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Hey, I looked at your config .yaml file.

I don't know if you tried to delete the quotes on "joint_trajectory_controller/JointTrajectoryController":

controller_manager: ros__parameters: update_rate: 1000 # Hz

joint_trajectory_controller:
  type: joint_trajectory_controller/JointTrajectoryController


joint_state_broadcaster:
  type: joint_state_broadcaster/JointStateBroadcaster

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