Unable to activate controller 'robotiq_gripper_controller' since the command interface 'robotiq_85_left_knuckle_joint/effort' is not available

[ravijo]

I am unable to use the package because the "robotiq_gripper_controller" cannot be activated. Please see the logs below.

$ ros2 launch robotiq_description robotiq_control.launch.py
...
[INFO] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[INFO] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[INFO] [controller_manager]: update rate is 500 Hz
[INFO] [controller_manager]: Overruns handling is : enabled
[INFO] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[INFO] [controller_manager]: Successful set up FIFO RT scheduling policy with priority 50.
[INFO] [controller_manager]: Received robot description from topic.
[INFO] [controller_manager]: Loading hardware 'RobotiqGripperHardwareInterface' 
[INFO] [controller_manager]: Loaded hardware 'RobotiqGripperHardwareInterface' from plugin 'robotiq_driver/RobotiqGripperHardwareInterface'
[INFO] [controller_manager]: Initialize hardware 'RobotiqGripperHardwareInterface' 
[INFO] [DefaultDriverFactory]: Reading slave_address...
[INFO] [DefaultDriverFactory]: slave_address: 9
[INFO] [DefaultDriverFactory]: Reading gripper_speed_multiplier...
[INFO] [DefaultDriverFactory]: gripper_speed_multiplier: 1.000000s
[INFO] [DefaultDriverFactory]: Reading gripper_force_multiplier...
[INFO] [DefaultDriverFactory]: gripper_force_multiplier: 0.500000s
[INFO] [DefaultSerialFactory]: Reading COM_port...
[INFO] [DefaultSerialFactory]: COM_port: /dev/ttyUSB0
[INFO] [DefaultSerialFactory]: Reading baudrate...
[INFO] [DefaultSerialFactory]: baudrate: 115200bps
[INFO] [DefaultSerialFactory]: Reading timeout...
[INFO] [DefaultSerialFactory]: timeout: 0.500000s
[INFO] [controller_manager]: Successful initialization of hardware 'RobotiqGripperHardwareInterface'
[INFO] [resource_manager]: 'configure' hardware 'RobotiqGripperHardwareInterface' 
[INFO] [resource_manager]: Successful 'configure' of hardware 'RobotiqGripperHardwareInterface'
[INFO] [resource_manager]: 'activate' hardware 'RobotiqGripperHardwareInterface' 
[INFO] [DefaultDriver]: Deactivate...
[INFO] [DefaultDriver]: Activate...
[INFO] [RobotiqGripperHardwareInterface]: Robotiq Gripper successfully activated!
[INFO] [resource_manager]: Successful 'activate' of hardware 'RobotiqGripperHardwareInterface'
[INFO] [controller_manager]: Registering statistics for : RobotiqGripperHardwareInterface
[INFO] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[INFO] [controller_manager]: Loading controller : 'robotiq_gripper_controller' of type 'parallel_gripper_action_controller/GripperActionController'
[INFO] [controller_manager]: Loading controller 'robotiq_gripper_controller'
[INFO] [controller_manager]: Controller 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y5r4jdf2 --params-file /home/user/ros/ros2_ws/install/robotiq_description/share/robotiq_description/config/robotiq_controllers.yaml 
[INFO] [controller_manager]: Configuring controller: 'robotiq_gripper_controller'
[INFO] [robotiq_gripper_controller]: Action status changes will be monitored at 20.000000 Hz.
[INFO] [robotiq_gripper_controller]: Joint name is : robotiq_85_left_knuckle_joint
[INFO] [controller_manager]: Activating controllers: [ robotiq_gripper_controller ]
[WARN] [controller_manager]: Unable to activate controller 'robotiq_gripper_controller' since the command interface 'robotiq_85_left_knuckle_joint/effort' is not available.
[ERROR] [spawner_robotiq_gripper_controller]: Failed to activate controller : robotiq_gripper_controller

The command ros2 action list shows nothing.