] [robot_state_publisher]: got segment link_5
[robot_state_publisher-4] [INFO] [1755637203.952866308] [robot_state_publisher]: got segment link_6
[robot_state_publisher-4] [INFO] [1755637203.952873284] [robot_state_publisher]: got segment world
[ros2_control_node-1] [INFO] [1755637204.110176204] [controller_manager]: Received robot description file.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1755637204.110698358] [resource_manager]: Loading hardware 'mk3'
[ros2_control_node-1] [INFO] [1755637204.113087503] [resource_manager]: Initialize hardware 'mk3'
[ros2_control_node-1] [INFO] [1755637204.113151948] [annin_ar4_driver]: Initializing hardware interface...
[ros2_control_node-1] [INFO] [1755637204.114389559] [teensy_driver]: Successfully connected to serial port /dev/ttyACM1
[ros2_control_node-1] [INFO] [1755637204.114447252] [teensy_driver]: Waiting for response from Teensy on port /dev/ttyACM1
[spawner-2] [INFO] [1755637204.502356407] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [INFO] [1755637204.527241159] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1755637204.584565251] [spawner_gripper_controller]: waiting for service /controller_manager/list_controllers to become available...

[ycheng517]

@Femi1984 from this it appears that the firmware may not be responding. Have you uploaded the right firmware to the Teensy?

[Femi1984]

Yes, I figured that part out. Now... when I ran the "ros2 launch annin_ar4_driver driver.launch.py calibrate:=True serial_port:=/dev/ttyACM1 include_gripper:=False", it shorted my teensy 4.1 board. The board doesn't work anymore. The 3.3V regulator is fried. I tried another board same result.

[Femi1984]

[INFO] [launch]: All log files can be found below /home/femi/.ros/log/2025-08-27-16-12-07-792567-ubuntu-4468
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [4470]
[INFO] [spawner-2]: process started with pid [4472]
[INFO] [robot_state_publisher-3]: process started with pid [4474]
[INFO] [spawner-4]: process started with pid [4476]
[robot_state_publisher-3] [INFO] [1756329128.363402929] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1756329128.363652977] [robot_state_publisher]: got segment ee_link
[robot_state_publisher-3] [INFO] [1756329128.363676785] [robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1756329128.363688561] [robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1756329128.363696817] [robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1756329128.363704689] [robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1756329128.363712049] [robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1756329128.363719121] [robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1756329128.363726449] [robot_state_publisher]: got segment world
[ros2_control_node-1] [INFO] [1756329128.382463503] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-1] [INFO] [1756329128.384679762] [controller_manager]: update rate is 60 Hz
[ros2_control_node-1] [INFO] [1756329128.384745522] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1756329128.385016339] [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-1] [INFO] [1756329128.505056207] [controller_manager]: Received robot description file.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1756329128.505538896] [resource_manager]: Loading hardware 'mk3'
[ros2_control_node-1] [INFO] [1756329128.508390389] [resource_manager]: Initialize hardware 'mk3'
[ros2_control_node-1] [INFO] [1756329128.508454549] [annin_ar4_driver]: Initializing hardware interface...
[ros2_control_node-1] [INFO] [1756329128.510323256] [teensy_driver]: Successfully connected to serial port /dev/ttyACM1
[ros2_control_node-1] [INFO] [1756329128.510380376] [teensy_driver]: Waiting for response from Teensy on port /dev/ttyACM1
[spawner-4] [INFO] [1756329128.895241396] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [INFO] [1756329128.904460579] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [INFO] [1756329129.511099291] [teensy_driver]: Successfully initialised driver on port /dev/ttyACM1
[ros2_control_node-1] [INFO] [1756329129.511319323] [annin_ar4_driver]: Running joint calibration...
[ros2_control_node-1] [INFO] [1756329129.511354459] [teensy_driver]: Sending calibration command: JC0012345
[ros2_control_node-1]
[ros2_control_node-1] [ERROR] [1756329142.815833768] [controller_manager]: The published robot description file (urdf) seems not to be genuine. The following error was caught:read: End of file
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-3] [INFO] [1756329163.101956167] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] [INFO] [1756329163.101955591] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 4474]
[INFO] [ros2_control_node-1]: process has finished cleanly [pid 4470]
[INFO] [spawner-2]: process has finished cleanly [pid 4472]

[ycheng517]

@Femi1984 this seems to be an issue with the content of the URDF, ensure your locale is set to UTF-8. You can also echo the robot description content to see what's wrong. You'll have to Google both to get detailed steps.

[Femi1984]

femi@ubuntu:/ar4n_ws$ ros2 launch annin_ar4_driver driver.launch.py calibrate:=True serial_port:=/dev/ttyACM1
[INFO] [launch]: All log files can be found below /home/femi/.ros/log/2025-09-18-16-28-37-720098-ubuntu-9014
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [9016]
[INFO] [spawner-2]: process started with pid [9018]
[INFO] [spawner-3]: process started with pid [9020]
[INFO] [robot_state_publisher-4]: process started with pid [9022]
[INFO] [spawner-5]: process started with pid [9024]
[ros2_control_node-1] [INFO] [1758230918.305504414] [controller_manager]: Subscribing to '/robot_description' topic for robot description file.
[ros2_control_node-1] [INFO] [1758230918.310086530] [controller_manager]: update rate is 60 Hz
[ros2_control_node-1] [INFO] [1758230918.310177699] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1758230918.310960969] [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.
[robot_state_publisher-4] [INFO] [1758230918.320916792] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1758230918.321266075] [robot_state_publisher]: got segment dummy_mimic_fix
[robot_state_publisher-4] [INFO] [1758230918.321335355] [robot_state_publisher]: got segment ee_link
[robot_state_publisher-4] [INFO] [1758230918.321348795] [robot_state_publisher]: got segment gripper_base_link
[robot_state_publisher-4] [INFO] [1758230918.321357371] [robot_state_publisher]: got segment gripper_jaw1_link
[robot_state_publisher-4] [INFO] [1758230918.321395420] [robot_state_publisher]: got segment gripper_jaw2_link
[robot_state_publisher-4] [INFO] [1758230918.321403964] [robot_state_publisher]: got segment link_1
[robot_state_publisher-4] [INFO] [1758230918.321411452] [robot_state_publisher]: got segment link_2
[robot_state_publisher-4] [INFO] [1758230918.321418556] [robot_state_publisher]: got segment link_3
[robot_state_publisher-4] [INFO] [1758230918.321425500] [robot_state_publisher]: got segment link_4
[robot_state_publisher-4] [INFO] [1758230918.321432316] [robot_state_publisher]: got segment link_5
[robot_state_publisher-4] [INFO] [1758230918.321438972] [robot_state_publisher]: got segment link_6
[robot_state_publisher-4] [INFO] [1758230918.321446108] [robot_state_publisher]: got segment world
[ros2_control_node-1] [INFO] [1758230918.322099905] [controller_manager]: Received robot description file.
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] text not specified in the tf_prefix tag
[ros2_control_node-1] [INFO] [1758230918.322731046] [resource_manager]: Loading hardware 'mk3'
[ros2_control_node-1] [INFO] [1758230918.327256202] [resource_manager]: Initialize hardware 'mk3'
[ros2_control_node-1] [INFO] [1758230918.327399275] [annin_ar4_driver]: Initializing hardware interface...
[ros2_control_node-1] [WARN] [1758230918.328258130] [teensy_driver]: Failed to connect to serial port /dev/ttyACM1
[ros2_control_node-1] [INFO] [1758230918.328295922] [resource_manager]: Failed to initialize hardware 'mk3'
[ros2_control_node-1] [WARN] [1758230918.328306258] [resource_manager]: System hardware component 'mk3' from plugin 'annin_ar4_driver/ARHardwareInterface' failed to initialize.
[ros2_control_node-1] [INFO] [1758230918.328315698] [resource_manager]: Loading hardware 'ar_servo_gripper'
[ros2_control_node-1] [INFO] [1758230918.328569556] [resource_manager]: Initialize hardware 'ar_servo_gripper'
[ros2_control_node-1] [INFO] [1758230918.328610325] [ar_servo_gripper_hw_interface]: Initializing hardware interface...
[ros2_control_node-1] [INFO] [1758230918.328734614] [ar_servo_gripper_hw_interface]: Loaded closed_servo_angle: 0
[ros2_control_node-1] [INFO] [1758230918.328776438] [ar_servo_gripper_hw_interface]: Loaded open_servo_angle: 35
[ros2_control_node-1] [INFO] [1758230918.340430450] [arduino_nano_driver]: Successfully connected to serial port /dev/ttyUSB0
[ros2_control_node-1] [INFO] [1758230918.340494003] [arduino_nano_driver]: Waiting for response from Arduino Nano on port /dev/ttyUSB0
[spawner-3] [INFO] [1758230918.907513299] [spawner_gripper_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [INFO] [1758230918.921273728] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-5] [INFO] [1758230918.945842178] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [INFO] [1758230920.350132477] [arduino_nano_driver]: Successfully initialised driver on port /dev/ttyUSB0
[ros2_control_node-1] [INFO] [1758230920.350250622] [resource_manager]: Successful initialization of hardware 'ar_servo_gripper'
[ros2_control_node-1] [ERROR] [1758230920.351007556] [controller_manager]: The published robot description file (urdf) seems not to be genuine. The following error was caught:Wrong state or command interface configuration.
[ros2_control_node-1] missing state interfaces:
[ros2_control_node-1] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[ros2_control_node-1] missing command interfaces:
[ros2_control_node-1] ' joint_1/position ' ' joint_1/velocity ' ' joint_2/position ' ' joint_2/velocity ' ' joint_3/position ' ' joint_3/velocity ' ' joint_4/position ' ' joint_4/velocity ' ' joint_5/position ' ' joint_5/velocity ' ' joint_6/position ' ' joint_6/velocity '
[spawner-3] [FATAL] [1758231039.117024728] [spawner_gripper_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [FATAL] [1758231039.127591853] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [FATAL] [1758231039.149502237] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[ERROR] [spawner-3]: process has died [pid 9020, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner gripper_controller -c /controller_manager --controller-manager-timeout 120 --ros-args'].
[ERROR] [spawner-2]: process has died [pid 9018, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --controller-manager-timeout 120 --ros-args'].
[ERROR] [spawner-5]: process has died [pid 9024, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c /controller_manager --controller-manager-timeout 120 --ros-args'].

[Femi1984]

Reinstalled the package, still getting the same error. Any idea what could be wrong?

[ycheng517]

@Femi1984 it looks like you're using humble, but this package doesn't work with humble (as evident by your error). Please try Jazzy instead.

[Femi1984]

The reason for your using your humble package is because I'm using a jetson orin agx, ubuntu 22.04. I'm not sure if the jazzy package will work, unless you know other wise

[ycheng517]

@Femi1984 sorry I forgot I have been supporting humble with this branch: https://github.com/ycheng517/ar4_ros_driver/tree/humble . Is this the code that you're on?