turtlebot3_manipulation
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Published
20 hours ago •
ROBOTIS-GIT
ROBOTIS-GIT
Issue with ros2 launch turtlebot3_manipulation_bringup hardware.launch.py
Hello, I'm currently working with the Turtlebot3 in combination with the OpenMANIPULATOR-X and ROS2 foxy. I installed as per the e-manual. However, when I try to do ros2 launch, it doesn't work. I think it might be the ROS2 control manager. does anyone have a solution?
ubuntu@ubuntu:~/turtlebot3_ws$ ros2 launch turtlebot3_manipulation_bringup hardware.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-02-16-13-43-06-199808-ubuntu-11712
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
Node(
/opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
Node(
[INFO] [robot_state_publisher-1]: process started with pid [11716]
[INFO] [ros2_control_node-2]: process started with pid [11718]
[INFO] [spawner.py-3]: process started with pid [11720]
[INFO] [spawner.py-4]: process started with pid [11722]
[INFO] [spawner.py-5]: process started with pid [11724]
[INFO] [spawner.py-6]: process started with pid [11727]
[INFO] [spawner.py-7]: process started with pid [11736]
[INFO] [hlds_laser_publisher-8]: process started with pid [11746]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 8 children
[robot_state_publisher-1] Link link1 had 1 children
[robot_state_publisher-1] Link link2 had 1 children
[robot_state_publisher-1] Link link3 had 1 children
[robot_state_publisher-1] Link link4 had 1 children
[robot_state_publisher-1] Link link5 had 3 children
[robot_state_publisher-1] Link end_effector_link had 0 children
[robot_state_publisher-1] Link gripper_left_link had 0 children
[robot_state_publisher-1] Link gripper_right_link had 0 children
[robot_state_publisher-1] Link camera_link had 1 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] [INFO] [1676554987.994990553] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1676554987.995765581] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1676554987.995904904] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1676554987.995944906] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1676554987.995973427] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1676554987.996002354] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1676554987.996032671] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1676554987.996063395] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1676554987.996092526] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-1] [INFO] [1676554987.996120343] [robot_state_publisher]: got segment gripper_left_link
[robot_state_publisher-1] [INFO] [1676554987.996263222] [robot_state_publisher]: got segment gripper_right_link
[robot_state_publisher-1] [INFO] [1676554987.996312243] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1676554987.996344745] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1676554987.996372876] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1676554987.996399952] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1676554987.996426509] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1676554987.996453307] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1676554987.996480179] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1676554987.996507810] [robot_state_publisher]: got segment wheel_right_link
[ros2_control_node-2] [INFO] [1676554988.182059694] [turtlebot3_manipulation]: Succeeded to open port
[ros2_control_node-2] [INFO] [1676554988.187762498] [turtlebot3_manipulation]: Succeeded to set baudrate
[ros2_control_node-2] [INFO] [1676554988.188493726] [turtlebot3_manipulation]: OpenCR Model Number 20480
[ros2_control_node-2] [INFO] [1676554988.191427217] [turtlebot3_manipulation]: Connected manipulator
[ros2_control_node-2] [INFO] [1676554988.205440832] [turtlebot3_manipulation]: Connected wheels
[ros2_control_node-2] [INFO] [1676554988.206352534] [turtlebot3_manipulation]: Ready for start
[ros2_control_node-2] [INFO] [1676554988.207437414] [turtlebot3_manipulation]: Wait for IMU re-calibration
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[hlds_laser_publisher-8] [INFO] [1676554988.250272548] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main
[hlds_laser_publisher-8] [INFO] [1676554988.250893844] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan
[spawner.py-6] [INFO] [1676554989.870867463] [spawner_arm_controller]: Waiting for /controller_manager services
[spawner.py-4] Traceback (most recent call last):
[spawner.py-4] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
[spawner.py-4] return importlib.import_module(module_name, package=pkg_name)
[spawner.py-4] File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
[spawner.py-4] return _bootstrap._gcd_import(name[level:], package, level)
[spawner.py-4] File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
[spawner.py-4] File "<frozen importlib._bootstrap>", line 991, in _find_and_load
[spawner.py-4] File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
[spawner.py-4] File "<frozen importlib._bootstrap>", line 657, in _load_unlocked
[spawner.py-4] File "<frozen importlib._bootstrap>", line 556, in module_from_spec
[spawner.py-4] File "<frozen importlib._bootstrap_external>", line 1166, in create_module
[spawner.py-4] File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
[spawner.py-4] ImportError: /opt/ros/foxy/lib/libcontroller_manager_msgs__rosidl_generator_c.so: undefined symbol: builtin_interfaces__msg__Duration__are_equal
[spawner.py-4]
[spawner.py-4] During handling of the above exception, another exception occurred:
[spawner.py-4]
[spawner.py-4] Traceback (most recent call last):
[spawner.py-4] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module>
[spawner.py-4] sys.exit(main())
[spawner.py-4] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main
[spawner.py-4] if is_controller_loaded(node, controller_manager_name, controller_name):
[spawner.py-4] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded
[spawner.py-4] controllers = list_controllers(node, controller_manager).controller
[spawner.py-4] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers
[spawner.py-4] return service_caller(node, f'{controller_manager_name}/list_controllers',
[spawner.py-4] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 23, in service_caller
[spawner.py-4] cli = node.create_client(service_type, service_name)
[spawner.py-4] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1248, in create_client
[spawner.py-4] check_for_type_support(srv_type)
[spawner.py-4] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
[spawner.py-4] msg_type.__class__.__import_type_support__()
[spawner.py-4] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager_msgs/srv/_list_controllers.py", line 250, in __import_type_support__
[spawner.py-4] module = import_type_support('controller_manager_msgs')
[spawner.py-4] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
[spawner.py-4] raise UnsupportedTypeSupport(pkg_name)
[spawner.py-4] rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'controller_manager_msgs'
[spawner.py-3] Traceback (most recent call last):
[spawner.py-3] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
[spawner.py-3] return importlib.import_module(module_name, package=pkg_name)
[spawner.py-3] File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
[spawner.py-3] return _bootstrap._gcd_import(name[level:], package, level)
[spawner.py-3] File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
[spawner.py-3] File "<frozen importlib._bootstrap>", line 991, in _find_and_load
[spawner.py-3] File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
[spawner.py-3] File "<frozen importlib._bootstrap>", line 657, in _load_unlocked
[spawner.py-3] File "<frozen importlib._bootstrap>", line 556, in module_from_spec
[spawner.py-3] File "<frozen importlib._bootstrap_external>", line 1166, in create_module
[spawner.py-3] File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
[spawner.py-3] ImportError: /opt/ros/foxy/lib/libcontroller_manager_msgs__rosidl_generator_c.so: undefined symbol: builtin_interfaces__msg__Duration__are_equal
[spawner.py-3]
[spawner.py-3] During handling of the above exception, another exception occurred:
[spawner.py-3]
[spawner.py-3] Traceback (most recent call last):
[spawner.py-3] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module>
[spawner.py-3] sys.exit(main())
[spawner.py-3] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main
[spawner.py-3] if is_controller_loaded(node, controller_manager_name, controller_name):
[spawner.py-3] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded
[spawner.py-3] controllers = list_controllers(node, controller_manager).controller
[spawner.py-3] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers
[spawner.py-3] return service_caller(node, f'{controller_manager_name}/list_controllers',
[spawner.py-3] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 23, in service_caller
[spawner.py-3] cli = node.create_client(service_type, service_name)
[spawner.py-3] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1248, in create_client
[spawner.py-3] check_for_type_support(srv_type)
[spawner.py-3] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
[spawner.py-3] msg_type.__class__.__import_type_support__()
[spawner.py-3] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager_msgs/srv/_list_controllers.py", line 250, in __import_type_support__
[spawner.py-3] module = import_type_support('controller_manager_msgs')
[spawner.py-3] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
[spawner.py-3] raise UnsupportedTypeSupport(pkg_name)
[spawner.py-3] rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'controller_manager_msgs'
[spawner.py-5] Traceback (most recent call last):
[spawner.py-5] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
[spawner.py-5] return importlib.import_module(module_name, package=pkg_name)
[spawner.py-5] File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
[spawner.py-5] return _bootstrap._gcd_import(name[level:], package, level)
[spawner.py-5] File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
[spawner.py-5] File "<frozen importlib._bootstrap>", line 991, in _find_and_load
[spawner.py-5] File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
[spawner.py-5] File "<frozen importlib._bootstrap>", line 657, in _load_unlocked
[spawner.py-5] File "<frozen importlib._bootstrap>", line 556, in module_from_spec
[spawner.py-5] File "<frozen importlib._bootstrap_external>", line 1166, in create_module
[spawner.py-5] File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
[spawner.py-5] ImportError: /opt/ros/foxy/lib/libcontroller_manager_msgs__rosidl_generator_c.so: undefined symbol: builtin_interfaces__msg__Duration__are_equal
[spawner.py-5]
[spawner.py-5] During handling of the above exception, another exception occurred:
[spawner.py-5]
[spawner.py-5] Traceback (most recent call last):
[spawner.py-5] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module>
[spawner.py-5] sys.exit(main())
[spawner.py-5] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main
[spawner.py-5] if is_controller_loaded(node, controller_manager_name, controller_name):
[spawner.py-5] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded
[spawner.py-5] controllers = list_controllers(node, controller_manager).controller
[spawner.py-5] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers
[spawner.py-5] return service_caller(node, f'{controller_manager_name}/list_controllers',
[spawner.py-5] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 23, in service_caller
[spawner.py-5] cli = node.create_client(service_type, service_name)
[spawner.py-5] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1248, in create_client
[spawner.py-5] check_for_type_support(srv_type)
[spawner.py-5] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
[spawner.py-5] msg_type.__class__.__import_type_support__()
[spawner.py-5] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager_msgs/srv/_list_controllers.py", line 250, in __import_type_support__
[spawner.py-5] module = import_type_support('controller_manager_msgs')
[spawner.py-5] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
[spawner.py-5] raise UnsupportedTypeSupport(pkg_name)
[spawner.py-5] rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'controller_manager_msgs'
[spawner.py-7] Traceback (most recent call last):
[spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
[spawner.py-7] return importlib.import_module(module_name, package=pkg_name)
[spawner.py-7] File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
[spawner.py-7] return _bootstrap._gcd_import(name[level:], package, level)
[spawner.py-7] File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
[spawner.py-7] File "<frozen importlib._bootstrap>", line 991, in _find_and_load
[spawner.py-7] File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
[spawner.py-7] File "<frozen importlib._bootstrap>", line 657, in _load_unlocked
[spawner.py-7] File "<frozen importlib._bootstrap>", line 556, in module_from_spec
[spawner.py-7] File "<frozen importlib._bootstrap_external>", line 1166, in create_module
[spawner.py-7] File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
[spawner.py-7] ImportError: /opt/ros/foxy/lib/libcontroller_manager_msgs__rosidl_generator_c.so: undefined symbol: builtin_interfaces__msg__Duration__are_equal
[spawner.py-7]
[spawner.py-7] During handling of the above exception, another exception occurred:
[spawner.py-7]
[spawner.py-7] Traceback (most recent call last):
[spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module>
[spawner.py-7] sys.exit(main())
[spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main
[spawner.py-7] if is_controller_loaded(node, controller_manager_name, controller_name):
[spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded
[spawner.py-7] controllers = list_controllers(node, controller_manager).controller
[spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers
[spawner.py-7] return service_caller(node, f'{controller_manager_name}/list_controllers',
[spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 23, in service_caller
[spawner.py-7] cli = node.create_client(service_type, service_name)
[spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1248, in create_client
[spawner.py-7] check_for_type_support(srv_type)
[spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
[spawner.py-7] msg_type.__class__.__import_type_support__()
[spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager_msgs/srv/_list_controllers.py", line 250, in __import_type_support__
[spawner.py-7] module = import_type_support('controller_manager_msgs')
[spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
[spawner.py-7] raise UnsupportedTypeSupport(pkg_name)
[spawner.py-7] rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'controller_manager_msgs'
[ERROR] [spawner.py-4]: process has died [pid 11722, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py diff_drive_controller --ros-args'].
[ERROR] [spawner.py-5]: process has died [pid 11724, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py imu_broadcaster --ros-args'].
[ERROR] [spawner.py-3]: process has died [pid 11720, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_state_broadcaster --ros-args'].
[ERROR] [spawner.py-7]: process has died [pid 11736, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py gripper_controller --ros-args'].
[ros2_control_node-2] [INFO] [1676554991.242334495] [turtlebot3_manipulation]: Joints and wheels torque ON
[ros2_control_node-2] [INFO] [1676554991.255019905] [turtlebot3_manipulation]: Set profile acceleration and velocity to joints
[ros2_control_node-2] [INFO] [1676554991.293044467] [turtlebot3_manipulation]: Set profile acceleration and velocity to gripper
[ros2_control_node-2] [INFO] [1676554991.318033190] [turtlebot3_manipulation]: Set goal current value to gripper
[ros2_control_node-2] [INFO] [1676554991.337026924] [turtlebot3_manipulation]: System starting
[ros2_control_node-2] [INFO] [1676554991.360502501] [controller_manager]: update rate is 100 Hz
[ros2_control_node-2] [INFO] [1676554991.371834755] [turtlebot3_manipulation]: Start to read wheels and manipulator states
[ros2_control_node-2] [INFO] [1676554991.378533084] [turtlebot3_manipulation]: Start to write wheels and manipulator commands
[spawner.py-6] Traceback (most recent call last):
[spawner.py-6] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
[spawner.py-6] return importlib.import_module(module_name, package=pkg_name)
[spawner.py-6] File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
[spawner.py-6] return _bootstrap._gcd_import(name[level:], package, level)
[spawner.py-6] File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
[spawner.py-6] File "<frozen importlib._bootstrap>", line 991, in _find_and_load
[spawner.py-6] File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
[spawner.py-6] File "<frozen importlib._bootstrap>", line 657, in _load_unlocked
[spawner.py-6] File "<frozen importlib._bootstrap>", line 556, in module_from_spec
[spawner.py-6] File "<frozen importlib._bootstrap_external>", line 1166, in create_module
[spawner.py-6] File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
[spawner.py-6] ImportError: /opt/ros/foxy/lib/libcontroller_manager_msgs__rosidl_generator_c.so: undefined symbol: builtin_interfaces__msg__Duration__are_equal
[spawner.py-6]
[spawner.py-6] During handling of the above exception, another exception occurred:
[spawner.py-6]
[spawner.py-6] Traceback (most recent call last):
[spawner.py-6] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module>
[spawner.py-6] sys.exit(main())
[spawner.py-6] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main
[spawner.py-6] if is_controller_loaded(node, controller_manager_name, controller_name):
[spawner.py-6] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded
[spawner.py-6] controllers = list_controllers(node, controller_manager).controller
[spawner.py-6] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers
[spawner.py-6] return service_caller(node, f'{controller_manager_name}/list_controllers',
[spawner.py-6] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 23, in service_caller
[spawner.py-6] cli = node.create_client(service_type, service_name)
[spawner.py-6] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1248, in create_client
[spawner.py-6] check_for_type_support(srv_type)
[spawner.py-6] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
[spawner.py-6] msg_type.__class__.__import_type_support__()
[spawner.py-6] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager_msgs/srv/_list_controllers.py", line 250, in __import_type_support__
[spawner.py-6] module = import_type_support('controller_manager_msgs')
[spawner.py-6] File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
[spawner.py-6] raise UnsupportedTypeSupport(pkg_name)
[spawner.py-6] rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'controller_manager_msgs'
[ERROR] [spawner.py-6]: process has died [pid 11727, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py arm_controller --ros-args'].
