docs: troubleshooting for stale /robot_description (orphaned RSP) - #16
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…cription Add a troubleshooting entry for the case where an orphaned robot_state_publisher from a previous bring-up keeps a latched /robot_description on the bus, so a new controller_manager loads the wrong hardware and no controller can activate (gamepad / switch_controllers appear dead). Covers diagnosis, how to confirm (list_hardware_components, pgrep), the fix (kill orphans), and prevention (clean Ctrl-C). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012QKJQ9hze1hMWXJpdPcjp3
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Adds a Troubleshooting entry: an orphaned
robot_state_publisherfrom a prior bring-up (terminal closed / hard-killed / backgrounded) keeps a latched/robot_descriptionon the bus, so a newcontroller_managerlatches the wrong URDF, loads the wrong hardware, and no controller can activate — the gamepad andros2 control switch_controllerslook dead.Symptom → cause → confirm (
ros2 control list_hardware_components,pgrep -af robot_state_publisher) → fix (pkillthe orphans) → prevent (Ctrl-C the launch in its own terminal). MDX-safe (no raw<...>/{...}); no local build (no Node) — relies on CI.🤖 Generated with Claude Code
https://claude.ai/code/session_012QKJQ9hze1hMWXJpdPcjp3