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First of all, your configuration looks correct, and the launch file is also.

Generally, controllers do not initialize hardware interfaces not they can instantiate it. Hardware is (at current Foxy version) instantiated automatically when controller manager is started. This can be tested by commenting out spawners.

Spawning of controllers is happening independently from hardware. Corresponding interfaces of the controller and hardware must exist and match.

The issue could be that you are “instantiating” ros2_control-macro in URDF twice. Can you check this?