Not acceptable command interfaces combination ros2_control

[JagaMuthu]

I having trouble with the ro2 control issue. It repeat the same error.
[gzserver-1] [INFO] [1733571413.941938155] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[gzserver-1] [ERROR] [1733571413.961346237] [resource_manager]: Not acceptable command interfaces combination:

  <!--The Gazebo plugin for ros2_control-->
<gazebo>
    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
        <robot_param>robot_description</robot_param>
        <robot_param_node>robot_state_publisher</robot_param_node>
        <parameters>$(find exo_model)/config/robot_control.yaml</parameters>
    </plugin>
</gazebo>

<ros2_control name="RobotSystem" type="system">
    <hardware>
        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
    </hardware>
    <joint name="Joint_2">
        <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
        </command_interface>
        <state_interface name="position">
        <param name="initial_value">0</param>
        </state_interface>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
    </joint>
     <joint name="Joint_3">
        <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
        </command_interface>
        <state_interface name="position">
        <param name="initial_value">0</param>
        </state_interface>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
    </joint>
     <joint name="Joint_4">
        <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
        </command_interface>
        <state_interface name="position">
        <param name="initial_value">0</param>
        </state_interface>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
    </joint>
     <joint name="Joint_5">
        <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
        </command_interface>
        <state_interface name="position">
        <param name="initial_value">0</param>
        </state_interface>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
    </joint>
</ros2_control>

My launch file
#!/usr/bin/env python3
import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, SetEnvironmentVariable, ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch.substitutions import Command, LaunchConfiguration
from launch_ros.parameter_descriptions import ParameterValue
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
# Set GAZEBO_MODEL_PATH for custom models
gazebo_model_path = os.path.join(
get_package_share_directory("exo_model"), "models"
)
gazebo_env = SetEnvironmentVariable(
"GAZEBO_MODEL_PATH", gazebo_model_path
)

# Path to URDF file
urdf_file = os.path.join(
    get_package_share_directory("exo_model"), "urdf", "exo_model_control.urdf"
)
if not os.path.exists(urdf_file):
    raise FileNotFoundError(f"URDF file not found: {urdf_file}")
print(f"Using URDF file: {urdf_file}")

# Robot description parameter
robot_description = ParameterValue(
    Command(['xacro ', urdf_file]), value_type=str
)

# Gazebo launch description (ensures Gazebo 11 is launched)
gazebo = IncludeLaunchDescription(
    PythonLaunchDescriptionSource([os.path.join(
        get_package_share_directory('gazebo_ros'),
        'launch',
        'gazebo.launch.py'
    )]),
    launch_arguments={'verbose': 'true'}.items()
)

# Robot State Publisher Node
robot_state_publisher_node = Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    output='screen',
    parameters=[{
        'robot_description': robot_description,
        'use_sim_time': LaunchConfiguration('use_sim_time')
    }]
)

# Spawn Entity Node to load the robot into Gazebo
spawn_entity_node = Node(
    package='gazebo_ros',
    executable='spawn_entity.py',
    name='urdf_spawner',
    output='screen',
    arguments=[
        '-topic', '/robot_description',  # Subscribe to the /robot_description topic
        '-entity', 'exo_model',
    ]
)

# Load joint state broadcaster
load_joint_state_broadcaster = ExecuteProcess(
    cmd=[
        'ros2', 'control', 'load_controller',
        '--set-state', 'active',
        'joint_state_broadcaster'
    ],
    output='screen'
)

# Load joint trajectory controller
load_joint_trajectory_controller = ExecuteProcess(
    cmd=[
        'ros2', 'control', 'load_controller',
        '--set-state', 'active',
        'joint_trajectory_controller'
    ],
    output='screen'
)

return LaunchDescription([
    DeclareLaunchArgument(
        'use_sim_time',
        default_value='true',
        description='Use simulation clock if true'
    ),
    gazebo_env,  # Set GAZEBO_MODEL_PATH
    gazebo,  # Launch Gazebo 11
    robot_state_publisher_node,  # Publish robot's state
    spawn_entity_node,  # Spawn the robot in Gazebo
    load_joint_state_broadcaster,  # Load joint state broadcaster
    load_joint_trajectory_controller,  # Load joint trajectory controller
])

The yaml file
controller_manager
ros__parameters:
update_rate: 100

  joint_trajectory_controller:
    type: joint_trajectory_controller/JointTrajectoryController

  joint_state_broadcaster:
     type: joint_state_broadcaster/JointStateBroadcaster

joint_trajectory_controller:
ros__parameters:
joints:
- Joint_2
- Joint_3
- Joint_4
- Joint_5
interface_name: position
command_interfaces:
- position
state_interfaces:
- position
-velocity

[saikishor]

Hello!

Before launching any controller, can you check the available hardware interfaces with ros2 control list_hardware_interfaces ?

Thank you!