Controller manager not available

[ajinkyamar]

Question

I am trying to move arms using the following command:

ros2 launch interbotix_xslocobot_moveit xslocobot_moveit.launch.py robot_model:=locobot_wx250s hardware_type:=actual

This worked perfectly well most of time. There was an error regarding the controller manager which was resolved after I used the below commands and rebooted ( as mentioned in the documentation)

ros2 daemon stop
ros2 daemon start

However, now the same error has occurred and I am not able to resolve it using the above method.

Can someone please help me with this?

I have added the log from the terminal in the additional information section.

Thanks

Robot Model

locobot_wx250s

Operating System

Ubuntu 20.04

ROS Version

ROS 2 Galactic

Additional Info

locobot@locobot:~$ ros2 launch interbotix_xslocobot_moveit xslocobot_moveit.launch.py robot_model:=locobot_wx250s hardware_type:=actual 
[INFO] [launch]: All log files can be found below /home/locobot/.ros/log/2023-09-27-07-39-04-940521-locobot-3111
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [3123]
[INFO] [rviz2-2]: process started with pid [3125]
[INFO] [ros2_control_node-3]: process started with pid [3127]
[INFO] [spawner-4]: process started with pid [3129]
[INFO] [spawner-5]: process started with pid [3131]
[INFO] [robot_state_publisher-6]: process started with pid [3133]
[INFO] [joint_state_publisher-7]: process started with pid [3135]
[INFO] [xs_sdk-8]: process started with pid [3137]
[xs_sdk-8] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-8] [INFO] Using logging level 'INFO'.
[xs_sdk-8] [INFO] Loaded mode configs from '/home/locobot/interbotix_ws/install/interbotix_xslocobot_moveit/share/interbotix_xslocobot_moveit/config/modes_all.yaml'.
[xs_sdk-8] [INFO] Loaded motor configs from '/home/locobot/interbotix_ws/install/interbotix_xslocobot_control/share/interbotix_xslocobot_control/config/locobot_wx250s.yaml'.
[xs_sdk-8] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID: 11, Model: 'XL430-W250-2', Joint Name: 'tilt'.
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  8, Model: 'XL430-W250', Joint Name: 'wrist_rotate'.
[move_group-1] [WARN] [1695818346.851854788] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-1] [WARN] [1695818346.851912429] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] Error:   Link 'ee_gripper_link' specified as parent for end effector 'interbotix_gripper' is not known to the URDF
[move_group-1]          at line 423 in /tmp/binarydeb/ros-galactic-srdfdom-2.0.3/src/model.cpp
[move_group-1] Warning: Link 'locobot/forearm_link' is not known to URDF. Cannot disable collisons.
[move_group-1]          at line 555 in /tmp/binarydeb/ros-galactic-srdfdom-2.0.3/src/model.cpp
[move_group-1] Warning: Link 'locobot/forearm_link' is not known to URDF. Cannot disable collisons.
[move_group-1]          at line 555 in /tmp/binarydeb/ros-galactic-srdfdom-2.0.3/src/model.cpp
[move_group-1] [INFO] [1695818346.860029476] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00794425 seconds
[move_group-1] [INFO] [1695818346.860075096] [moveit_robot_model.robot_model]: Loading robot model 'locobot'...
[move_group-1] [INFO] [1695818346.860090276] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  7, Model: 'XM430-W350', Joint Name: 'wrist_angle'.
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  5, Model: 'XM430-W350', Joint Name: 'elbow_shadow'.
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  4, Model: 'XM430-W350', Joint Name: 'elbow'.
[spawner-5] [INFO] [1695818346.991325677] [gripper_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[move_group-1] The root link locobot/base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[move_group-1] Link locobot/bump_caster_link had 0 children
[move_group-1] Link locobot/bump_front_center had 0 children
[move_group-1] Link locobot/bump_front_left had 0 children
[move_group-1] Link locobot/bump_front_right had 0 children
[move_group-1] Link locobot/bump_left had 0 children
[move_group-1] Link locobot/bump_right had 0 children
[move_group-1] Link locobot/button_1 had 0 children
[move_group-1] Link locobot/button_2 had 0 children
[move_group-1] Link locobot/button_power had 0 children
[move_group-1] Link locobot/camera_tower_link had 1 children
[move_group-1] Link locobot/pan_link had 1 children
[move_group-1] Link locobot/tilt_link had 1 children
[move_group-1] Link camera_locobot_link had 1 children
[move_group-1] Link locobot/camera_depth_link had 0 children
[move_group-1] Link cliff_front_left had 0 children
[move_group-1] Link cliff_front_right had 0 children
[move_group-1] Link cliff_side_left had 0 children
[move_group-1] Link cliff_side_right had 0 children
[move_group-1] Link locobot/front_caster_link had 0 children
[move_group-1] Link locobot/imu_link had 0 children
[move_group-1] Link locobot/ir_omni had 0 children
[move_group-1] Link locobot/ir_intensity_front_center_left had 0 children
[move_group-1] Link locobot/ir_intensity_front_center_right had 0 children
[move_group-1] Link locobot/ir_intensity_front_left had 0 children
[move_group-1] Link locobot/ir_intensity_front_right had 0 children
[move_group-1] Link locobot/ir_intensity_left had 0 children
[move_group-1] Link locobot/ir_intensity_right had 0 children
[move_group-1] Link locobot/ir_intensity_side_left had 0 children
[move_group-1] Link locobot/mouse had 0 children
[move_group-1] Link locobot/plate_link had 2 children
[move_group-1] Link locobot/arm_stand_link had 1 children
[move_group-1] Link locobot/arm_base_link had 1 children
[move_group-1] Link locobot/shoulder_link had 1 children
[move_group-1] Link locobot/upper_arm_link had 1 children
[move_group-1] Link locobot/upper_forearm_link had 1 children
[move_group-1] Link locobot/lower_forearm_link had 1 children
[move_group-1] Link locobot/wrist_link had 1 children
[move_group-1] Link locobot/gripper_link had 1 children
[move_group-1] Link locobot/ee_arm_link had 3 children
[move_group-1] Link locobot/ar_tag_link had 0 children
[move_group-1] Link locobot/gripper_prop_link had 0 children
[move_group-1] Link locobot/gripper_bar_link had 1 children
[move_group-1] Link locobot/fingers_link had 3 children
[move_group-1] Link locobot/ee_gripper_link had 0 children
[move_group-1] Link locobot/left_finger_link had 0 children
[move_group-1] Link locobot/right_finger_link had 0 children
[move_group-1] Link locobot/battery_link had 0 children
[move_group-1] Link locobot/wheel_drop_left had 1 children
[move_group-1] Link locobot/left_wheel had 0 children
[move_group-1] Link locobot/wheel_drop_right had 1 children
[move_group-1] Link locobot/right_wheel had 0 children
[spawner-4] [INFO] [1695818346.997479568] [arm_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  6, Model: 'XM430-W350', Joint Name: 'forearm_roll'.
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  2, Model: 'XM430-W350', Joint Name: 'shoulder'.
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID: 10, Model: 'XL430-W250-2', Joint Name: 'pan'.
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  9, Model: 'XL430-W250', Joint Name: 'gripper'.
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  3, Model: 'XM430-W350', Joint Name: 'shoulder_shadow'.
[xs_sdk-8] [INFO] 	Found DYNAMIXEL ID:  1, Model: 'XM430-W350', Joint Name: 'waist'.
[move_group-1] [INFO] [1695818347.288441636] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1695818347.288627664] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'locobot/joint_states' for joint states
[move_group-1] [INFO] [1695818347.289044420] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'locobot/joint_states'
[move_group-1] [INFO] [1695818347.289305137] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1695818347.289317701] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1695818347.289499300] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1695818347.289511232] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1695818347.289705479] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1695818347.289862363] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1695818347.290337879] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1695818347.290355169] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-1] [INFO] [1695818347.290365778] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[move_group-1] [INFO] [1695818347.546505279] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1695818347.577522863] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1695818347.580958627] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1695818347.580977707] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1695818347.580981399] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1695818347.580992763] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1695818347.581004542] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1695818347.581008491] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1695818347.581017550] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1695818347.581022171] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1695818347.581031547] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1695818347.581041034] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1695818347.581045166] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1695818347.581067637] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1695818347.581070825] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1695818347.581073141] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1695818347.596020844] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for locobot/arm_controller
[move_group-1] [INFO] [1695818347.596940019] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for locobot/gripper_controller
[move_group-1] [INFO] [1695818347.597069560] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1695818347.597500097] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1695818347.597520605] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1695818347.609983421] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1695818347.610019745] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1695818347.610027798] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[xs_sdk-8] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-8] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-8] [INFO] The operating mode for the 'gripper' joint was changed to 'position' with profile type 'velocity'.
[xs_sdk-8] [INFO] The operating mode for the 'pan' joint was changed to 'position' with profile type 'velocity'.
[xs_sdk-8] [INFO] The operating mode for the 'tilt' joint was changed to 'position' with profile type 'velocity'.
[xs_sdk-8] [INFO] Interbotix X-Series Driver is up!
[xs_sdk-8] [INFO] [1695818348.872032309] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[spawner-5] [INFO] [1695818348.998175961] [gripper_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[spawner-4] [INFO] [1695818349.004130726] [arm_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[spawner-5] [INFO] [1695818351.004640824] [gripper_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[spawner-4] [INFO] [1695818351.010346609] [arm_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[ros2_control_node-3] [FATAL] [1695818351.805461574] [locobot.xs_hardware_interface]: Could not get robot_info service within timeout.
[ros2_control_node-3] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-3]   what():  Could not get robot_info service within timeout.
[spawner-5] [INFO] [1695818353.011109273] [gripper_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[spawner-4] [INFO] [1695818353.016685798] [arm_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[ERROR] [ros2_control_node-3]: process has died [pid 3127, exit code -6, cmd '/opt/ros/galactic/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/locobot --params-file /tmp/launch_params_jnlwph9l --params-file /tmp/launch_params_ft0i_0qz'].
[spawner-5] [INFO] [1695818355.018363409] [gripper_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[spawner-4] [INFO] [1695818355.023421673] [arm_controller_spawner]: Waiting for '/locobot/controller_manager' node to exist
[spawner-5] [ERROR] [1695818357.024682544] [gripper_controller_spawner]: Controller manager not available
[spawner-4] [ERROR] [1695818357.029712667] [arm_controller_spawner]: Controller manager not available
[ERROR] [spawner-5]: process has died [pid 3131, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager gripper_controller --ros-args -r __node:=gripper_controller_spawner'].
[ERROR] [spawner-4]: process has died [pid 3129, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager arm_controller --ros-args -r __node:=arm_controller_spawner'].

[ajinkyamar]

I referred to interbotix_ros_manipulators issues but the error still persists.

The terminal log

locobot@locobot:~$ ros2 launch interbotix_xslocobot_joy xslocobot_joy.launch.py robot_model:=locobot_wx250s use_rviz:=true use_lidar:=true
[INFO] [launch]: All log files can be found below /home/locobot/.ros/log/2023-09-28-08-31-44-569458-locobot-4209
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4230]
[INFO] [joint_state_publisher-2]: process started with pid [4232]
[INFO] [rviz2-3]: process started with pid [4234]
[INFO] [xs_sdk-4]: process started with pid [4236]
[INFO] [sllidar_node-5]: process started with pid [4238]
[INFO] [component_container-6]: process started with pid [4240]
[INFO] [joy_node-7]: process started with pid [4242]
[INFO] [xslocobot_joy-8]: process started with pid [4249]
[INFO] [xslocobot_robot.py-9]: process started with pid [4274]
[xs_sdk-4] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-4] [INFO] Using logging level 'INFO'.
[xs_sdk-4] [INFO] Loaded mode configs from '/home/locobot/interbotix_ws/install/interbotix_xslocobot_joy/share/interbotix_xslocobot_joy/config/modes_all.yaml'.
[xs_sdk-4] [INFO] Loaded motor configs from '/home/locobot/interbotix_ws/install/interbotix_xslocobot_control/share/interbotix_xslocobot_control/config/locobot_wx250s.yaml'.
[xs_sdk-4] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[sllidar_node-5] [INFO] [1695907905.855591239] [locobot.rplidar_composition]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 11, Model: 'XL430-W250-2', Joint Name: 'tilt'.
[sllidar_node-5] [INFO] [1695907905.902032253] [locobot.rplidar_composition]: SLLidar S/N: 6BFFED95C4E493CDA5E69EF0FA2F4B69
[sllidar_node-5] [INFO] [1695907905.902089657] [locobot.rplidar_composition]: Firmware Ver: 1.32
[sllidar_node-5] [INFO] [1695907905.902101745] [locobot.rplidar_composition]: Hardware Rev: 6
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 8, Model: 'XL430-W250', Joint Name: 'wrist_rotate'.
[sllidar_node-5] [INFO] [1695907905.953249565] [locobot.rplidar_composition]: SLLidar health status : 0
[sllidar_node-5] [INFO] [1695907905.953307888] [locobot.rplidar_composition]: SLLidar health status : OK.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 7, Model: 'XM430-W350', Joint Name: 'wrist_angle'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 5, Model: 'XM430-W350', Joint Name: 'elbow_shadow'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 4, Model: 'XM430-W350', Joint Name: 'elbow'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 6, Model: 'XM430-W350', Joint Name: 'forearm_roll'.
[sllidar_node-5] [INFO] [1695907906.171694205] [locobot.rplidar_composition]: current scan mode: Sensitivity, sample rate: 16 Khz, max_distance: 16.0 m, scan frequency:10.0 Hz,
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 2, Model: 'XM430-W350', Joint Name: 'shoulder'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 10, Model: 'XL430-W250-2', Joint Name: 'pan'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 9, Model: 'XL430-W250', Joint Name: 'gripper'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 3, Model: 'XM430-W350', Joint Name: 'shoulder_shadow'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 1, Model: 'XM430-W350', Joint Name: 'waist'.
[xs_sdk-4] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set write_eeprom_on_startup to false from now on.
[xs_sdk-4] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'time'.
[xs_sdk-4] [INFO] The operating mode for the 'camera' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-4] [INFO] The operating mode for the 'gripper' joint was changed to 'pwm' with profile type 'velocity'.
[xs_sdk-4] [INFO] Interbotix X-Series Driver is up!
[xs_sdk-4] [INFO] [1695907908.038204005] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[xslocobot_robot.py-9] [ERROR] [1695907916.402942611] [locobot.robot_manipulation]: Failed to find services under namespace 'locobot'. Is the xs_sdk running? Shutting down...
[ERROR] [xslocobot_robot.py-9]: process has died [pid 4274, exit code 1, cmd '/home/locobot/interbotix_ws/install/interbotix_xslocobot_joy/lib/interbotix_xslocobot_joy/xslocobot_robot.py --robot_model locobot_wx250s --robot_name locobot --use_base true --ros-args -r __ns:=/locobot --params-file /tmp/launch_params_bqe6_nzt'].