Again but not the same with the Controller Spawner couldn't find the expected controller_manager ROS interface.

edit

When I configured parameter of the ros_canopen,I met the problem that [WARN] [1597750172.175097]: Controller Spawner couldn't find the expected controller_manager ROS interface.

And I also find some method to solve the problem like sudo apt-get install ros-kinetic-ros-control sudo apt-get install ros-kinetic-ros-controllers and the controller manager's namespace should be the same with the control.yaml's namespace.

roslaunch joint_y.launch 
... logging to /home/cmh/.ros/log/8c962218-e14d-11ea-9539-000c297acd24/roslaunch-cmh-virtual-machine-12471.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cmh-virtual-machine:44207/

SUMMARY
========

CLEAR PARAMETERS
 * /joint_y/driver/

PARAMETERS
 * /joint_y/action_name: /can/joint_y/join...
 * /joint_y/default_vel: 0.3
 * /joint_y/down: [[3.14]]
 * /joint_y/driver/bus/device: can0
 * /joint_y/driver/defaults/dcf_overlay/1402sub0: 2
 * /joint_y/driver/defaults/dcf_overlay/1402sub2: 1
 * /joint_y/driver/defaults/dcf_overlay/1602sub1: 0x60420010
 * /joint_y/driver/defaults/dcf_overlay/3202: 65
 * /joint_y/driver/defaults/dcf_overlay/6042: 0x00C8
 * /joint_y/driver/defaults/eds_file: cfg/CL4-E-2-12.eds
 * /joint_y/driver/defaults/eds_pkg: myrobot
 * /joint_y/driver/defaults/motor_allocator: canopen::Motor402...
 * /joint_y/driver/defaults/motor_layer/monitor_mode: True
 * /joint_y/driver/defaults/motor_layer/switching_state: 5
 * /joint_y/driver/defaults/publish: ['6044!']
 * /joint_y/driver/joint_limits/joint_y/has_acceleration_limits: True
 * /joint_y/driver/joint_limits/joint_y/has_effort_limits: True
 * /joint_y/driver/joint_limits/joint_y/has_jerk_limits: True
 * /joint_y/driver/joint_limits/joint_y/has_position_limits: True
 * /joint_y/driver/joint_limits/joint_y/has_velocity_limits: True
 * /joint_y/driver/joint_limits/joint_y/max_acceleration: 10.0
 * /joint_y/driver/joint_limits/joint_y/max_effort: 100.0
 * /joint_y/driver/joint_limits/joint_y/max_jerk: 200.0
 * /joint_y/driver/joint_limits/joint_y/max_position: 10000.0
 * /joint_y/driver/joint_limits/joint_y/max_velocity: 500.0
 * /joint_y/driver/joint_limits/joint_y/min_position: -10000.0
 * /joint_y/driver/nodes/joint_y/id: 4
 * /joint_y/driver/sync/interval_ms: 10
 * /joint_y/driver/sync/overflow: 0
 * /joint_y/home: [[0.0]]
 * /joint_y/joint_names: ['joint_y']
 * /joint_y/joint_state_controller/joint: ['joint_y']
 * /joint_y/joint_state_controller/publish_rate: 50
 * /joint_y/joint_state_controller/type: joint_state_contr...
 * /joint_y/joint_velocity_controller/joint: joint_y
 * /joint_y/joint_velocity_controller/required_drive_mode: 3
 * /joint_y/joint_velocity_controller/type: velocity_controll...
 * /joint_y/left: [[1.5708]]
 * /joint_y/right: [[-1.5708]]
 * /joint_y/robot_description: <?xml version="1....
 * /joint_y/robot_state_publisher/publish_frequency: 50.0
 * /joint_y/robot_state_publisher/tf_prefix: 
 * /joint_y/roundtrip: ['down', 'left', ...
 * /joint_y/service_ns: /can/joint_y/driver
 * /joint_y/ticktack: ['left', 'right',...
 * /joint_y/up: [[0.0]]
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /joint_y/
    controller_spawner (controller_manager/spawner)
    driver (canopen_motor_node/canopen_motor_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [12484]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8c962218-e14d-11ea-9539-000c297acd24
process[rosout-1]: started with pid [12497]
started core service [/rosout]
process[joint_y/driver-2]: started with pid [12502]
process[joint_y/controller_spawner-3]: started with pid [12516]
process[joint_y/robot_state_publisher-4]: started with pid [12517]
[ INFO] [1597753378.744235697]: Using fixed control period: 0.010000000
[INFO] [1597753378.851011]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1597753409.012067]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[joint_y/controller_spawner-3] process has finished cleanly
log file: /home/cmh/.ros/log/8c962218-e14d-11ea-9539-000c297acd24/joint_y-controller_spawner-3*.log
^C[joint_y/robot_state_publisher-4] killing on exit
[joint_y/driver-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Although I have tried all of these methods , it still shows ... (more)