p315 Unable to open model in Moveit Setup Assistant

[threent2]

I have tried both to Create or to Edit but the file panda_description/urdf/panda.urdf.xacro can not be opened. See screenshots below.

Still the same error if I use the directory listed in the text.

[threent2]

I have just installed some Ubuntu upgrades (including a new kernel. When I click "Create ....
I now get to select the panda.urdf.xacro abd can click "Load Files". Progress gets to 70% and then aborts. Terminal output below
brian@HP-laptop:/master_ros2_ws$ ros2 launch moveit_setup_assistant setup_assistant.launch.py
[INFO] [launch]: All log files can be found below /home/brian/.ros/log/2025-10-01-16-35-17-893252-HP-laptop-12794
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [moveit_setup_assistant-1]: process started with pid [12797]
[moveit_setup_assistant-1] [INFO] [1759332932.772749463] [moveit_setup_assistant.urdf]: Loaded panda robot model.
[moveit_setup_assistant-1] [INFO] [1759332932.792149129] [moveit_1416145157.moveit.core.robot_model]: Loading robot model 'panda'...
[moveit_setup_assistant-1] [INFO] [1759332932.792214546] [moveit_1416145157.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [INFO] [1759332983.229293842] [moveit_setup_assistant.urdf]: Loaded panda robot model.
[moveit_setup_assistant-1] [INFO] [1759332983.229372027] [moveit_1416145157.moveit.core.robot_model]: Loading robot model 'panda'...
[moveit_setup_assistant-1] [INFO] [1759332983.229401158] [moveit_1416145157.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [INFO] [1759332983.414301032] [moveit_1416145157.moveit.ros.rdf_loader]: Loaded robot model in 0.00286059 seconds
[moveit_setup_assistant-1] [INFO] [1759332983.414388778] [moveit_1416145157.moveit.core.robot_model]: Loading robot model 'panda'...
[moveit_setup_assistant-1] [INFO] [1759332983.414408909] [moveit_1416145157.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [INFO] [1759332984.694231196] [moveit_1416145157.moveit.ros.rdf_loader]: Loaded robot model in 0.00236715 seconds
[moveit_setup_assistant-1] [INFO] [1759332984.694313557] [moveit_1416145157.moveit.core.robot_model]: Loading robot model 'panda'...
[moveit_setup_assistant-1] [INFO] [1759332984.694331462] [moveit_1416145157.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] Stack trace (most recent call last):
[moveit_setup_assistant-1] #31 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7b83b5b73736, in
[moveit_setup_assistant-1] #30 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7b83b5b145c4, in
[moveit_setup_assistant-1] #29 Object "/usr/lib/x86_64-linux-gnu/libQt5XcbQpa.so.5.15.13", at 0x7b83a4491d05, in
[moveit_setup_assistant-1] #28 Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.13", at 0x7b83b7517bfb, in QWindowSystemInterface::sendWindowSystemEvents(QFlagsQEventLoop::ProcessEventsFlag)
[moveit_setup_assistant-1] #27 Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.13", at 0x7b83b7545a3a, in QGuiApplicationPrivate::processMouseEvent(QWindowSystemInterfacePrivate::MouseEvent*)
[moveit_setup_assistant-1] #26 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b70d8117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #25 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7d6bd44, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #24 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7dcdfbe, in
[moveit_setup_assistant-1] #23 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7dcaa38, in
[moveit_setup_assistant-1] #22 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7d72873, in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer&, bool, bool)
[moveit_setup_assistant-1] #21 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b70d8117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #20 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7d746af, in QApplication::notify(QObject*, QEvent*)
[moveit_setup_assistant-1] #19 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7d6bd44, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #18 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7db0df7, in QWidget::event(QEvent*)
[moveit_setup_assistant-1] #17 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7e697b7, in QAbstractButton::mouseReleaseEvent(QMouseEvent*)
[moveit_setup_assistant-1] #16 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7e695af, in
[moveit_setup_assistant-1] #15 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7e6796e, in
[moveit_setup_assistant-1] #14 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7e676e3, in QAbstractButton::clicked(bool)
[moveit_setup_assistant-1] #13 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b7112dbe, in
[moveit_setup_assistant-1] #12 Object "/opt/ros/jazzy/lib/libmoveit_setup_core_plugins.so", at 0x7b839c5075c1, in moveit_setup::core::StartScreenWidget::loadFilesClick()
[moveit_setup_assistant-1] #11 Object "/opt/ros/jazzy/lib/libmoveit_setup_core_plugins.so", at 0x7b839c507249, in moveit_setup::core::StartScreenWidget::loadNewFiles()
[moveit_setup_assistant-1] #10 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b7135278, in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag)
[moveit_setup_assistant-1] #9 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7b83b5b13a62, in g_main_context_iteration
[moveit_setup_assistant-1] #8 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7b83b5b73736, in
[moveit_setup_assistant-1] #7 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7b83b5b145c4, in
[moveit_setup_assistant-1] #6 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b7135c0e, in
[moveit_setup_assistant-1] #5 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b70db94a, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
[moveit_setup_assistant-1] #4 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b70d8117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #3 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7b83b7d6bd44, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #2 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b7106342, in QObject::event(QEvent*)
[moveit_setup_assistant-1] #1 Object "/opt/ros/jazzy/lib/librviz_common.so", at 0x7b83b88e5c00, in rviz_common::properties::PropertyTreeModel::propertyHiddenChanged(rviz_common::properties::Property const*)
[moveit_setup_assistant-1] #0 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7b83b711267c, in
[moveit_setup_assistant-1] Segmentation fault (Address not mapped to object [0x9])
[ERROR] [moveit_setup_assistant-1]: process has died [pid 12797, exit code -11, cmd '/opt/ros/jazzy/lib/moveit_setup_assistant/moveit_setup_assistant --ros-args'].
brian@HP-laptop:~/master_ros2_ws$

[AimanHaidar]

@threent2
I have faced this problem before. I found the solution in one of the issues and was due to version incompatibility of rviz2 with moveit. I downgraded rviz2 and worked well.
I don't know why developers not check integration before upload updates!

[detectedstealth]

Facing the same issue going through the book was smooth up until the moveit chapter.

[AimanHaidar]

@detectedstealth
it solved by clone the rviz2 from source then checkout 14.1.7 then build as description in github repo of rviz2 and use it instead of the installed by apt

[threent2]

@threent2 I have faced this problem before. I found the solution in one of the issues and was due to version incompatibility of rviz2 with moveit. I downgraded rviz2 and worked well. I don't know why developers not check integration before upload updates!

I have installed 14.1.6 (already built) from the Ubuntu libraries but I still get the problem.

[AimanHaidar]

@threent2
did you removed the original one and make sure to source the new build

[threent2]

@threent2 did you removed the original one and make sure to source the new build

I installed from the Ubuntu / Ros Jazzy libraries and so did not need to build. Using apt I can see that my installed version is 14.1.6

[AimanHaidar]

@threent2

I don't know why this happen with you.

my setup:

• latest moveit build from source (the main branch )
• rviz2 14.1.7

[detectedstealth]

@AimanHaidar > 14.1.7

How did you install this version? When I checkout the branch and try to follow the instructions:

colcon build --merge-install

And keep getting the following error:

CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake_vendor_package.cmake" in
  CMAKE_MODULE_PATH this project has asked CMake to find a package
  configuration file provided by "ament_cmake_vendor_package", but CMake did
  not find one.

  Could not find a package configuration file provided by
  "ament_cmake_vendor_package" with any of the following names:

    ament_cmake_vendor_packageConfig.cmake
    ament_cmake_vendor_package-config.cmake

  Add the installation prefix of "ament_cmake_vendor_package" to
  CMAKE_PREFIX_PATH or set "ament_cmake_vendor_package_DIR" to a directory
  containing one of the above files.  If "ament_cmake_vendor_package"
  provides a separate development package or SDK, be sure it has been
  installed.```

[AimanHaidar]

@detectedstealth

I think it will download some packages while build so you should connect to internet and don't forget to source your ros2 workspace.

or try:

sudo apt install ros-jazzy-ament-cmake-vendor-package

or try the solution here:
link

[detectedstealth]

@AimanHaidar I was able too get it built from source and checking out the tag your referenced. Running the code from the next part of the book (Testing MoveIt 2 using Rviz2) while it loads the arm there are lots of errors in the console. This is the first chapter where I'm finding it confusing to follow. :)

[AimanHaidar]

@detectedstealth

What are these errors?

moveit2 is a hell of errors. :)

[detectedstealth]

@AimanHaidar well for example if I remove all my build/install/log and only build panda_description it will load correctly.

However if I build rviz2 + moveit2 from source code as well as the other packages from the chapter and try to run panda_description I get these kinds of errors and the robot arm doesn't show up.

[gazebo-5] [Err] [SystemPaths.cc:425] Unable to find file with URI [model://panda_description/meshes/visual/link1.dae]
[gazebo-5] [Err] [SystemPaths.cc:525] Could not resolve file [model://panda_description/meshes/visual/link1.dae]
[gazebo-5] [Err] [MeshManager.cc:211] Unable to find file[model://panda_description/meshes/visual/link1.dae]
[gazebo-5] [Wrn] [Util.cc:859] Failed to load mesh from [model://panda_description/meshes/visual/link1.dae].
[gazebo-5] [Err] [SceneManager.cc:426] Failed to load geometry for visual: link1_visual
[gazebo-5] [Err] [SystemPaths.cc:425] Unable to find file with URI [model://panda_description/meshes/visual/link2.dae]
[gazebo-5] [Err] [SystemPaths.cc:525] Could not resolve file [model://panda_description/meshes/visual/link2.dae]
[gazebo-5] [Err] [MeshManager.cc:211] Unable to find file[model://panda_description/meshes/visual/link2.dae]
[gazebo-5] [Wrn] [Util.cc:859] Failed to load mesh from [model://panda_description/meshes/visual/link2.dae].```

That's when running `ros2 launch panda_description panda_gazebo.launch.py`

[AimanHaidar]

@detectedstealth

Oh, I remember I got error like this. the CADs seemed not loaded using the panda description from book's examples then I replaced the whole package with one in the moveit_resources workspace.

[detectedstealth]

@AimanHaidar yeah this chapter really should have been rewritten so many issues. I have the panda_description situation resolved I think but getting a new set of issues :D

ros2 launch panda_moveit_control joint_space_planning.launch.py

[INFO] [launch]: All log files can be found below /home/bruceubuntu/.ros/log/2025-10-22-10-15-43-185225-bruceubuntu-Legion-Pro-7-16IAX10H-60357
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_space_planning-1]: process started with pid [60360]
[joint_space_planning-1] [INFO] [1761153343.391501043] [moveit_301153243.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[joint_space_planning-1] [INFO] [1761153343.391871262] [moveit_301153243.moveit.core.robot_model]: Loading robot model 'panda'...
[joint_space_planning-1] [INFO] [1761153343.396722917] [moveit_301153243.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1 1 1 1
[joint_space_planning-1] [INFO] [1761153344.012931664] [moveit_301153243.moveit.ros.move_group_interface]: Ready to take commands for planning group arm.
[joint_space_planning-1] [INFO] [1761153344.012988897] [moveit_301153243.moveit.ros.move_group_interface]: MoveGroup action client/server ready
[joint_space_planning-1] [INFO] [1761153344.014009745] [moveit_301153243.moveit.ros.move_group_interface]: Planning request accepted
[joint_space_planning-1] [INFO] [1761153344.045636627] [moveit_301153243.moveit.ros.move_group_interface]: Planning request complete!
[joint_space_planning-1] [INFO] [1761153344.046158131] [moveit_301153243.moveit.ros.move_group_interface]: time taken to generate plan: 0.0176085 seconds
[joint_space_planning-1] [INFO] [1761153344.046511252] [moveit_301153243.moveit.ros.move_group_interface]: Plan and Execute request accepted
[joint_space_planning-1] [INFO] [1761153344.076088909] [moveit_301153243.moveit.ros.move_group_interface]: Plan and Execute request aborted
[joint_space_planning-1] [ERROR] [1761153344.076258732] [moveit_301153243.moveit.ros.move_group_interface]: MoveGroupInterface::move() failed or timeout reached
[joint_space_planning-1] [INFO] [1761153347.076402336] [moveit_301153243.moveit.ros.move_group_interface]: MoveGroup action client/server ready
[joint_space_planning-1] [INFO] [1761153347.076881747] [moveit_301153243.moveit.ros.move_group_interface]: Planning request accepted
[joint_space_planning-1] [INFO] [1761153347.094816851] [moveit_301153243.moveit.ros.move_group_interface]: Planning request complete!
[joint_space_planning-1] [INFO] [1761153347.095677721] [moveit_301153243.moveit.ros.move_group_interface]: time taken to generate plan: 0.0160742 seconds
[joint_space_planning-1] [INFO] [1761153347.096063241] [moveit_301153243.moveit.ros.move_group_interface]: Plan and Execute request accepted
[joint_space_planning-1] [INFO] [1761153347.125864535] [moveit_301153243.moveit.ros.move_group_interface]: Plan and Execute request aborted
[joint_space_planning-1] [ERROR] [1761153347.126777402] [moveit_301153243.moveit.ros.move_group_interface]: MoveGroupInterface::move() failed or timeout reached

ros2 launch panda_moveit_config move_group.launch.py

[move_group-1] [WARN] [1761153160.569776783] []: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist
[move_group-1] [ERROR] [1761153161.075624958] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 3
[move_group-1] [ERROR] [1761153161.075695907] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 6
[move_group-1] [ERROR] [1761153161.075701414] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 4
[move_group-1] [ERROR] [1761153161.075707783] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 9
[move_group-1] [ERROR] [1761153161.075711365] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 10
[move_group-1] [ERROR] [1761153161.075715269] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 7
[move_group-1] [ERROR] [1761153161.075718929] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 8
[move_group-1] [ERROR] [1761153161.075722755] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 5
[move_group-1] [ERROR] [1761153161.075726405] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 11
[move_group-1] [ERROR] [1761153161.075729973] [move_group.moveit.moveit.ros.shape_mask]: Missing transform for shape mesh with handle 12
...
[move_group-1] [INFO] [1761153347.115223020] [move_group]: Calling PlanningResponseAdapter 'DisplayMotionPath'
[move_group-1] [WARN] [1761153347.115247635] [move_group.moveit.moveit.ros.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner.
[move_group-1] [INFO] [1761153347.115333519] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1761153347.115370829] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1761153347.115395831] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-1] [INFO] [1761153347.115497660] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-1] [INFO] [1761153347.115548833] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1761153347.115567008] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [ERROR] [1761153347.115623916] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected to action server: arm_controller/follow_joint_trajectory
[move_group-1] [ERROR] [1761153347.115632069] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller arm_controller
[move_group-1] [INFO] [1761153347.115638068] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-1] [INFO] [1761153347.125574251] [move_group.moveit.moveit.ros.move_group.move_action]: CONTROL_FAILED

ros2 launch panda_description panda_gazebo.launch.py

[gazebo-5] libEGL warning: egl: failed to create dri2 screen
[ros2-2] Traceback (most recent call last):
[ros2-2]   File "/opt/ros/jazzy/bin/ros2", line 33, in <module>
[ros2-2]     sys.exit(load_entry_point('ros2cli==0.32.6', 'console_scripts', 'ros2')())
[ros2-2]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-2]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2cli/cli.py", line 91, in main
[ros2-2]     rc = extension.main(parser=parser, args=args)
[ros2-2]          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-2]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2controlcli/command/control.py", line 37, in main
[ros2-2]     return extension.main(args=args)
[ros2-2]            ^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-2]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2controlcli/verb/load_controller.py", line 56, in main
[ros2-2]     controllers = list_controllers(node, args.controller_manager, 20.0).controller
[ros2-2]                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-2]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 172, in list_controllers
[ros2-2]     return service_caller(
[ros2-2]            ^^^^^^^^^^^^^^^
[ros2-2]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 132, in service_caller
[ros2-2]     raise ServiceNotFoundError(
[ros2-2] controller_manager.controller_manager_services.ServiceNotFoundError: Could not contact service /controller_manager/list_controllers
[ros2-1] Traceback (most recent call last):
[ros2-1]   File "/opt/ros/jazzy/bin/ros2", line 33, in <module>
[ros2-1]     sys.exit(load_entry_point('ros2cli==0.32.6', 'console_scripts', 'ros2')())
[ros2-1]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-1]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2cli/cli.py", line 91, in main
[ros2-1]     rc = extension.main(parser=parser, args=args)
[ros2-1]          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-1]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2controlcli/command/control.py", line 37, in main
[ros2-1]     return extension.main(args=args)
[ros2-1]            ^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-1]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2controlcli/verb/load_controller.py", line 56, in main
[ros2-1]     controllers = list_controllers(node, args.controller_manager, 20.0).controller
[ros2-1]                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-1]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 172, in list_controllers
[ros2-1]     return service_caller(
[ros2-1]            ^^^^^^^^^^^^^^^
[ros2-1]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 132, in service_caller
[ros2-1]     raise ServiceNotFoundError(
[ros2-1] controller_manager.controller_manager_services.ServiceNotFoundError: Could not contact service /controller_manager/list_controllers
[ERROR] [ros2-2]: process has died [pid 59555, exit code 1, cmd 'ros2 control load_controller --set-state active arm_controller'].
[ERROR] [ros2-1]: process has died [pid 59554, exit code 1, cmd 'ros2 control load_controller --set-state active joint_state_broadcaster'].```