'force_torque_broadcaster': State interface with key 'ft_sensor/force.x' does not exist #8
Description
ros2 launch peg_in_hole peg_in_hole.launch.py
[spawner-9] [INFO] [1756714709.310546344] [spawner_force_torque_broadcaster]: Loaded force_torque_broadcaster
[spawner-8] [INFO] [1756714709.316224138] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[mujoco_ros2_control-4] [INFO] [1756714709.317857211] [controller_manager]: Configuring controller 'force_torque_broadcaster'
[mujoco_ros2_control-4] [INFO] [1756714709.324365074] [controller_manager]: Configuring controller 'panda_hand_controller'
[mujoco_ros2_control-4] [INFO] [1756714709.324436105] [panda_hand_controller]: Action status changes will be monitored at 20.000000 Hz.
[spawner-7] [INFO] [1756714709.328311327] [spawner_admittance_controller]: Loaded admittance_controller
[mujoco_ros2_control-4] [INFO] [1756714709.330155713] [controller_manager]: Configuring controller 'admittance_controller'
[mujoco_ros2_control-4] [INFO] [1756714709.330213921] [admittance_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[mujoco_ros2_control-4] [INFO] [1756714709.330229267] [admittance_controller]: state int types are: position
[mujoco_ros2_control-4]
[mujoco_ros2_control-4] [INFO] [1756714709.330235104] [admittance_controller]: state int types are: velocity
[mujoco_ros2_control-4]
[mujoco_ros2_control-4] [INFO] [1756714709.330241679] [admittance_controller]: command int types are: position
[mujoco_ros2_control-4]
[mujoco_ros2_control-4] [INFO] [1756714709.330251871] [admittance_controller]: chainable int types are: position
[mujoco_ros2_control-4]
[mujoco_ros2_control-4] [INFO] [1756714709.330258833] [admittance_controller]: chainable int types are: velocity
[mujoco_ros2_control-4]
[mujoco_ros2_control-4] [INFO] [1756714709.330282715] [admittance_controller]: Command interfaces are [position] and and state interfaces are [position velocity].
[mujoco_ros2_control-4] [ERROR] [1756714709.367632811] [controller_manager]: Can't activate controller 'force_torque_broadcaster': State interface with key 'ft_sensor/force.x' does not exist
[mujoco_ros2_control-4] [ERROR] [1756714709.367694350] [controller_manager]: Could not activate controller : 'force_torque_broadcaster'
[spawner-9] [ERROR] [1756714709.373859211] [spawner_force_torque_broadcaster]: Failed to activate controller : force_torque_broadcaster
[spawner-8] [INFO] [1756714709.385657538] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[mujoco_ros2_control-4] [ERROR] [1756714709.391841105] [controller_manager]: Can't activate controller 'admittance_controller': State interface with key 'ft_sensor/force.x' does not exist
[mujoco_ros2_control-4] [ERROR] [1756714709.391895026] [controller_manager]: Could not activate controller : 'admittance_controller'
[spawner-7] [ERROR] [1756714709.393092146] [spawner_admittance_controller]: Failed to activate controller : admittance_controller
[ERROR] [spawner-9]: process has died [pid 1902044, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner force_torque_broadcaster -c /controller_manager --ros-args'].
[ERROR] [spawner-7]: process has died [pid 1902040, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner admittance_controller -c /controller_manager --ros-args'].
[INFO] [spawner-10]: process started with pid [1902075]
[INFO] [spawner-8]: process has finished cleanly [pid 1902042]
[mujoco_ros2_control-4] [INFO] [1756714709.849780490] [controller_manager]: Loading controller 'panda_arm_controller'