Failed to load /cartesian_force_controller/gravity from parameter server and Failed to load /cartesian_compliance_controller/gravity from parameter server on ros1

[shrutichakraborty]

Hi all,
I have already been using the controllers for ros2 humble, and now need to re-do the setup for ros1 noetic with ur10e robot. I get a

Failed to load /cartesian_force_controller/tool from parameter server, Failed to load /cartesian_force_controller/gravity from parameter server and the same for the compliance controller. The motion controller is working fine.

I have followed issue #15 very closely to avoid disturbing the authors unecessarily. The /cartesian_force_controller/ft_sensor_wrench topic is currectly remapped to /wrench and same for the compliance controller. I am able to start the motion controller but not the other controllers. Could anyone tell me where I could be going wrong? Is there a parameter that I misse dout or something that is different between configuring the controllers for ros1 and ros2 that I missed?

Here are the logs :

`

PARAMETERS

• /cartesian_compliance_controller/compliance_ref_link: tool0
• /cartesian_compliance_controller/end_effector_link: tool0
• /cartesian_compliance_controller/ft_sensor_ref_link: tool0
• /cartesian_compliance_controller/joints: ['shoulder_pan_jo...
• /cartesian_compliance_controller/pd_gains/rot_x/p: 1.5
• /cartesian_compliance_controller/pd_gains/rot_y/p: 1.5
• /cartesian_compliance_controller/pd_gains/rot_z/p: 1.5
• /cartesian_compliance_controller/pd_gains/trans_x/p: 0.05
• /cartesian_compliance_controller/pd_gains/trans_y/p: 0.05
• /cartesian_compliance_controller/pd_gains/trans_z/p: 0.05
• /cartesian_compliance_controller/robot_base_link: base_link
• /cartesian_compliance_controller/solver/error_scale: 1.5
• /cartesian_compliance_controller/solver/iterations: 1
• /cartesian_compliance_controller/solver/publish_state_feedback: True
• /cartesian_compliance_controller/stiffness/rot_x: 20
• /cartesian_compliance_controller/stiffness/rot_y: 20
• /cartesian_compliance_controller/stiffness/rot_z: 20
• /cartesian_compliance_controller/stiffness/trans_x: 500
• /cartesian_compliance_controller/stiffness/trans_y: 500
• /cartesian_compliance_controller/stiffness/trans_z: 500
• /cartesian_compliance_controller/target_frame_topic: target_frame
• /cartesian_compliance_controller/type: position_controll...
• /cartesian_force_controller/end_effector_link: tool0
• /cartesian_force_controller/ft_sensor_ref_link: tool0
• /cartesian_force_controller/joints: ['shoulder_pan_jo...
• /cartesian_force_controller/pd_gains/rot_x/p: 1.5
• /cartesian_force_controller/pd_gains/rot_y/p: 1.5
• /cartesian_force_controller/pd_gains/rot_z/p: 1.5
• /cartesian_force_controller/pd_gains/trans_x/p: 0.05
• /cartesian_force_controller/pd_gains/trans_y/p: 0.05
• /cartesian_force_controller/pd_gains/trans_z/p: 0.05
• /cartesian_force_controller/robot_base_link: base_link
• /cartesian_force_controller/solver/error_scale: 0.5
• /cartesian_force_controller/solver/publish_state_feedback: True
• /cartesian_force_controller/type: position_controll...
• /cartesian_motion_controller/end_effector_link: tool0
• /cartesian_motion_controller/joints: ['shoulder_pan_jo...
• /cartesian_motion_controller/pd_gains/rot_x/p: 1.0
• /cartesian_motion_controller/pd_gains/rot_y/p: 1.0
• /cartesian_motion_controller/pd_gains/rot_z/p: 1.0
• /cartesian_motion_controller/pd_gains/trans_x/p: 10.0
• /cartesian_motion_controller/pd_gains/trans_y/p: 10.0
• /cartesian_motion_controller/pd_gains/trans_z/p: 10.0
• /cartesian_motion_controller/robot_base_link: base_link
• /cartesian_motion_controller/solver/error_scale: 1.0
• /cartesian_motion_controller/solver/iterations: 10
• /cartesian_motion_controller/solver/publish_state_feedback: True
• /cartesian_motion_controller/target_frame_topic: tool0
• /cartesian_motion_controller/type: position_controll...
• /controller_stopper/consistent_controllers: ['joint_state_con...
• /force_torque_sensor_controller/publish_rate: 125
• /force_torque_sensor_controller/type: force_torque_sens...
• /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
• /forward_cartesian_traj_controller/type: pass_through_cont...
• /forward_joint_traj_controller/joints: ['shoulder_pan_jo...
• /forward_joint_traj_controller/type: pass_through_cont...
• /hardware_control_loop/loop_hz: 125
• /joint_based_cartesian_traj_controller/base: base
• /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
• /joint_based_cartesian_traj_controller/tip: tool0
• /joint_based_cartesian_traj_controller/type: position_controll...
• /joint_group_vel_controller/joints: ['shoulder_pan_jo...
• /joint_group_vel_controller/type: velocity_controll...
• /joint_state_controller/publish_rate: 125
• /joint_state_controller/type: joint_state_contr...
• /pos_joint_traj_controller/action_monitor_rate: 20
• /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
• /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
• /pos_joint_traj_controller/constraints/goal_time: 0.6
• /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
• /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
• /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
• /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
• /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
• /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
• /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
• /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
• /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
• /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
• /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
• /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
• /pos_joint_traj_controller/state_publish_rate: 125
• /pos_joint_traj_controller/stop_trajectory_duration: 0.5
• /pos_joint_traj_controller/type: position_controll...
• /pose_based_cartesian_traj_controller/base: base
• /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
• /pose_based_cartesian_traj_controller/tip: tool0_controller
• /pose_based_cartesian_traj_controller/type: pose_controllers/...
• /robot_description: <?xml version="1....
• /robot_status_controller/handle_name: industrial_robot_...
• /robot_status_controller/publish_rate: 10
• /robot_status_controller/type: industrial_robot_...
• /rosdistro: noetic
• /rosversion: 1.16.0
• /scaled_pos_joint_traj_controller/action_monitor_rate: 20
• /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
• /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
• /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
• /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
• /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
• /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
• /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
• /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
• /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
• /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
• /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
• /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
• /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
• /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
• /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
• /scaled_pos_joint_traj_controller/state_publish_rate: 125
• /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
• /scaled_pos_joint_traj_controller/type: position_controll...
• /scaled_vel_joint_traj_controller/action_monitor_rate: 20
• /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
• /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
• /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
• /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
• /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
• /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
• /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
• /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
• /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
• /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
• /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
• /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
• /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
• /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
• /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
• /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
• /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
• /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0
• /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
• /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
• /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
• /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
• /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
• /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
• /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
• /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
• /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
• /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
• /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
• /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
• /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
• /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
• /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
• /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
• /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
• /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
• /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
• /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
• /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo...
• /scaled_vel_joint_traj_controller/state_publish_rate: 125
• /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5
• /scaled_vel_joint_traj_controller/type: velocity_controll...
• /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
• /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
• /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
• /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
• /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
• /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
• /speed_scaling_state_controller/publish_rate: 125
• /speed_scaling_state_controller/type: scaled_controller...
• /twist_controller/frame_id: tool0_controller
• /twist_controller/joints: ['shoulder_pan_jo...
• /twist_controller/publish_rate: 125
• /twist_controller/type: ros_controllers_c...
• /ur_hardware_interface/headless_mode: False
• /ur_hardware_interface/input_recipe_file: /home/ar268342/de...
• /ur_hardware_interface/joints: ['shoulder_pan_jo...
• /ur_hardware_interface/kinematics/forearm/pitch: -3.140625843508403
• /ur_hardware_interface/kinematics/forearm/roll: 3.140572132690917
• /ur_hardware_interface/kinematics/forearm/x: -0.612116952782544
• /ur_hardware_interface/kinematics/forearm/y: 0
• /ur_hardware_interface/kinematics/forearm/yaw: 3.141577296183658
• /ur_hardware_interface/kinematics/forearm/z: 0
• /ur_hardware_interface/kinematics/hash: calib_90908679848...
• /ur_hardware_interface/kinematics/shoulder/pitch: 0
• /ur_hardware_interface/kinematics/shoulder/roll: 0
• /ur_hardware_interface/kinematics/shoulder/x: 0
• /ur_hardware_interface/kinematics/shoulder/y: 0
• /ur_hardware_interface/kinematics/shoulder/yaw: 7.03715838414054e-08
• /ur_hardware_interface/kinematics/shoulder/z: 0.1807518484925897
• /ur_hardware_interface/kinematics/upper_arm/pitch: 0
• /ur_hardware_interface/kinematics/upper_arm/roll: 1.570276556269295
• /ur_hardware_interface/kinematics/upper_arm/x: 4.256219206106045...
• /ur_hardware_interface/kinematics/upper_arm/y: 0
• /ur_hardware_interface/kinematics/upper_arm/yaw: 4.105739213471593...
• /ur_hardware_interface/kinematics/upper_arm/z: 0
• /ur_hardware_interface/kinematics/wrist_1/pitch: 3.141528211672399
• /ur_hardware_interface/kinematics/wrist_1/roll: 3.127515000562709
• /ur_hardware_interface/kinematics/wrist_1/x: -0.5712527260805179
• /ur_hardware_interface/kinematics/wrist_1/y: 0.002444710157343283
• /ur_hardware_interface/kinematics/wrist_1/yaw: -3.14157792051197
• /ur_hardware_interface/kinematics/wrist_1/z: 0.1736474576193217
• /ur_hardware_interface/kinematics/wrist_2/pitch: 0
• /ur_hardware_interface/kinematics/wrist_2/roll: 1.569716236282153
• /ur_hardware_interface/kinematics/wrist_2/x: 3.873693474448029...
• /ur_hardware_interface/kinematics/wrist_2/y: -0.1196853565127689
• /ur_hardware_interface/kinematics/wrist_2/yaw: 6.939646668181753...
• /ur_hardware_interface/kinematics/wrist_2/z: 0.000129271068352...
• /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
• /ur_hardware_interface/kinematics/wrist_3/roll: 1.571147572630216
• /ur_hardware_interface/kinematics/wrist_3/x: -6.60842303700295...
• /ur_hardware_interface/kinematics/wrist_3/y: 0.1157100715826719
• /ur_hardware_interface/kinematics/wrist_3/yaw: -3.141592633590681
• /ur_hardware_interface/kinematics/wrist_3/z: 4.064268241934496...
• /ur_hardware_interface/output_recipe_file: /home/ar268342/de...
• /ur_hardware_interface/reverse_ip:
• /ur_hardware_interface/reverse_port: 50001
• /ur_hardware_interface/robot_ip: 10.15.14.7
• /ur_hardware_interface/script_command_port: 50004
• /ur_hardware_interface/script_file: /opt/ros/noetic/s...
• /ur_hardware_interface/script_sender_port: 50002
• /ur_hardware_interface/servoj_gain: 2000
• /ur_hardware_interface/servoj_lookahead_time: 0.03
• /ur_hardware_interface/tf_prefix:
• /ur_hardware_interface/tool_baud_rate: 115200
• /ur_hardware_interface/tool_parity: 0
• /ur_hardware_interface/tool_rx_idle_chars: 1.5
• /ur_hardware_interface/tool_stop_bits: 1
• /ur_hardware_interface/tool_tx_idle_chars: 3.5
• /ur_hardware_interface/tool_voltage: 0
• /ur_hardware_interface/trajectory_port: 50003
• /ur_hardware_interface/use_spline_interpolation: True
• /ur_hardware_interface/use_tool_communication: False
• /vel_joint_traj_controller/action_monitor_rate: 20
• /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
• /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
• /vel_joint_traj_controller/constraints/goal_time: 0.6
• /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
• /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
• /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
• /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
• /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
• /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
• /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
• /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
• /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
• /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
• /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
• /vel_joint_traj_controller/gains/elbow_joint/d: 0.1
• /vel_joint_traj_controller/gains/elbow_joint/i: 0.05
• /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
• /vel_joint_traj_controller/gains/elbow_joint/p: 5.0
• /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
• /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
• /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
• /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
• /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
• /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
• /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
• /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
• /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
• /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
• /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
• /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
• /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
• /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
• /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
• /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
• /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
• /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
• /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
• /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
• /vel_joint_traj_controller/joints: ['shoulder_pan_jo...
• /vel_joint_traj_controller/state_publish_rate: 125
• /vel_joint_traj_controller/stop_trajectory_duration: 0.5
• /vel_joint_traj_controller/type: velocity_controll...
• /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
• /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
• /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
• /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
• /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
• /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0

NODES
/
controller_stopper (ur_robot_driver/controller_stopper_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ros_control_controller_spawner (controller_manager/spawner)
ros_control_stopped_spawner (controller_manager/spawner)
ur_hardware_interface (ur_robot_driver/ur_robot_driver_node)
/ur_hardware_interface/
ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master
process[master]: started with pid [23813]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5ecb72ce-fbfd-11ee-a589-8b8eb397cc88
process[rosout-1]: started with pid [23826]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [23833]
process[ur_hardware_interface-3]: started with pid [23834]
process[ros_control_controller_spawner-4]: started with pid [23835]
process[ros_control_stopped_spawner-5]: started with pid [23842]
[ INFO] [1713277614.500580688]: Initializing dashboard client
process[controller_stopper-6]: started with pid [23850]
[ INFO] [1713277614.504913610]: Connected: Universal Robots Dashboard Server

process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [23851]
[ INFO] [1713277614.534882244]: Initializing urdriver
[ INFO] [1713277614.538047175]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1713277614.539800722]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1713277614.540973250]: SCHED_FIFO OK, priority 99
[INFO] [1713277614.902588]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1713277614.921719]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1713277614.970404060]: Negotiated RTDE protocol version to 2.
[ INFO] [1713277614.971215218]: Setting up RTDE communication with frequency 500.000000
[ INFO] [1713277615.981839519]: Checking if calibration data matches connected robot.
[ INFO] [1713277617.064742929]: Calibration checked successfully.
[ INFO] [1713277617.077932876]: SCHED_FIFO OK, priority 99
[ INFO] [1713277617.078532993]: Loaded ur_robot_driver hardware_interface
[ INFO] [1713277617.117367434]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1713277617.117428757]: Service available.
[ INFO] [1713277617.117460244]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1713277617.118519624]: Service available.
[INFO] [1713277617.327216]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1713277617.331030]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1713277617.334286]: Loading controller: joint_state_controller
[INFO] [1713277617.343178]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1713277617.344991]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1713277617.347972]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1713277617.350896]: Loading controller: pos_joint_traj_controller
[ INFO] [1713277617.362552699]: Robot mode is now RUNNING
[ INFO] [1713277617.364512000]: Robot's safety mode is now NORMAL
[INFO] [1713277617.387083]: Loading controller: speed_scaling_state_controller
[INFO] [1713277617.416985]: Loading controller: joint_group_vel_controller
[INFO] [1713277617.421067]: Loading controller: force_torque_sensor_controller
[INFO] [1713277617.426971]: Loading controller: cartesian_compliance_controller
[INFO] [1713277617.430801]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[ INFO] [1713277617.441920708]: Forward dynamics solver initialized
[ INFO] [1713277617.441957196]: Forward dynamics solver has control over 6 joints
[ INFO] [1713277617.482936778]: Failed to load /cartesian_compliance_controller/gravity from parameter server
[ INFO] [1713277617.483511076]: Failed to load /cartesian_compliance_controller/tool from parameter server
[INFO] [1713277617.499218]: Loading controller: cartesian_motion_controller
[INFO] [1713277617.500940]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[ INFO] [1713277617.511379977]: Forward dynamics solver initialized
[ INFO] [1713277617.511417848]: Forward dynamics solver has control over 6 joints
[INFO] [1713277617.545122]: Loading controller: cartesian_force_controller
[ INFO] [1713277617.558059059]: Forward dynamics solver initialized
[ INFO] [1713277617.558103914]: Forward dynamics solver has control over 6 joints
[ INFO] [1713277617.595728816]: Failed to load /cartesian_force_controller/gravity from parameter server
[ INFO] [1713277617.596071282]: Failed to load /cartesian_force_controller/tool from parameter server
[INFO] [1713277617.600894]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller, cartesian_compliance_controller, cartesian_motion_controller, cartesian_force_controller
`
Thanks a lot!