Model Example Controller Not Working Properly #197
Description
I am using ros2 humble, and try to launch the model_example controller.
I change the parameters in src/franka_bringup/config/franka.config.yaml:
use_fake_hardware: "true" # Use simulated hardware ("true" or "false")
use_rviz: "true" # Launch RViz if "true" (single instance for all namespaces)
and then I launch with cmd ros2 launch franka_bringup example.launch.py controller_name:=model_example_controller, then got the error:
[ros2_control_node-2] [ERROR] [1766779268.495655196] [NS_1.controller_manager]: Can't activate controller 'model_example_controller': State interface with key 'fr3/robot_model' does not exist
[ros2_control_node-2] [ERROR] [1766779268.495803807] [NS_1.controller_manager]: Could not activate controller : 'model_example_controller'
[spawner-5] [ERROR] [1766779268.498351534] [NS_1.spawner_model_example_controller]: Failed to activate controller : model_example_controller
the detailed information is as follows, could any one help me to figure out how to fix it?
[INFO] [launch]: All log files can be found below /home/zames/.ros/log/2025-12-27-04-01-06-952032-ubuntu-769526
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [769562]
[INFO] [ros2_control_node-2]: process started with pid [769564]
[INFO] [joint_state_publisher-3]: process started with pid [769566]
[INFO] [spawner-4]: process started with pid [769568]
[INFO] [spawner-5]: process started with pid [769570]
[INFO] [rviz2-6]: process started with pid [769572]
[ros2_control_node-2] [WARN] [1766779267.771740439] [NS_1.controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-2] text not specified in the prefix tag
[ros2_control_node-2] [INFO] [1766779267.772504133] [resource_manager]: Loading hardware 'FrankaHardwareInterface'
[ros2_control_node-2] [INFO] [1766779267.774284998] [resource_manager]: Initialize hardware 'FrankaHardwareInterface'
[ros2_control_node-2] [WARN] [1766779267.774364872] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-2] [INFO] [1766779267.774461674] [resource_manager]: Successful initialization of hardware 'FrankaHardwareInterface'
[ros2_control_node-2] [INFO] [1766779267.774635949] [resource_manager]: 'configure' hardware 'FrankaHardwareInterface'
[ros2_control_node-2] [INFO] [1766779267.774653997] [resource_manager]: Successful 'configure' of hardware 'FrankaHardwareInterface'
[ros2_control_node-2] [INFO] [1766779267.774679886] [resource_manager]: 'activate' hardware 'FrankaHardwareInterface'
[ros2_control_node-2] [INFO] [1766779267.774689070] [resource_manager]: Successful 'activate' of hardware 'FrankaHardwareInterface'
[ros2_control_node-2] [INFO] [1766779267.782217273] [NS_1.controller_manager]: update rate is 1000 Hz
[ros2_control_node-2] [INFO] [1766779267.782304475] [NS_1.controller_manager]: Spawning controller_manager RT thread with scheduler priority: 98
[ros2_control_node-2] [WARN] [1766779267.783568882] [NS_1.controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[robot_state_publisher-1] [INFO] [1766779267.787294583] [NS_1.robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1766779267.787561020] [NS_1.robot_state_publisher]: got segment fr3_link0
[robot_state_publisher-1] [INFO] [1766779267.787594428] [NS_1.robot_state_publisher]: got segment fr3_link0_accelerometer_bottom
[robot_state_publisher-1] [INFO] [1766779267.787609469] [NS_1.robot_state_publisher]: got segment fr3_link0_accelerometer_top
[robot_state_publisher-1] [INFO] [1766779267.787621917] [NS_1.robot_state_publisher]: got segment fr3_link1
[robot_state_publisher-1] [INFO] [1766779267.787633757] [NS_1.robot_state_publisher]: got segment fr3_link1_accelerometer_bottom
[robot_state_publisher-1] [INFO] [1766779267.787645117] [NS_1.robot_state_publisher]: got segment fr3_link1_accelerometer_top
[robot_state_publisher-1] [INFO] [1766779267.787656637] [NS_1.robot_state_publisher]: got segment fr3_link2
[robot_state_publisher-1] [INFO] [1766779267.787668766] [NS_1.robot_state_publisher]: got segment fr3_link2_accelerometer_bottom
[robot_state_publisher-1] [INFO] [1766779267.787680318] [NS_1.robot_state_publisher]: got segment fr3_link2_accelerometer_top
[robot_state_publisher-1] [INFO] [1766779267.787691582] [NS_1.robot_state_publisher]: got segment fr3_link3
[robot_state_publisher-1] [INFO] [1766779267.787702558] [NS_1.robot_state_publisher]: got segment fr3_link3_accelerometer_bottom
[robot_state_publisher-1] [INFO] [1766779267.787713406] [NS_1.robot_state_publisher]: got segment fr3_link3_accelerometer_top
[robot_state_publisher-1] [INFO] [1766779267.787724479] [NS_1.robot_state_publisher]: got segment fr3_link4
[robot_state_publisher-1] [INFO] [1766779267.787735327] [NS_1.robot_state_publisher]: got segment fr3_link4_accelerometer_bottom
[robot_state_publisher-1] [INFO] [1766779267.787746303] [NS_1.robot_state_publisher]: got segment fr3_link4_accelerometer_top
[robot_state_publisher-1] [INFO] [1766779267.787757663] [NS_1.robot_state_publisher]: got segment fr3_link5
[robot_state_publisher-1] [INFO] [1766779267.787768287] [NS_1.robot_state_publisher]: got segment fr3_link5_accelerometer_bottom
[robot_state_publisher-1] [INFO] [1766779267.787779040] [NS_1.robot_state_publisher]: got segment fr3_link5_accelerometer_top
[robot_state_publisher-1] [INFO] [1766779267.787789760] [NS_1.robot_state_publisher]: got segment fr3_link6
[robot_state_publisher-1] [INFO] [1766779267.787800544] [NS_1.robot_state_publisher]: got segment fr3_link7
[robot_state_publisher-1] [INFO] [1766779267.787811424] [NS_1.robot_state_publisher]: got segment fr3_link8
[ros2_control_node-2] [INFO] [1766779268.392565002] [NS_1.controller_manager]: Loading controller 'joint_state_broadcaster'
[joint_state_publisher-3] [INFO] [1766779268.400932357] [NS_1.joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[ros2_control_node-2] [INFO] [1766779268.413232392] [NS_1.controller_manager]: Loading controller 'model_example_controller'
[spawner-4] [INFO] [1766779268.445664384] [NS_1.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-2] [INFO] [1766779268.451927796] [NS_1.controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-2] [INFO] [1766779268.452100791] [NS_1.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-4] [INFO] [1766779268.476259957] [NS_1.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-5] [INFO] [1766779268.486563924] [NS_1.spawner_model_example_controller]: Loaded model_example_controller
[ros2_control_node-2] [INFO] [1766779268.489700942] [NS_1.controller_manager]: Configuring controller 'model_example_controller'
[ros2_control_node-2] [ERROR] [1766779268.495655196] [NS_1.controller_manager]: Can't activate controller 'model_example_controller': State interface with key 'fr3/robot_model' does not exist
[ros2_control_node-2] [ERROR] [1766779268.495803807] [NS_1.controller_manager]: Could not activate controller : 'model_example_controller'
[spawner-5] [ERROR] [1766779268.498351534] [NS_1.spawner_model_example_controller]: Failed to activate controller : model_example_controller
[INFO] [spawner-4]: process has finished cleanly [pid 769568]
[ERROR] [spawner-5]: process has died [pid 769570, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner model_example_controller --controller-manager-timeout 30 --ros-args -r __ns:=/NS_1 --params-file /home/zames/franka_ros2_ws/install/franka_bringup/share/franka_bringup/config/controllers.yaml'].
[rviz2-6] [INFO] [1766779268.938835325] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1766779268.939157379] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-6] [INFO] [1766779268.994862569] [rviz2]: Stereo is NOT SUPPORTED