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Hello,

From your code I can understand that, you have not called controller_manager service. You need to add controller manager node in your launch file..

Node(
                package="controller_manager",
                executable="ros2_control_node",
                parameters=[robot_description, controller_file],  # URDF file and controller file
                output="screen",
            )

Hello,

From your code I can understand that, you have not called controller_manager service. You need to add controller manager node in your launch file..

Node(
                package="controller_manager",
                executable="ros2_control_node",
                parameters=[robot_description, controller_file],  # URDF file and controller yaml file
                output="screen",
            )