Could not contact service /controller_manager/load_controller on Foxy, but works of Galactic

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Hi. Sorry for all mistakes, English is not my native language.

So I found on github an open repository in wich one briliant man created ackermann_controller for ros2. This controller only works on Galactic and, as far as I understand, Humble. The problem is that I need it to work of Foxy. I know that Foxy is not supported anymore, but I can't use any other distro right now because most of the migration from ROS1 is already finished and controller is all that left. Project itself is sucsesfully builded on Foxy, but launch files not working. I want to launch one specific launch file, this is it content:

import os

import launch

from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.substitutions import Command, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    beetle_desc_dir = FindPackageShare(package='beetle_description').find('beetle_description')
    beetle_gazebo_dir = FindPackageShare(package='beetle_gazebo').find('beetle_gazebo')
    launch_dir = os.path.join(beetle_gazebo_dir, 'launch')
    default_controller_yaml_file = os.path.join(beetle_gazebo_dir, 'config/ackermann_controller.yaml')
    default_rviz_config_file = os.path.join(beetle_gazebo_dir, 'rviz/default_view.rviz')
    ctu_map_path = os.path.join( beetle_gazebo_dir, 'worlds/ctu_college_of_tech_workshop.world')

    # Create launch configuration variables
    headless = LaunchConfiguration('headless')
    use_sim_time = LaunchConfiguration('use_sim_time')
    use_rviz = LaunchConfiguration('use_rviz')
    params_file = LaunchConfiguration('params_file')
    world_file = LaunchConfiguration('world_file')
    rviz_config_file = LaunchConfiguration('rviz_config_file')
    api_key = LaunchConfiguration('api_key')
    log_level = LaunchConfiguration('log_level')

    robot_description = Command(['xacro ', os.path.join(beetle_desc_dir, 'urdf/beetle.urdf'),
                                ' beetle_controller_yaml_file:=', params_file])
    # default_world_file = Command([ 'xacro ', ctu_map_path, ' api_key:=', api_key])
    default_world_file = Command(['xacro ', os.path.join(beetle_gazebo_dir, 'worlds/empty.world')])

    # Define launch arguments
    headless = LaunchConfiguration('headless')
    declare_headless_cmd = DeclareLaunchArgument(
        'headless', default_value='True',
        description='Whether to start gzclient')
    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='True',
        description='Use simulation (Gazebo) clock if true')
    declare_use_rviz_cmd = DeclareLaunchArgument(
        'use_rviz', default_value='False',
        description='Start with RViz if true')
    declare_params_file_cmd = DeclareLaunchArgument(
        name='params_file', default_value=default_controller_yaml_file,
        description='Absolute path to controller yaml config file')
    declare_world_file_cmd = DeclareLaunchArgument(
        name='world_file', default_value=default_world_file,
        description='Absolute path to world file to launch with Gazebo')
    declare_rviz_config_file_cmd = DeclareLaunchArgument(
        name='rviz_config_file', default_value=default_rviz_config_file,
        description='Absolute path to rviz config file')
    declare_api_key_cmd = DeclareLaunchArgument(
        name='api_key', default_value='',
        description='Google API key to download map')
    declare_log_level_cmd = DeclareLaunchArgument(
        'log_level', default_value='info',
        description='log level')
    # pose = {'x': LaunchConfiguration('x_pose', default='-12.00'),
    #         'y': LaunchConfiguration('y_pose', default='10.00'),
    #         'z': LaunchConfiguration('z_pose', default='0.70'),
    #         'R': LaunchConfiguration('roll', default='0.00'),
    #         'P': LaunchConfiguration('pitch', default='0.00'),
    #         'Y': LaunchConfiguration('yaw', default='0.00')}
    pose = {'x': LaunchConfiguration('x_pose', default='0.00'),
            'y': LaunchConfiguration('y_pose', default='0.00'),
            'z': LaunchConfiguration('z_pose', default='0.70'),
            'R': LaunchConfiguration('roll', default='0.00'),
            'P': LaunchConfiguration('pitch', default='0.00'),
            'Y': LaunchConfiguration('yaw', default='0.00')}

    # Define actions
    start_gazebo_server = ExecuteProcess(
        cmd=['gzserver', '--verbose', '-s', 'libgazebo_ros_init.so',
            '-s', 'libgazebo_ros_factory.so', world_file],
        cwd=[launch_dir], output='screen')
    start_gazebo_client = ExecuteProcess(
        condition=UnlessCondition(headless),
        cmd=['gzclient'],
        cwd=[launch_dir], output='screen')
    start_gazebo_spawner = Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=['-entity', 'beetle',
                '-topic', 'robot_description',
                '-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
                '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']],
        output='screen')
    start_joint_state_publisher = Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        name='joint_state_publisher',
        parameters=[{'use_sim_time': use_sim_time}])
    start_robot_state_publisher = Node(
        package='robot_state_publisher ...