[INFO] [launch]: All log files can be found below /home/container_user/.ros/log/2024-05-11-14-00-18-474799-E14-7727
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [7736]
[INFO] [robot_state_publisher-2]: process started with pid [7738]
[INFO] [spawner-3]: process started with pid [7740]
[ros2_control_node-1] [INFO] [1715416218.928573690] [robot.controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-1] [INFO] [1715416218.929964564] [robot.controller_manager]: update rate is 200 Hz
[ros2_control_node-1] [INFO] [1715416218.930277923] [robot.controller_manager]: RT kernel is recommended for better performance
[robot_state_publisher-2] [INFO] [1715416218.978141700] [robot.robot_state_publisher]: got segment wheel_link
[robot_state_publisher-2] [INFO] [1715416218.978346253] [robot.robot_state_publisher]: got segment world
[ros2_control_node-1] [INFO] [1715416219.144636252] [robot.controller_manager]: Received robot description file.
[ros2_control_node-1] [INFO] [1715416219.146690928] [resource_manager]: Loading hardware 'Wheel' 
[ros2_control_node-1] [INFO] [1715416219.148623249] [resource_manager]: Initialize hardware 'Wheel' 
[ros2_control_node-1] [INFO] [1715416219.149287259] [DynamixelHardware]: joint_id 0: 101
[ros2_control_node-1] [INFO] [1715416219.149321060] [DynamixelHardware]: usb_port: /dev/ttyUSB0
[ros2_control_node-1] [INFO] [1715416219.149333352] [DynamixelHardware]: baud_rate: 57600
[ros2_control_node-1] [INFO] [1715416219.213230954] [DynamixelHardware]: Position control
[ros2_control_node-1] [INFO] [1715416219.229221121] [DynamixelHardware]: Torque enabled
[ros2_control_node-1] [INFO] [1715416219.229490831] [resource_manager]: Successful initialization of hardware 'Wheel'
[ros2_control_node-1] [INFO] [1715416219.229742245] [resource_manager]: 'configure' hardware 'Wheel' 
[ros2_control_node-1] [INFO] [1715416219.236202030] [resource_manager]: Successful 'configure' of hardware 'Wheel'
[ros2_control_node-1] [INFO] [1715416219.236272636] [resource_manager]: 'activate' hardware 'Wheel' 
[ros2_control_node-1] [ERROR] [1715416219.240448750] [DynamixelHardware]: [TxRxResult] Port is in use!
[ros2_control_node-1] [ERROR] [1715416219.240558395] [DynamixelHardware]: groupSyncRead getdata failed
[ros2_control_node-1] [ERROR] [1715416219.240573689] [DynamixelHardware]: groupSyncRead getdata failed
[ros2_control_node-1] [ERROR] [1715416219.240585910] [DynamixelHardware]: groupSyncRead getdata failed
[ros2_control_node-1] [ERROR] [1715416219.240726423] [DynamixelHardware]: [TxRxResult] Port is in use!
[ros2_control_node-1] [ERROR] [1715416219.245845826] [DynamixelHardware]: groupSyncWrite addparam failed