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Hey,

For those here with the error in manipulator type of setup, it is uncommon, it's due tothe same reason as the above. The launch file is trying to invoke a service that is already present.

[ERROR]: Advertise a service already advertised in this node

For me it was in the URDF where there was a common name in the transmission part. Follow the launched files and look for such name collision.

Regards,

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