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The problem was that we tried to include a modular ros2_control xacro for the gripper, like this from the gripper xacro:

<!-- ros2 control include -->
<xacro:include filename="$(find my_robot_description)/grippers/robotiq_2f_85/urdf/robotiq_my_robot.ros2_control.xacro" />
<xacro:robotiq_my_robot_ros2_control
name="MyRobotGripperInterfaceHardware" prefix="${prefix}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
tf_prefix=""
robot_ip="${robot_ip}" />

The second ros2_control xacro spawned a second copy of the hardware_interface.

So it seems like there can only be one inclusion of ros2_control xacro "stuff".