don't work

[verdiluca]

hi, i have ros2 foxy, i have cloned in a new workspace with the following link "git clone -b foxy-fw-v0.5.3 https://github.com/Factor-Robotics/odrive_ros2_control.git".
then "colcon build" and then i follow the wiki, i have launched "ros2 launch odrive_demo_bringup odrive_multi_interface.launch.py" and then in another terminal i have published "ros2 topic pub -r 100 /joint0_velocity_controller/commands std_msgs/Float64MultiArray "data: [1]" but motor doesn't spin, and in ros2 topic list i don't see joint0_velocity_controller.
and after 30 seconds, in the terminal where i have launched the node, output an error i think.
can you please help me?

[borongyuan]

Hi, this may be a duplicate of #2 and #18. This issue may be USB releated or DDS releated (sounds weird uh?). First please make sure you are using libusb 1.0, not libusb 0.1. Although their packages may exist in your system at the same time. Also please confirm that the firmware version is 0.5.3.
If these are all right, it may be a problem with DDS. In the Foxy, the default discovery mechanism of Fast RTPS has a large overhead. If there are other computers running ROS Foxy in your LAN, it may even delay the startup of ros2_control on your computer and affect communication. To avoid this interference, you can limit ROS2 communication to localhost only by setting the environment variable.