Error with the Controller manager

edit

Edit: @danzimmerman i updated my code. Thanks for mentioning the typo in https://answers.ros.org/question/4157... :) i literary missed it every time i read my code.

Unfortunetly this didnt solve the issue:

I updated my config.yaml and got rid of the gripper_cont since i don't really need it:

I got the following output in my terminal:

ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch gripper gripper_controller_gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-05-27-08-43-42-615190-ubuntu-3461
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [3470]
[INFO] [gzserver-2]: process started with pid [3472]
[INFO] [gzclient-3]: process started with pid [3474]
[INFO] [spawn_entity.py-4]: process started with pid [3476]
[INFO] [spawner-5]: process started with pid [3478]
[INFO] [spawner-6]: process started with pid [3480]
[INFO] [spawner-7]: process started with pid [3482]
[robot_state_publisher-1] [INFO] [1685169827.349544493] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1685169827.349730990] [robot_state_publisher]: got segment connector_link
[robot_state_publisher-1] [INFO] [1685169827.349759410] [robot_state_publisher]: got segment driver_link
[robot_state_publisher-1] [INFO] [1685169827.349781613] [robot_state_publisher]: got segment finger1_link
[robot_state_publisher-1] [INFO] [1685169827.349799212] [robot_state_publisher]: got segment finger2_link
[spawn_entity.py-4] [INFO] [1685169830.727255726] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1685169830.727972364] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4]   warnings.warn(
[spawn_entity.py-4] [INFO] [1685169830.817836743] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1685169831.855498863] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1685169831.856419237] [spawn_entity]: Waiting for service /spawn_entity
[spawner-6] [INFO] [1685169832.161125669] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685169832.166090505] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685169832.169933025] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685169834.199456874] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685169834.201106433] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1685169834.201461619] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-4] [INFO] [1685169835.930446415] [spawn_entity]: Calling service /spawn_entity
[spawner-6] [INFO] [1685169836.229827286] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1685169836.232396027] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685169836.233710320] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-4] [INFO] [1685169836.309265487] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [gripper]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3476]
[gzserver-2] [INFO] [1685169836.947884642] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1685169836.954752098] [gripper.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /gripper
[gzserver-2] [INFO] [1685169836.955309496] [gripper.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1685169836.955426101] [gripper.gazebo_ros2_control]: Loading parameter files /home/ubuntu/Schreibtisch/ros2_ws/install/gripper/share/gripper/config/config.yaml
[gzserver-2] [ERROR] [1685169837.477446313] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-2] [ERROR] [1685169837.977926120] [gripper.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[spawner-7] [INFO] [1685169838.264927333] [joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1685169838.266127958] [joint_state_braodcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1685169838.266565068] [spawner_joint_trajectory_controller ...