Foxy 에서 manipulation 이 작동 안합니다

원격pc와 sbc모두 foxy 가이드를 보고 설치했습니다
와플파이의 sbc는 라즈베리파이3b+ 입니다

로보티즈 사이트의 quick start guide를 보고 따라하여 와플파이를 기동하는데는 성공했으나, 이후로 TurtleBot3
를 따라하는 과정에서 오류가 발생했습니다.

우선 7.2 [Software Setup] 의 2번 블럭의
cd ~/turtlebot3_ws && colcon build --symlink-install
을 수행하는 과정에서 hardware interface 가 빌드에 실패했으며,

“findhardware_interface.cmake” in cmake_module_path this project has asked cmake to find a package configuration file provided by “hardware_interface”, but cmake did not find one. could not find a package configuration file provided by “hardware_interface” with any of the following names: hardware_interfaceconfig.cmake hardware_interface-config.cmake add the installation prefix of “hardware_interface” to cmake_prefix_path or set “hardware_interface_dir” to a directory containing one of the above files. if “hardware_interface” provides a separate development package or sdk, be sure it has been installed.

이런 메시지를 띄웠기에,

sudo apt install ros-foxy-ros2-control
을 통하여 빌드에는 성공했으나, 이어지는 7.5 [Bringup] 의 2번인
ros2 launch turtlebot3_manipulation_bringup hardware.launch.py
를 한 결과,

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-11-22-12-35-59-742048-ubuntu-26372
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name=‘Task-2’ coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:274> exception=SubstitutionFailure(“executable ‘[<launch.substitutions.text_substitution.TextSubstitution object at 0xffff99f2e490>]’ not found on the PATH”)>
Traceback (most recent call last):
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 276, in _process_one_event
await self.__process_event(next_event)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 296, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File “/opt/ros/foxy/lib/python3.8/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/foxy/lib/python3.8/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/foxy/lib/python3.8/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)
[Previous line repeated 3 more times]
File “/opt/ros/foxy/lib/python3.8/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/foxy/lib/python3.8/site-packages/launch/action.py”, line 108, in visit
return self.execute(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 417, in execute
self._perform_substitutions(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 377, in _perform_substitutions
evaluated_parameters = evaluate_parameters(context, self.__parameters)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py”, line 145, in evaluate_parameters
output_params.append(evaluate_parameter_dict(context, param))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py”, line 69, in evaluate_parameter_dict
evaluated_value = perform_substitutions(context, list(value))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line 26, in perform_substitutions
return ‘’.join([context.perform_substitution(sub) for sub in subs])
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line 26, in
return ‘’.join([context.perform_substitution(sub) for sub in subs])
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py”, line 197, in perform_substitution
return substitution.perform(self)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py”, line 94, in perform
command_str = perform_substitutions(context, self.command)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line 26, in perform_substitutions
return ‘’.join([context.perform_substitution(sub) for sub in subs])
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line 26, in
return ‘’.join([context.perform_substitution(sub) for sub in subs])
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py”, line 197, in perform_substitution
return substitution.perform(self)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/path_join_substitution.py”, line 45, in perform
performed_substitutions = [sub.perform(context) for sub in self.__substitutions]
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/path_join_substitution.py”, line 45, in
performed_substitutions = [sub.perform(context) for sub in self.__substitutions]
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/find_executable.py”, line 66, in perform
raise SubstitutionFailure(“executable ‘{}’ not found on the PATH”.format(self.name))
launch.substitutions.substitution_failure.SubstitutionFailure: executable ‘[<launch.substitutions.text_substitution.TextSubstitution object at 0xffff99f2e490>]’ not found on the PATH

이런 메시지와 함께 동작에 실패했습니다

어떻게 해야 하는지 도움을 구합니다