ros2 runtime_error ai_generated true

[controller_manager] joint_state_broadcaster is not configured

ID: ros2/joint-state-broadcaster-not-configured

Also available as: JSON · Markdown

88%Fix Rate

88%Confidence

3Evidence

2023-01-01First Seen

Version Compatibility

Version	Status	Introduced	Deprecated	Notes
2	active	—	—	—

ros2_control joint_state_broadcaster not loaded or configured. Robot state is not published to /joint_states.

generic

92% success Configure joint_state_broadcaster in ros2_control YAML parameters

controller_manager:\n  ros__parameters:\n    joint_state_broadcaster:\n      type: joint_state_broadcaster/JointStateBroadcaster

90% success Load and activate via launch file with spawner node

Node(package='controller_manager', executable='spawner', arguments=['joint_state_broadcaster'])

85% success Verify hardware interface exports the correct joint names
```
ros2 control list_hardware_interfaces
```

Common approaches that don't work:

Publish joint states manually from your own node 85% fail
Bypasses ros2_control safety and timing guarantees; joint states may be inconsistent with actual hardware
Load the broadcaster before controller_manager is ready 78% fail
Controller manager must be fully initialized before loading controllers; race condition

Leads to: