[error] Could not contact service /controller_manager/list_controllers #88
Description
Hello! I am currently researching the development of a UR robotic arm and have installed robotiq grippers. I am currently running simulations and when running the ur_simulation_gazebo feature package, I encounter the following error message (even though I had the same problem in previous issues, it seems to be caused by installing it as rolling)
yc-dlan@fishros-linux:~/Rt_ur_control/src$ ros2 launch ur_simulation_gazebo ur_sim_control.launch.py
[INFO] [launch]: All log files can be found below /home/yc-dlan/.ros/log/2025-09-03-08-05-57-924636-fishros-linux-88209
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [88222]
[INFO] [spawner-2]: process started with pid [88224]
[INFO] [spawner-3]: process started with pid [88226]
[INFO] [gzserver-4]: process started with pid [88228]
[INFO] [gzclient-5]: process started with pid [88230]
[INFO] [spawn_entity.py-6]: process started with pid [88232]
[robot_state_publisher-1] [INFO] [1756886758.647660510] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1756886758.647768022] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1756886758.647774384] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-1] [INFO] [1756886758.647778872] [robot_state_publisher]: got segment flange
[robot_state_publisher-1] [INFO] [1756886758.647782679] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-1] [INFO] [1756886758.647786687] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-1] [INFO] [1756886758.647790454] [robot_state_publisher]: got segment ground_plane
[robot_state_publisher-1] [INFO] [1756886758.647793920] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-1] [INFO] [1756886758.647797447] [robot_state_publisher]: got segment tool0
[robot_state_publisher-1] [INFO] [1756886758.647800974] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-1] [INFO] [1756886758.647804510] [robot_state_publisher]: got segment world
[robot_state_publisher-1] [INFO] [1756886758.647807987] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-1] [INFO] [1756886758.647811443] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-1] [INFO] [1756886758.647814890] [robot_state_publisher]: got segment wrist_3_link
[spawner-2] [INFO] [1756886759.175503096] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886759.175510751] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawn_entity.py-6] [INFO] [1756886759.179720804] [spawn_ur]: Spawn Entity started
[spawn_entity.py-6] [INFO] [1756886759.180161741] [spawn_ur]: Loading entity published on topic robot_description
[spawn_entity.py-6] [INFO] [1756886759.181759557] [spawn_ur]: Waiting for entity xml on robot_description
[spawn_entity.py-6] [INFO] [1756886759.193451128] [spawn_ur]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-6] [INFO] [1756886759.193864473] [spawn_ur]: Waiting for service /spawn_entity
[gzserver-4] ALSA lib pcm_dmix.c:1032:(snd_pcm_dmix_open) unable to open slave
[gzserver-4] AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
[spawn_entity.py-6] [INFO] [1756886759.698714973] [spawn_ur]: Calling service /spawn_entity
在[spawner-3] [WARN] [1756886769.194545480] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [WARN] [1756886769.194562131] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886769.194899293] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886769.194903341] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1756886779.214720212] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [WARN] [1756886779.214966414] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [INFO] [1756886779.215088934] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [INFO] [1756886779.215425024] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ERROR] [gzclient-5]: process has died [pid 88230, exit code -9, cmd 'gzclient --gui-client-plugin=libgazebo_ros_eol_gui.so'].
[spawner-2] [WARN] [1756886789.234590225] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [WARN] [1756886789.234609371] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886789.234959247] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886789.234960099] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1756886799.258213010] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [WARN] [1756886799.258320652] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886799.258955803] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886799.258973115] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1756886809.278243133] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [WARN] [1756886809.278407962] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886809.278640237] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886809.279196591] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1756886819.295402376] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [WARN] [1756886819.295508635] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886819.296044941] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886819.296343090] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1756886829.312900444] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [WARN] [1756886829.313003477] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886829.313262232] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886829.313720953] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1756886839.328824311] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [WARN] [1756886839.329079861] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886839.329315723] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886839.329521289] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1756886849.348243408] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [WARN] [1756886849.348536718] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [INFO] [1756886849.348594807] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [INFO] [1756886849.349095957] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1756886859.370802706] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-3] [WARN] [1756886859.370929905] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886859.371200302] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [INFO] [1756886859.371401259] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [WARN] [1756886869.391014003] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-2] [INFO] [1756886869.391348340] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-3] [WARN] [1756886869.391373467] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-3] [INFO] [1756886869.392016012] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...[publisher_joint_trajectory_controller-1] [WARN] [1756884946.167151340] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756884952.167217301] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756884958.167102127] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756884964.167190999] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756884970.167316451] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756884976.167605231] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756884982.167054415] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756884988.167342766] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756884994.166700049] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885000.167490944] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885006.167060074] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885012.167097062] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885018.167602439] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885024.166975567] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885030.166248182] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885036.166247493] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885042.167272660] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885048.167327138] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885054.166797711] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885060.167321439] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885066.167614979] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885072.167027400] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885078.167211270] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885084.167195080] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885090.167156018] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!
[publisher_joint_trajectory_controller-1] [WARN] [1756885096.166248742] [publisher_joint_trajectory_controller]: Start configuration could not be checked! Check "joint_state" topic!Then something strange happened: after waiting for 5 minutes, he successfully ran again!
[spawn_entity.py-6] [INFO] [1756886927.920899649] [spawn_ur]: Spawn status: Entity pushed to spawn queue, but spawn service timed outwaiting for entity to appear in simulation under the name [ur]
[spawn_entity.py-6] [ERROR] [1756886927.921574796] [spawn_ur]: Spawn service failed. Exiting.
[gzserver-4] [INFO] [1756886927.987686360] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-4] [INFO] [1756886927.992649761] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-4] [INFO] [1756886927.992795204] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-4] [INFO] [1756886927.994548022] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-4] [INFO] [1756886927.994865597] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-4] [INFO] [1756886927.994892819] [gazebo_ros2_control]: Loading parameter files /home/yc-dlan/Rt_ur_control/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur_controllers.yaml
[gzserver-4] [INFO] [1756886928.003368828] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint
[gzserver-4] [INFO] [1756886928.003401480] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1756886928.003408042] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.003415005] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-4] [INFO] [1756886928.003423290] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.003427659] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1756886928.003431726] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1756886928.003435493] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.003549988] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.003675213] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint
[gzserver-4] [INFO] [1756886928.003684470] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1756886928.003688829] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.003693748] [gazebo_ros2_control]: found initial value: -1.570000
[gzserver-4] [INFO] [1756886928.003698817] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.003703065] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1756886928.003707053] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1756886928.003710730] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.003751907] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.003799777] [gazebo_ros2_control]: Loading joint: elbow_joint
[gzserver-4] [INFO] [1756886928.003807431] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1756886928.003811749] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.003815596] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-4] [INFO] [1756886928.003820516] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.003824804] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1756886928.003831807] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1756886928.003835824] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.003872233] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.003911787] [gazebo_ros2_control]: Loading joint: wrist_1_joint
[gzserver-4] [INFO] [1756886928.003922497] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1756886928.003927035] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.003931484] [gazebo_ros2_control]: found initial value: -1.570000
[gzserver-4] [INFO] [1756886928.003936453] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.003940300] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1756886928.003944308] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1756886928.003948095] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.003985906] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.004023617] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-4] [INFO] [1756886928.004031942] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1756886928.004036040] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.004040338] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-4] [INFO] [1756886928.004045087] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.004048954] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1756886928.004052741] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1756886928.004056588] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.004097846] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.004224884] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-4] [INFO] [1756886928.004233671] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1756886928.004237989] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.004241796] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-4] [INFO] [1756886928.004246825] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.004279216] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1756886928.004284576] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1756886928.004288574] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1756886928.004331093] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1756886928.004390284] [resource_manager]: Initialize hardware 'ur'
[gzserver-4] [INFO] [1756886928.004497536] [resource_manager]: Successful initialization of hardware 'ur'
[gzserver-4] [INFO] [1756886928.004555414] [resource_manager]: 'configure' hardware 'ur'
[gzserver-4] [INFO] [1756886928.004561485] [resource_manager]: Successful 'configure' of hardware 'ur'
[gzserver-4] [INFO] [1756886928.004567497] [resource_manager]: 'activate' hardware 'ur'
[gzserver-4] [INFO] [1756886928.004571484] [resource_manager]: Successful 'activate' of hardware 'ur'
[gzserver-4] [INFO] [1756886928.004630816] [gazebo_ros2_control]: Loading controller_manager
[gzserver-4] [WARN] [1756886928.018866369] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-4] [INFO] [1756886928.019070372] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[ERROR] [spawn_entity.py-6]: process has died [pid 88232, exit code 1, cmd '/home/yc-dlan/Rt_ur_control/install/gazebo_ros/lib/gazebo_ros/spawn_entity.py -entity ur -topic robot_description --ros-args -r __node:=spawn_ur'].
[gzserver-4] [INFO] [1756886928.252669326] [controller_manager]: Loading controller 'joint_state_broadcaster'
[gzserver-4] [INFO] [1756886928.262839844] [controller_manager]: Loading controller 'joint_trajectory_controller'
[spawner-2] [INFO] [1756886928.263877010] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-4] [WARN] [1756886928.272991427] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[gzserver-4] [INFO] [1756886928.282903050] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-4] [INFO] [1756886928.283215716] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1756886928.283983997] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[gzserver-4] [INFO] [1756886928.293086743] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[gzserver-4] [INFO] [1756886928.293278913] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-4] [INFO] [1756886928.293309631] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-4] [INFO] [1756886928.293363201] [joint_trajectory_controller]: Using 'splines' interpolation method.
[gzserver-4] [INFO] [1756886928.295297750] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[gzserver-4] [INFO] [1756886928.296635439] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-2] [INFO] [1756886928.324632437] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-3] [INFO] [1756886928.344806140] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[INFO] [spawner-2]: process has finished cleanly [pid 88224]
[INFO] [rviz2-7]: process started with pid [90708]
[INFO] [spawner-3]: process has finished cleanly [pid 88226]
[rviz2-7] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-yc-dlan'
[rviz2-7] [ERROR] [1756886928.516637899] [rviz2]: failed to make config dir: /home/yc-dlan/.rviz2
[rviz2-7] [INFO] [1756886928.651031580] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1756886928.651125025] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-7] [INFO] [1756886928.664032438] [rviz2]: Stereo is NOT SUPPORTEDI feel very confused about this. When I run my own feature pack, the result is the same, so I only placed the official feature pack.
Relevant information：Ubuntu 22.04 Humble