ROS2使用控制器控制小车控制器始终显示找不到轮子怎么解决

[HANOOOOOO1]

这是我的控制器yaml文件
controller_manager:
ros__parameters:
update_rate: 10

diff_drive_controller:
  type: diff_drive_controller/DiffDriveController

  left_wheel_names: ['front_left_wheel_joint', 'back_left_wheel_joint']
  right_wheel_names: ['front_right_wheel_joint', 'back_right_wheel_joint']
  
  publish_odom: true
  publish_odom_tf: true
  odom_frame_id: odom
  base_frame_id: base_link

  wheel_separation: 0.36
  wheel_radius: 0.01 在运行display.launch.py后[ros2_control_node-4] [INFO] [1743602048.822259030] [controller_manager]: Configuring controller 'diff_drive_controller'
  [ros2_control_node-4] [ERROR] [1743602048.822347027] [diff_drive_controller]: Wheel names parameters are empty!
  [ros2_control_node-4] [ERROR] [1743602048.822394510] [controller_manager]: After configuring, controller 'diff_drive_controller' is in state 'finalized' , expected inactive.

不知道为什么怎么修改都一直显示Wheel names parameters are empty!，我的ros2版本是foxy，求助大佬这是为什么