THIS IS my controller.yaml file
controller_manager:
ros__parameters:
update_rate: 100 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
joint0_position_controller:
type: position_controllers/JointGroupPositionController
joint0_velocity_controller:
type: velocity_controllers/JointGroupVelocityController
joint0_effort_controller:
type: effort_controllers/JointGroupEffortController
joint1_position_controller:
type: position_controllers/JointGroupPositionController
joint1_velocity_controller:
type: velocity_controllers/JointGroupVelocityController
joint1_effort_controller:
type: effort_controllers/JointGroupEffortController
group_position_controller:
type: position_controllers/JointGroupPositionController
group_velocity_controller:
type: velocity_controllers/JointGroupVelocityController
group_effort_controller:
type: effort_controllers/JointGroupEffortController
joint0_position_controller:
ros__parameters:
joints:
- joint0
joint0_velocity_controller:
ros__parameters:
joints:
- joint0
joint0_effort_controller:
ros__parameters:
joints:
- joint0
joint1_position_controller:
ros__parameters:
joints:
- joint1
joint1_velocity_controller:
ros__parameters:
joints:
- joint1
joint1_effort_controller:
ros__parameters:
joints:
- joint1
group_position_controller:
ros__parameters:
joints:
- joint0
- joint1
group_velocity_controller:
ros__parameters:
joints:
- joint0
- joint1
group_effort_controller:
ros__parameters:
joints:
- joint0
- joint1
This is my launch file
# Copyright 2021 Factor Robotics
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"enable_joint0",
default_value="true",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"enable_joint1",
default_value="true",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"joint0_controller",
default_value="joint0_position_controller",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"joint1_controller",
default_value="joint1_position_controller",
)
)
enable_joint0 = LaunchConfiguration("enable_joint0")
enable_joint1 = LaunchConfiguration("enable_joint1")
joint0_controller = LaunchConfiguration("joint0_controller")
joint1_controller = LaunchConfiguration("joint1_controller")
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[
FindPackageShare("odrive_description"),
"urdf",
"odrive.urdf.xacro",
]
),
" ",
"enable_joint0:=",
enable_joint0,
" ",
"enable_joint1:=",
enable_joint1,
]
)
robot_description = {"robot_description": robot_description_content}
robot_controllers = PathJoinSubstitution(
[
FindPackageShare("odrive_bringup"),
"config",
"odrive_controllers.yaml",
]
)
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
output={
"stdout": "screen",
"stderr": "screen",
},
)
robot_state_pub_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
)
joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner.py",
arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
)
joint0_controller_spawner = Node(
package="controller_manager",
executable="spawner.py",
arguments=[joint0_controller, "-c", "/controller_manager"],
condition=IfCondition(enable_joint0),
)
joint1_controller_spawner = Node(
package="controller_manager",
executable="spawner.py",
arguments=[joint1_controller, "-c", "/controller_manager"],
condition=IfCondition(enable_joint1),
)
nodes = [
control_node,
robot_state_pub_node,
joint_state_broadcaster_spawner,
joint0_controller_spawner,
joint1_controller_spawner,
]
return LaunchDescription(declared_arguments + nodes)
[ERROR] [ros2_control_node-1]: process has died [pid 28410, exit code -6, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_0nfwf8mm --params-file /home/khadas/workspace/install/odrive_bringup/share/odrive_bringup/config/odrive_controllers.yaml'].
Could any one tell me the reason why it fails?
so I tried to migrate it to galactic as mentioned 
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