TypeError after performing apt upgrade: Failed to normalize given item of type '<class 'tuple'>', when only 'str' or 'launch.Substitution' were expected

Software
1

I encountered a run-time error of the API. I noticed this happened after upgrading ROS2 system.
Distributor ID: Ubuntu
Description: Ubuntu 24.04.2 LTS
Release: 24.04
Codename: noble

ROS_DISTRO: jazzy

The following is the log.

husarion@my-ROSbotXL:~/rosbot_ws_jazzy$ ros2 launch rosbot_bringup bringup.launch.py robot_model:=rosbot_xl -d
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/husarion/.ros/log/2025-07-04-16-35-15-657721-my-ROSbotXL-280903
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7e8c34c1ce90>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7e8c34c1ce90>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7e8c37fb8fe0>'
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/jazzy/lib/python3.12/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/jazzy/lib/python3.12/site-packages/launch/launch_service.py:319> took 0.463 seconds
[INFO] [robot_state_publisher-1]: process started with pid [280907]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [ros2_control_node-2]: process started with pid [280908]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [micro_ros_agent-3]: process started with pid [280909]
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [ekf_node-4]: process started with pid [280910]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [scan_to_scan_filter_chain-5]: process started with pid [280911]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [joy_node-6]: process started with pid [280912]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [teleop_node-7]: process started with pid [280913]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7e8c34e4b440>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7e8c34bfb4a0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c346d38c0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c346d38c0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612716.139407] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[micro_ros_agent-3] [1751612716.139568] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7e8c346d3350>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7e8c346d3890>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7e8c346d3260>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7e8c346d3860>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7e8c346d33b0>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ede0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ede0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347da570>'
[scan_to_scan_filter_chain-5] [WARN] [1751612716.243772568] [rcl.logging_rosout]: Publisher already registered for node name: 'laser_filter'. If this is due to multiple nodes with the same name then all logs for the logger named 'laser_filter' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ebd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ebd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c346d2750>'
[teleop_node-7] [INFO] [1751612716.253714540] [TeleopTwistJoy]: Teleop enable button 4.
[teleop_node-7] [INFO] [1751612716.253794640] [TeleopTwistJoy]: Turbo on button 5.
[teleop_node-7] [INFO] [1751612716.253798608] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.700000.
[teleop_node-7] [INFO] [1751612716.253807337] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.500000.
[teleop_node-7] [INFO] [1751612716.253810258] [TeleopTwistJoy]: Linear axis y on 0 at scale 0.700000.
[teleop_node-7] [INFO] [1751612716.253812491] [TeleopTwistJoy]: Turbo for linear axis y is scale 1.500000.
[teleop_node-7] [INFO] [1751612716.253814895] [TeleopTwistJoy]: Angular axis yaw on 3 at scale 1.000000.
[teleop_node-7] [INFO] [1751612716.253817188] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.500000.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34ad34d0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34ad34d0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34911d00>'
[robot_state_publisher-1] [INFO] [1751612716.255382906] [robot_state_publisher]: Robot initialized
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34df10d0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34df10d0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.308472551] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34e4b440>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34e4b440>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.318981391] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34e4b440>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34e4b440>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.352708276] [controller_manager]: update rate is 100 Hz
[ros2_control_node-2] [INFO] [1751612716.352764085] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34e4b440>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34e4b440>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [WARN] [1751612716.352900437] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-2] [INFO] [1751612716.353985826] [controller_manager]: Received robot description from topic.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.357659202] [controller_manager]: Loading hardware 'imu' 
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef90>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.360345333] [controller_manager]: Loaded hardware 'imu' from plugin 'rosbot_hardware_interfaces/RosbotImuSensor'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef90>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.360401243] [controller_manager]: Initialize hardware 'imu' 
[ros2_control_node-2] [INFO] [1751612716.360424317] [RosbotImuSensor]: Initializing
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ede0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ede0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.377500786] [controller_manager]: Successful initialization of hardware 'imu'
[ros2_control_node-2] [INFO] [1751612716.377663561] [controller_manager]: Loading hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1751612716.377886870] [controller_manager]: Loaded hardware 'rosbot_system' from plugin 'rosbot_hardware_interfaces/RosbotSystem'
[ros2_control_node-2] [INFO] [1751612716.377912134] [controller_manager]: Initialize hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1751612716.377941357] [RosbotSystem]: Initializing
[ros2_control_node-2] [INFO] [1751612716.377977158] [RosbotSystem]: Joint 'fl_wheel_joint' found
[ros2_control_node-2] [INFO] [1751612716.377989664] [RosbotSystem]: Joint 'fr_wheel_joint' found
[ros2_control_node-2] [INFO] [1751612716.377992594] [RosbotSystem]: Joint 'rl_wheel_joint' found
[ros2_control_node-2] [INFO] [1751612716.377995014] [RosbotSystem]: Joint 'rr_wheel_joint' found
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ebd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ebd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.393757604] [controller_manager]: Successful initialization of hardware 'rosbot_system'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ebd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ebd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612716.393966400] [resource_manager]: 'configure' hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1751612716.393976099] [RosbotSystem]: Configuring
[ros2_control_node-2] [INFO] [1751612716.393979442] [resource_manager]: Successful 'configure' of hardware 'rosbot_system'
[ros2_control_node-2] [INFO] [1751612716.393983629] [resource_manager]: 'activate' hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1751612716.393987850] [RosbotSystem]: Activating
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [WARN] [1751612716.398751487] [RosbotSystem]: Feedback message from motors wasn't received yet
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef90>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.282655] info     | Root.cpp           | create_client            | create                 | client_key: 0x5D054E3D, session_id: 0x81
[micro_ros_agent-3] [1751612717.282759] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x5D054E3D, address: 192.168.77.3:47138
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ebd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ebd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.284840] warning  | FastDDSMiddleware.cpp | create_participant_by_bin | Overriding Micro XRCE-DDS Client DOMAIN_ID | domain_id: 0
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.366747] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x5D054E3D, participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.372292] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x5D054E3D, topic_id: 0x000(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1751612717.373677] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x5D054E3D, subscriber_id: 0x000(4), participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ede0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ede0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.380733] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x5D054E3D, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34ad34d0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34ad34d0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.383720] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x5D054E3D, topic_id: 0x001(2), participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34e4b440>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34e4b440>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.386446] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x5D054E3D, publisher_id: 0x000(3), participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.390437] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x5D054E3D, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef90>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [WARN] [1751612717.398852251] [RosbotSystem]: Feedback message from motors wasn't received yet
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ede0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ede0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.542860] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x5D054E3D, topic_id: 0x002(2), participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.544975] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x5D054E3D, publisher_id: 0x001(3), participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef90>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.547940] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x5D054E3D, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ede0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ede0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.549921] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x5D054E3D, topic_id: 0x003(2), participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.551824] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x5D054E3D, publisher_id: 0x002(3), participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ef90>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.557765] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x5D054E3D, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ede0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7e8c34c1ede0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c34778320>'
[micro_ros_agent-3] [1751612717.564128] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x5D054E3D, requester_id: 0x000(7), participant_id: 0x000(1)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [WARN] [1751612718.398973399] [RosbotSystem]: Feedback message from motors wasn't received yet
[ros2_control_node-2] [INFO] [1751612718.399004131] [resource_manager]: Successful 'activate' of hardware 'rosbot_system'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34c1ef30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [INFO] [1751612718.399083795] [resource_manager]: 'configure' hardware 'imu' 
[ros2_control_node-2] [INFO] [1751612718.399087630] [RosbotImuSensor]: Configuring
[ros2_control_node-2] [INFO] [1751612718.399089800] [resource_manager]: Successful 'configure' of hardware 'imu'
[ros2_control_node-2] [INFO] [1751612718.399093952] [resource_manager]: 'activate' hardware 'imu' 
[ros2_control_node-2] [INFO] [1751612718.399096377] [RosbotImuSensor]: Activating
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34df10d0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7e8c34df10d0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7e8c347e2cf0>'
[ros2_control_node-2] [WARN] [1751612718.400575104] [RosbotImuSensor]: Feedback message from imu wasn't received yet
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.TimerEvent'
[DEBUG] [launch]: processing event: '<launch.events.timer_event.TimerEvent object at 0x7e8c34e4b440>'
[DEBUG] [launch]: processing event: '<launch.events.timer_event.TimerEvent object at 0x7e8c34e4b440>' ✓ '<launch.event_handler.EventHandler object at 0x7e8c346d03e0>'
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/launch_service.py", line 343, in run_async
    raise exception_to_raise
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
                   ^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/action.py", line 109, in visit
    return self.execute(context)
           ^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/actions/reset_launch_configurations.py", line 83, in execute
    evaluated_v = perform_substitutions(context, normalize_to_list_of_substitutions(v))
                                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/utilities/normalize_to_list_of_substitutions_impl.py", line 44, in normalize_to_list_of_substitutions
    return [normalize(y) for y in cast(Iterable, subs)]
            ^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/utilities/normalize_to_list_of_substitutions_impl.py", line 36, in normalize
    raise TypeError(
TypeError: Failed to normalize given item of type '<class 'tuple'>', when only 'str' or 'launch.Substitution' were expected.

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Failed to normalize given item of type '<class 'tuple'>', when only 'str' or 'launch.Substitution' were expected.
2

Hello @Dhon_G,

The shoe issue you described is related to a bug in the lunch and lunch_ros packages. We don’t really have control over these packages, so we’ll just have to wait. I found more information:

For now, we recommend using the ROSbot snap (latest changes can be found on jazzy/edge) or Docker approach.

Regards

3

Until the issue is resolved, you can download and build the package for your workspace (src) folder:

git clone -b backport-timer-reset https://github.com/rafal-gorecki/launch

I’ve also added a PR to the official project, but we’ll have to wait for it to merge.

4

Hi @RafalGorecki

Thanks for your response.
Will look into this.

Regards

5

Hi @RafalGorecki

I’m getting the following error.

husarion@my-ROSbotXL:~/rosbot_ws_jazzy2$ ros2 launch rosbot_bringup bringup.launch.py robot_model:=rosbot_xl
[INFO] [launch]: All log files can be found below /home/husarion/.ros/log/2025-07-29-11-32-52-838500-my-ROSbotXL-33391
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [33395]
[INFO] [ros2_control_node-2]: process started with pid [33396]
[INFO] [micro_ros_agent-3]: process started with pid [33397]
[INFO] [ekf_node-4]: process started with pid [33398]
[INFO] [scan_to_scan_filter_chain-5]: process started with pid [33399]
[INFO] [joy_node-6]: process started with pid [33400]
[INFO] [teleop_node-7]: process started with pid [33401]
[micro_ros_agent-3] [1753754573.266124] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[micro_ros_agent-3] [1753754573.266405] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[scan_to_scan_filter_chain-5] [WARN] [1753754573.293007634] [rcl.logging_rosout]: Publisher already registered for node name: 'laser_filter'. If this is due to multiple nodes with the same name then all logs for the logger named 'laser_filter' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[robot_state_publisher-1] [INFO] [1753754573.309024980] [robot_state_publisher]: Robot initialized
[ros2_control_node-2] [INFO] [1753754573.414565346] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[teleop_node-7] [INFO] [1753754573.425189181] [TeleopTwistJoy]: Teleop enable button 4.
[teleop_node-7] [INFO] [1753754573.425325565] [TeleopTwistJoy]: Turbo on button 5.
[teleop_node-7] [INFO] [1753754573.425330064] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.700000.
[teleop_node-7] [INFO] [1753754573.425336116] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.500000.
[teleop_node-7] [INFO] [1753754573.425338491] [TeleopTwistJoy]: Linear axis y on 0 at scale 0.700000.
[teleop_node-7] [INFO] [1753754573.425340745] [TeleopTwistJoy]: Turbo for linear axis y is scale 1.500000.
[teleop_node-7] [INFO] [1753754573.425343334] [TeleopTwistJoy]: Angular axis yaw on 3 at scale 1.000000.
[teleop_node-7] [INFO] [1753754573.425345729] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.500000.
[ros2_control_node-2] [INFO] [1753754573.430678505] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-2] [INFO] [1753754573.447865947] [controller_manager]: update rate is 100 Hz
[ros2_control_node-2] [INFO] [1753754573.447908659] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-2] [WARN] [1753754573.448009611] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-2] [INFO] [1753754573.448414381] [controller_manager]: Received robot description from topic.
[ros2_control_node-2] [INFO] [1753754573.451284071] [controller_manager]: Loading hardware 'imu' 
[ros2_control_node-2] [INFO] [1753754573.453161635] [controller_manager]: Loaded hardware 'imu' from plugin 'rosbot_hardware_interfaces/RosbotImuSensor'
[ros2_control_node-2] [INFO] [1753754573.453208128] [controller_manager]: Initialize hardware 'imu' 
[ros2_control_node-2] [INFO] [1753754573.453228008] [RosbotImuSensor]: Initializing
[ros2_control_node-2] [INFO] [1753754573.462973618] [controller_manager]: Successful initialization of hardware 'imu'
[ros2_control_node-2] [INFO] [1753754573.463101832] [controller_manager]: Loading hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1753754573.463431395] [controller_manager]: Loaded hardware 'rosbot_system' from plugin 'rosbot_hardware_interfaces/RosbotSystem'
[ros2_control_node-2] [INFO] [1753754573.463463265] [controller_manager]: Initialize hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1753754573.463491726] [RosbotSystem]: Initializing
[ros2_control_node-2] [INFO] [1753754573.463532172] [RosbotSystem]: Joint 'fl_wheel_joint' found
[ros2_control_node-2] [INFO] [1753754573.463542564] [RosbotSystem]: Joint 'fr_wheel_joint' found
[ros2_control_node-2] [INFO] [1753754573.463545369] [RosbotSystem]: Joint 'rl_wheel_joint' found
[ros2_control_node-2] [INFO] [1753754573.463547738] [RosbotSystem]: Joint 'rr_wheel_joint' found
[ros2_control_node-2] [INFO] [1753754573.476056729] [controller_manager]: Successful initialization of hardware 'rosbot_system'
[ros2_control_node-2] [INFO] [1753754573.476244499] [resource_manager]: 'configure' hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1753754573.476252712] [RosbotSystem]: Configuring
[ros2_control_node-2] [INFO] [1753754573.476256530] [resource_manager]: Successful 'configure' of hardware 'rosbot_system'
[ros2_control_node-2] [INFO] [1753754573.476262083] [resource_manager]: 'activate' hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1753754573.476267206] [RosbotSystem]: Activating
[ros2_control_node-2] [WARN] [1753754573.479373461] [RosbotSystem]: Feedback message from motors wasn't received yet
[ros2_control_node-2] [WARN] [1753754574.479602500] [RosbotSystem]: Feedback message from motors wasn't received yet
[ros2_control_node-2] [WARN] [1753754575.479882494] [RosbotSystem]: Feedback message from motors wasn't received yet
[INFO] [spawner-8]: process started with pid [33511]
[INFO] [spawner-9]: process started with pid [33512]
[INFO] [spawner-10]: process started with pid [33513]
[ros2_control_node-2] [WARN] [1753754576.479967188] [RosbotSystem]: Feedback message from motors wasn't received yet
[spawner-10] [INFO] [1753754576.588725288] [spawner_rosbot_base_controller]: waiting for service /controller_manager/list_controllers to become available...
[micro_ros_agent-3] [1753754577.232232] info     | Root.cpp           | create_client            | create                 | client_key: 0x3EA8EBF2, session_id: 0x81
[micro_ros_agent-3] [1753754577.232331] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x3EA8EBF2, address: 192.168.77.3:47138
[micro_ros_agent-3] [1753754577.234228] warning  | FastDDSMiddleware.cpp | create_participant_by_bin | Overriding Micro XRCE-DDS Client DOMAIN_ID | domain_id: 0
[micro_ros_agent-3] [1753754577.258879] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x3EA8EBF2, participant_id: 0x000(1)
[ros2_control_node-2] [WARN] [1753754577.304287681] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 100 Hz. The loop took 26.115581 ms (missed cycles : 3).
[micro_ros_agent-3] [1753754577.472530] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x3EA8EBF2, topic_id: 0x000(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1753754577.474464] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x3EA8EBF2, subscriber_id: 0x000(4), participant_id: 0x000(1)
[micro_ros_agent-3] [1753754577.477447] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x3EA8EBF2, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[micro_ros_agent-3] [1753754577.479442] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x3EA8EBF2, topic_id: 0x001(2), participant_id: 0x000(1)
[ros2_control_node-2] [WARN] [1753754577.480062545] [RosbotSystem]: Feedback message from motors wasn't received yet
[micro_ros_agent-3] [1753754577.481555] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x3EA8EBF2, publisher_id: 0x000(3), participant_id: 0x000(1)
[micro_ros_agent-3] [1753754577.485669] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x3EA8EBF2, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[micro_ros_agent-3] [1753754577.487457] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x3EA8EBF2, topic_id: 0x002(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1753754577.489414] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x3EA8EBF2, publisher_id: 0x001(3), participant_id: 0x000(1)
[micro_ros_agent-3] [1753754577.492979] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x3EA8EBF2, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[micro_ros_agent-3] [1753754577.494662] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x3EA8EBF2, topic_id: 0x003(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1753754577.496434] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x3EA8EBF2, publisher_id: 0x002(3), participant_id: 0x000(1)
[micro_ros_agent-3] [1753754577.499271] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x3EA8EBF2, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[micro_ros_agent-3] [1753754577.676362] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x3EA8EBF2, requester_id: 0x000(7), participant_id: 0x000(1)
[ros2_control_node-2] [WARN] [1753754578.480212992] [RosbotSystem]: Feedback message from motors wasn't received yet
[ros2_control_node-2] [INFO] [1753754578.480294542] [resource_manager]: Successful 'activate' of hardware 'rosbot_system'
[ros2_control_node-2] [INFO] [1753754578.480494189] [resource_manager]: 'configure' hardware 'imu' 
[ros2_control_node-2] [INFO] [1753754578.480508370] [RosbotImuSensor]: Configuring
[ros2_control_node-2] [INFO] [1753754578.480517876] [resource_manager]: Successful 'configure' of hardware 'imu'
[ros2_control_node-2] [INFO] [1753754578.480550525] [resource_manager]: 'activate' hardware 'imu' 
[ros2_control_node-2] [INFO] [1753754578.480560898] [RosbotImuSensor]: Activating
[ros2_control_node-2] [WARN] [1753754578.484215744] [RosbotImuSensor]: Feedback message from imu wasn't received yet
[ros2_control_node-2] [WARN] [1753754579.484392369] [RosbotImuSensor]: Feedback message from imu wasn't received yet
[ros2_control_node-2] [INFO] [1753754579.484475411] [resource_manager]: Successful 'activate' of hardware 'imu'
[ros2_control_node-2] [INFO] [1753754579.484716023] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[ros2_control_node-2] [INFO] [1753754579.516688866] [controller_manager]: Received robot description from topic.
[ros2_control_node-2] [WARN] [1753754579.516794873] [controller_manager]: ResourceManager has already loaded a urdf. Ignoring attempt to reload a robot description.
[spawner-10] [WARN] [1753754586.841687595] [spawner_rosbot_base_controller]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 1 of 3.)
[ros2_control_node-2] [INFO] [1753754586.847128572] [controller_manager]: Loading controller : 'rosbot_base_controller' of type 'mecanum_drive_controller/MecanumDriveController'
[ros2_control_node-2] [INFO] [1753754586.847222859] [controller_manager]: Loading controller 'rosbot_base_controller'
**[spawner-10] [FATAL] [1753754586.850908183] [spawner_rosbot_base_controller]: Failed loading controller rosbot_base_controller**
**Fatal error: b'[FATAL] [1753754586.850908183] [spawner_rosbot_base_controller]: \x1b[91mFailed loading controller \x1b[1mrosbot_base_controller\x1b[0m\n'. Emitting shutdown...**
[INFO] [spawner-10]: sending signal 'SIGINT' to process[spawner-10]
[INFO] [spawner-9]: sending signal 'SIGINT' to process[spawner-9]
[INFO] [spawner-8]: sending signal 'SIGINT' to process[spawner-8]
[INFO] [teleop_node-7]: sending signal 'SIGINT' to process[teleop_node-7]
[INFO] [joy_node-6]: sending signal 'SIGINT' to process[joy_node-6]
[INFO] [scan_to_scan_filter_chain-5]: sending signal 'SIGINT' to process[scan_to_scan_filter_chain-5]
[INFO] [ekf_node-4]: sending signal 'SIGINT' to process[ekf_node-4]
[INFO] [micro_ros_agent-3]: sending signal 'SIGINT' to process[micro_ros_agent-3]
[INFO] [ros2_control_node-2]: sending signal 'SIGINT' to process[ros2_control_node-2]
[INFO] [robot_state_publisher-1]: sending signal 'SIGINT' to process[robot_state_publisher-1]
[ros2_control_node-2] [WARN] [1753754586.857028963] [controller_manager]: The use of remapping arguments to the controller_manager node is deprecated. Please use the '--controller-ros-args' argument of the spawner to pass remapping arguments to the controller node.
[ros2_control_node-2] [INFO] [1753754586.857125189] [controller_manager]: Controller 'rosbot_base_controller' node arguments: --ros-args -p use_sim_time:=False --params-file /tmp/tmppmqhsm9y -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static -r imu_sensor_node/imu:=/_imu/data_raw -r ~/motors_cmd:=/_motors_cmd -r ~/motors_response:=/_motors_response -r rosbot_base_controller/cmd_vel:=cmd_vel 
[spawner-10] Traceback (most recent call last):
[spawner-10]   File "/opt/ros/jazzy/lib/controller_manager/spawner", line 33, in <module>
[spawner-10]     sys.exit(load_entry_point('controller-manager==4.32.0', 'console_scripts', 'spawner')())
[spawner-10]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[spawner-10]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 407, in main
[spawner-10]     node.destroy_node()
[spawner-10]   File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/node.py", line 1959, in destroy_node
[spawner-10]     self.destroy_service(self._services[0])
[spawner-10]   File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/node.py", line 1883, in destroy_service
[ERROR] [micro_ros_agent-3]: process has died [pid 33397, exit code -2, cmd '/home/husarion/rosbot_ws_jazzy2/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent udp4 --port 8888 --ros-args -r __ns:=/ -p use_sim_time:=False -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static'].
[spawner-10]     service.destroy()
[spawner-10]   File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/service.py", line 117, in destroy
[spawner-10]     self.__service.destroy_when_not_in_use()
[spawner-10] KeyboardInterrupt
[spawner-9] Traceback (most recent call last):
[spawner-9]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 187, in main
[spawner-9]     lock.acquire(timeout=20)
[spawner-9]   File "/usr/lib/python3/dist-packages/filelock/_api.py", line 267, in acquire
[spawner-9]     time.sleep(poll_interval)
[spawner-9] KeyboardInterrupt
[spawner-9] 
[spawner-9] During handling of the above exception, another exception occurred:
[spawner-9] 
[spawner-9] Traceback (most recent call last):
[spawner-9]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 401, in main
[spawner-9]     node.get_logger().info("KeyboardInterrupt received! Exiting....")
[spawner-9]     ^^^^
[spawner-9] UnboundLocalError: cannot access local variable 'node' where it is not associated with a value
[spawner-9] 
[spawner-9] During handling of the above exception, another exception occurred:
[spawner-9] 
[spawner-9] Traceback (most recent call last):
[spawner-9]   File "/opt/ros/jazzy/lib/controller_manager/spawner", line 33, in <module>
[spawner-9]     sys.exit(load_entry_point('controller-manager==4.32.0', 'console_scripts', 'spawner')())
[spawner-9]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[spawner-9]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 407, in main
[spawner-9]     node.destroy_node()
[spawner-9]     ^^^^
[spawner-9] UnboundLocalError: cannot access local variable 'node' where it is not associated with a value
[teleop_node-7] [INFO] [1753754586.872832160] [rclcpp]: signal_handler(signum=2)
[spawner-8] Traceback (most recent call last):
[spawner-8]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 187, in main
[spawner-8]     lock.acquire(timeout=20)
[spawner-8]   File "/usr/lib/python3/dist-packages/filelock/_api.py", line 267, in acquire
[spawner-8]     time.sleep(poll_interval)
[spawner-8] KeyboardInterrupt
[spawner-8] 
[spawner-8] During handling of the above exception, another exception occurred:
[spawner-8] 
[spawner-8] Traceback (most recent call last):
[spawner-8]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 401, in main
[joy_node-6] [INFO] [1753754586.876341818] [rclcpp]: signal_handler(signum=2)
[spawner-8]     node.get_logger().info("KeyboardInterrupt received! Exiting....")
[spawner-8]     ^^^^
[spawner-8] UnboundLocalError: cannot access local variable 'node' where it is not associated with a value
[spawner-8] 
[spawner-8] During handling of the above exception, another exception occurred:
[spawner-8] 
[spawner-8] Traceback (most recent call last):
[spawner-8]   File "/opt/ros/jazzy/lib/controller_manager/spawner", line 33, in <module>
[spawner-8]     sys.exit(load_entry_point('controller-manager==4.32.0', 'console_scripts', 'spawner')())
[spawner-8]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[spawner-8]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/spawner.py", line 407, in main
[spawner-8]     node.destroy_node()
[spawner-8]     ^^^^
[spawner-8] UnboundLocalError: cannot access local variable 'node' where it is not associated with a value
[scan_to_scan_filter_chain-5] [INFO] [1753754586.880201539] [rclcpp]: signal_handler(signum=2)
[ekf_node-4] [INFO] [1753754586.885935723] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-2] [INFO] [1753754586.891303339] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-2] [INFO] [1753754586.891666004] [controller_manager]: Shutdown request received....
[ros2_control_node-2] [INFO] [1753754586.891861351] [controller_manager]: Shutting down all controllers in the controller manager.
[robot_state_publisher-1] [INFO] [1753754586.897705923] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-2] [INFO] [1753754587.019041771] [controller_manager]: Shutting down controller 'rosbot_base_controller'
[ros2_control_node-2] [INFO] [1753754587.019292622] [resource_manager]: 'deactivate' hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1753754587.019337291] [RosbotSystem]: Deactivating
[ros2_control_node-2] [INFO] [1753754587.020293119] [resource_manager]: Successful 'deactivate' of hardware 'rosbot_system'
[ros2_control_node-2] [INFO] [1753754587.020325526] [resource_manager]: 'shutdown' hardware 'rosbot_system' 
[ros2_control_node-2] [INFO] [1753754587.020692266] [RosbotSystem]: Shutting down
[ros2_control_node-2] [INFO] [1753754587.020703790] [resource_manager]: Successful 'shutdown' of hardware 'rosbot_system'
[ros2_control_node-2] [INFO] [1753754587.020876520] [resource_manager]: 'deactivate' hardware 'imu' 
[ros2_control_node-2] [INFO] [1753754587.020884538] [RosbotImuSensor]: Deactivating
[ros2_control_node-2] [INFO] [1753754587.020905692] [resource_manager]: Successful 'deactivate' of hardware 'imu'
[ros2_control_node-2] [INFO] [1753754587.020908711] [resource_manager]: 'shutdown' hardware 'imu' 
[ros2_control_node-2] [INFO] [1753754587.020911363] [RosbotImuSensor]: Shutting down
[ros2_control_node-2] [INFO] [1753754587.020914065] [resource_manager]: Successful 'shutdown' of hardware 'imu'
[ros2_control_node-2] [INFO] [1753754587.020929161] [controller_manager]: Shutting down the controller manager.
[ros2_control_node-2] [ERROR] [1753754587.021799702] [controller_manager.pal_statistics]: Exception in publisher thread: context cannot be slept with because it's invalid!. Aborting!
[ERROR] [spawner-8]: process has died [pid 33511, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --controller-manager-timeout 20 --ros-args -r __ns:=/ -p use_sim_time:=False -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static'].
[ros2_control_node-2] [INFO] [1753754587.045397471] [controller_manager.pal_statistics]: Async messages lost 0
[ros2_control_node-2] [INFO] [1753754587.045419491] [controller_manager.pal_statistics]: publish_async_failures_ 0
[ERROR] [spawner-9]: process has died [pid 33512, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner imu_broadcaster -c controller_manager --controller-manager-timeout 20 --ros-args -r __ns:=/ -p use_sim_time:=False -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [spawner-10]: process has died [pid 33513, exit code -2, cmd '/opt/ros/jazzy/lib/controller_manager/spawner rosbot_base_controller -c controller_manager --controller-manager-timeout 20 --ros-args -r __ns:=/ -p use_sim_time:=False -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static'].
[ros2_control_node-2] terminate called without an active exception
[ros2_control_node-2] Stack trace (most recent call last):
[ros2_control_node-2] #15   Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in 
[INFO] [teleop_node-7]: process has finished cleanly [pid 33401]
[INFO] [joy_node-6]: process has finished cleanly [pid 33400]
[INFO] [ekf_node-4]: process has finished cleanly [pid 33398]
[INFO] [scan_to_scan_filter_chain-5]: process has finished cleanly [pid 33399]
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 33395]
[ros2_control_node-2] #14   Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x57d3fab57fd4, in _start
[ros2_control_node-2] #13   Source "../csu/libc-start.c", line 360, in __libc_start_main_impl [0x793a64c2a28a]
[ros2_control_node-2] #12   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x793a64c2a1c9]
[ros2_control_node-2] #11   Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x57d3fab56ffb, in main
[ros2_control_node-2] #10   Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x57d3fab58131, in 
[ros2_control_node-2] #9    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x793a6583d8f4, in controller_manager::ControllerManager::~ControllerManager()
[ros2_control_node-2] #8    Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x793a65351784, in hardware_interface::ResourceManager::~ResourceManager()
[ros2_control_node-2] #7    Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x793a6535158d, in hardware_interface::ResourceManager::~ResourceManager()
[ros2_control_node-2] #6    Object "/home/husarion/rosbot_ws_jazzy2/build/rosbot_hardware_interfaces/librosbot_hardware_interfaces.so", at 0x793a60279441, in rosbot_hardware_interfaces::RosbotSystem::~RosbotSystem()
[ros2_control_node-2] #5    Source "../../../../src/libstdc++-v3/libsupc++/eh_terminate.cc", line 58, in terminate [0x793a650a5a54]
[ros2_control_node-2] #4    Source "../../../../src/libstdc++-v3/libsupc++/eh_terminate.cc", line 48, in __terminate [0x793a650bb0d9]
[ros2_control_node-2] #3    Source "../../../../src/libstdc++-v3/libsupc++/vterminate.cc", line 95, in __verbose_terminate_handler [0x793a650a5ff4]
[ros2_control_node-2] #2    Source "./stdlib/abort.c", line 79, in abort [0x793a64c288fe]
[ros2_control_node-2] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x793a64c4527d]
[ros2_control_node-2] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-2]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-2]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x793a64c9eb2c]
[ros2_control_node-2] Aborted (Signal sent by tkill() 33396 1000)
[ERROR] [ros2_control_node-2]: process has died [pid 33396, exit code -6, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/ -p use_sim_time:=False --params-file /tmp/tmppmqhsm9y -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static -r imu_sensor_node/imu:=/_imu/data_raw -r ~/motors_cmd:=/_motors_cmd -r ~/motors_response:=/_motors_response -r rosbot_base_controller/cmd_vel:=cmd_vel'].
husarion@my-ROSbotXL:~/rosbot_ws_jazzy2$
6

Hello @Dhon_G,

Is the problem persistent, or was it a one-time occurrence?
If it was a one-time occurrence, it seems the communication with the hardware was delayed and timed out.
If the problem persists, try flashing the firmware.