ros2_control加载控制器velocity_controllers和position_controllers失败

[td]

这是终端报错：一直说什么没有定义

这是yaml文件

这是机器人中使用ros2_control定义的joint

<ros2_control name="base_system" type="system">
            <hardware>
                <plugin>gazebo_ros2_control/GazeboSystem</plugin>
            </hardware>

            <joint name="base_joint">
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>

            <joint name="left_wheel_joint">
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>

            <joint name="right_wheel_joint">
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>

            <joint name="left_caster_joint">
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>

            <joint name="right_caster_joint">
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>
        </ros2_control>

        <gazebo>
            <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
                <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
                <parameters>$(find navigation_pose_python)/config/articulated_controllers.yaml</parameters>       
            </plugin>
        </gazebo>

已经在这里卡了很久了，请问这是什么问题？
我在一个英文网页看到了有人遇到了相同的问题，不过他没有给出解决方法
链接文本

[td]

@小鱼鱼总，请问这是怎么回事？