[ur_ros2_control_node-3] [ERROR] [1730685385.072653786] [right.controller_manager]: Could not switch controllers since prepare command mode switch was rejected.
[spawner-9] [ERROR] [1730685385.073923438] [right.spawner_io_and_status_controller]: Failed to activate controller
[INFO] [spawner-12]: process has finished cleanly [pid 435986]
[INFO] [spawner-11]: process has finished cleanly [pid 435984]
[INFO] [spawner-10]: process has finished cleanly [pid 435982]
[INFO] [spawner-8]: process has finished cleanly [pid 435978]
[INFO] [spawner-7]: process has finished cleanly [pid 435976]
[ERROR] [spawner-9]: process has died [pid 435980, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r ns:=/right'].
[spawner-22] [INFO] [1730685386.888671241] [left.spawner_force_torque_sensor_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-23] [INFO] [1730685386.904999236] [left.spawner_forward_position_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-19] [INFO] [1730685386.954946632] [left.spawner_joint_state_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-21] [INFO] [1730685386.958208535] [left.spawner_speed_scaling_state_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-20] [INFO] [1730685386.959137158] [left.spawner_io_and_status_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-18] [INFO] [1730685386.960513400] [left.spawner_scaled_joint_trajectory_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-22] [INFO] [1730685388.894232044] [left.spawner_force_torque_sensor_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-23] [INFO] [1730685388.910393533] [left.spawner_forward_position_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-19] [INFO] [1730685388.960566512] [left.spawner_joint_state_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-21] [INFO] [1730685388.963875902] [left.spawner_speed_scaling_state_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-20] [INFO] [1730685388.964431439] [left.spawner_io_and_status_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-18] [INFO] [1730685388.966369428] [left.spawner_scaled_joint_trajectory_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-22] [INFO] [1730685390.900420978] [left.spawner_force_torque_sensor_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-23] [INFO] [1730685390.916420766] [left.spawner_forward_position_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-19] [INFO] [1730685390.966501761] [left.spawner_joint_state_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-20] [INFO] [1730685390.970366747] [left.spawner_io_and_status_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-21] [INFO] [1730685390.970927581] [left.spawner_speed_scaling_state_broadcaster]: Waiting for '/left/controller_manager' services to be available
[spawner-18] [INFO] [1730685390.972352733] [left.spawner_scaled_joint_trajectory_controller]: Waiting for '/left/controller_manager' services to be available
[spawner-22] [ERROR] [1730685392.906430235] [left.spawner_force_torque_sensor_broadcaster]: Controller manager not available
[spawner-23] [ERROR] [1730685392.922532550] [left.spawner_forward_position_controller]: Controller manager not available
[spawner-19] [ERROR] [1730685392.972410428] [left.spawner_joint_state_broadcaster]: Controller manager not available
[spawner-20] [ERROR] [1730685392.976057433] [left.spawner_io_and_status_controller]: Controller manager not available
[spawner-21] [ERROR] [1730685392.976326234] [left.spawner_speed_scaling_state_broadcaster]: Controller manager not available
[spawner-18] [ERROR] [1730685392.978091544] [left.spawner_scaled_joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner-22]: process has died [pid 436006, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r ns:=/left'].
[ERROR] [spawner-23]: process has died [pid 436017, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner forward_position_controller --controller-manager controller_manager --controller-manager-timeout 10 --inactive --ros-args -r ns:=/left'].
[ERROR] [spawner-19]: process has died [pid 436000, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r __ns:=/left'].
[ERROR] [spawner-20]: process has died [pid 436002, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r ns:=/left'].
[ERROR] [spawner-18]: process has died [pid 435998, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner scaled_joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --ros-args -r __ns:=/left'].
[ERROR] [spawner-21]: process has died [pid 436004, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner speed_scaling_state_broadcaster --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r __ns:=/left'].
ros2 launch ur_robot_driver dual_ur_control.launch.py left_ur_type:=ur3 left_robot_ip:=192.168.101 left_script_sender_port:=50002 right_ur_type:=ur3 right_robot_ip:=192.168.1.50 right_script_sender_port:=50006
[ur_ros2_control_node-3] [ERROR] [1730685385.072653786] [right.controller_manager]: Could not switch controllers since prepare command mode switch was rejected. [spawner-9] [ERROR] [1730685385.073923438] [right.spawner_io_and_status_controller]: Failed to activate controller [INFO] [spawner-12]: process has finished cleanly [pid 435986] [INFO] [spawner-11]: process has finished cleanly [pid 435984] [INFO] [spawner-10]: process has finished cleanly [pid 435982] [INFO] [spawner-8]: process has finished cleanly [pid 435978] [INFO] [spawner-7]: process has finished cleanly [pid 435976] [ERROR] [spawner-9]: process has died [pid 435980, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r ns:=/right']. [spawner-22] [INFO] [1730685386.888671241] [left.spawner_force_torque_sensor_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-23] [INFO] [1730685386.904999236] [left.spawner_forward_position_controller]: Waiting for '/left/controller_manager' services to be available [spawner-19] [INFO] [1730685386.954946632] [left.spawner_joint_state_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-21] [INFO] [1730685386.958208535] [left.spawner_speed_scaling_state_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-20] [INFO] [1730685386.959137158] [left.spawner_io_and_status_controller]: Waiting for '/left/controller_manager' services to be available [spawner-18] [INFO] [1730685386.960513400] [left.spawner_scaled_joint_trajectory_controller]: Waiting for '/left/controller_manager' services to be available [spawner-22] [INFO] [1730685388.894232044] [left.spawner_force_torque_sensor_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-23] [INFO] [1730685388.910393533] [left.spawner_forward_position_controller]: Waiting for '/left/controller_manager' services to be available [spawner-19] [INFO] [1730685388.960566512] [left.spawner_joint_state_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-21] [INFO] [1730685388.963875902] [left.spawner_speed_scaling_state_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-20] [INFO] [1730685388.964431439] [left.spawner_io_and_status_controller]: Waiting for '/left/controller_manager' services to be available [spawner-18] [INFO] [1730685388.966369428] [left.spawner_scaled_joint_trajectory_controller]: Waiting for '/left/controller_manager' services to be available [spawner-22] [INFO] [1730685390.900420978] [left.spawner_force_torque_sensor_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-23] [INFO] [1730685390.916420766] [left.spawner_forward_position_controller]: Waiting for '/left/controller_manager' services to be available [spawner-19] [INFO] [1730685390.966501761] [left.spawner_joint_state_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-20] [INFO] [1730685390.970366747] [left.spawner_io_and_status_controller]: Waiting for '/left/controller_manager' services to be available [spawner-21] [INFO] [1730685390.970927581] [left.spawner_speed_scaling_state_broadcaster]: Waiting for '/left/controller_manager' services to be available [spawner-18] [INFO] [1730685390.972352733] [left.spawner_scaled_joint_trajectory_controller]: Waiting for '/left/controller_manager' services to be available [spawner-22] [ERROR] [1730685392.906430235] [left.spawner_force_torque_sensor_broadcaster]: Controller manager not available [spawner-23] [ERROR] [1730685392.922532550] [left.spawner_forward_position_controller]: Controller manager not available [spawner-19] [ERROR] [1730685392.972410428] [left.spawner_joint_state_broadcaster]: Controller manager not available [spawner-20] [ERROR] [1730685392.976057433] [left.spawner_io_and_status_controller]: Controller manager not available [spawner-21] [ERROR] [1730685392.976326234] [left.spawner_speed_scaling_state_broadcaster]: Controller manager not available [spawner-18] [ERROR] [1730685392.978091544] [left.spawner_scaled_joint_trajectory_controller]: Controller manager not available [ERROR] [spawner-22]: process has died [pid 436006, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r ns:=/left']. [ERROR] [spawner-23]: process has died [pid 436017, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner forward_position_controller --controller-manager controller_manager --controller-manager-timeout 10 --inactive --ros-args -r ns:=/left']. [ERROR] [spawner-19]: process has died [pid 436000, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r __ns:=/left']. [ERROR] [spawner-20]: process has died [pid 436002, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r ns:=/left']. [ERROR] [spawner-18]: process has died [pid 435998, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner scaled_joint_trajectory_controller -c controller_manager --controller-manager-timeout 10 --ros-args -r __ns:=/left']. [ERROR] [spawner-21]: process has died [pid 436004, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner speed_scaling_state_broadcaster --controller-manager controller_manager --controller-manager-timeout 10 --ros-args -r __ns:=/left'].