docs(troubleshooting): stale robot_state_publisher poisons /robot_description - #17
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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 FAQ entry for the orphaned-
robot_state_publishergotcha: a crashed run can leave a stale RSP publishing a latched/robot_description, so a freshly-started controller_manager latches the wrong URDF → wrong hardware → gamepad/controller-switch dead. Documents how to detect (list_hardware_components + pgrep), fix (pkill + relaunch), and prevent (clean Ctrl-C).Surfaced while debugging the biped MuJoCo bring-up in this session.
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https://claude.ai/code/session_012QKJQ9hze1hMWXJpdPcjp3