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Hello! That's quite strange. What I would suggest you is that you rename everything to controller.py. I mean, rename the file to controller.py, and in the launch file, change also the type to type="controller.py". If you do this, and the file has execution permissions, it has to work OK. I've created a short video trying to reproduce your case, you can have a look here: https://www.youtube.com/watch?v=0WvJj_kOMoM. Hope it helps!