[ERROR] [DynamixelSDKWrapper] [TxRxResult] Port is in use!

[ddwy]

When I execute the following command, the following error occurs. How to solve it?
ros2 launch turtlebot3_manipulation_bringup hardware.launch.py

[INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2026-07-02-15-43-48-425382-nvidia-desktop-6437
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [6440]
[INFO] [robot_state_publisher-2]: process started with pid [6442]
[INFO] [spawner-3]: process started with pid [6444]
[INFO] [ld08_driver-4]: process started with pid [6446]
[robot_state_publisher-2] [INFO] [1782978229.410505904] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1782978229.410797199] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1782978229.410824399] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-2] [INFO] [1782978229.410836719] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1782978229.410846191] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-2] [INFO] [1782978229.410855439] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-2] [INFO] [1782978229.410864815] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-2] [INFO] [1782978229.410873359] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-2] [INFO] [1782978229.410881455] [robot_state_publisher]: got segment dummy_mimic_fix
[robot_state_publisher-2] [INFO] [1782978229.410889423] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-2] [INFO] [1782978229.410897359] [robot_state_publisher]: got segment gripper_left_link
[robot_state_publisher-2] [INFO] [1782978229.410905327] [robot_state_publisher]: got segment gripper_right_link
[robot_state_publisher-2] [INFO] [1782978229.410912815] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-2] [INFO] [1782978229.410920367] [robot_state_publisher]: got segment link1
[robot_state_publisher-2] [INFO] [1782978229.410927951] [robot_state_publisher]: got segment link2
[robot_state_publisher-2] [INFO] [1782978229.410935471] [robot_state_publisher]: got segment link3
[robot_state_publisher-2] [INFO] [1782978229.410943055] [robot_state_publisher]: got segment link4
[robot_state_publisher-2] [INFO] [1782978229.410950447] [robot_state_publisher]: got segment link5
[robot_state_publisher-2] [INFO] [1782978229.410957775] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-2] [INFO] [1782978229.410965615] [robot_state_publisher]: got segment wheel_right_link
[ros2_control_node-1] [WARN] [1782978229.425109701] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1782978229.426008420] [resource_manager]: Loading hardware 'TurtleBot3ManipulationSystem'
[ld08_driver-4] /dev/ttyUSB0 CP2102 USB to UART Bridge Controller
[ld08_driver-4] /dev/ttyACM0 OpenCR Virtual ComPort in FS Mode
[ld08_driver-4] FOUND LDS-02
[ros2_control_node-1] [INFO] [1782978229.427717507] [resource_manager]: Initialize hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1782978229.431556896] [turtlebot3_manipulation]: Succeeded to open port
[ros2_control_node-1] [INFO] [1782978229.437512795] [turtlebot3_manipulation]: Succeeded to set baudrate
[ld08_driver-4] LDS-02 started successfully
[ros2_control_node-1] [INFO] [1782978229.442369368] [turtlebot3_manipulation]: OpenCR Model Number 20480
[ros2_control_node-1] [INFO] [1782978229.442485464] [turtlebot3_manipulation]: Connected manipulator
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] Port is in use!
[ros2_control_node-1] [INFO] [1782978229.442550968] [turtlebot3_manipulation]: Connected wheels
[ros2_control_node-1] [INFO] [1782978229.442747799] [resource_manager]: Successful initialization of hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1782978229.443201431] [resource_manager]: 'configure' hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1782978229.443229495] [resource_manager]: Successful 'configure' of hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1782978229.443247159] [resource_manager]: 'activate' hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1782978229.443254487] [turtlebot3_manipulation]: Ready for start
[ros2_control_node-1] [DynamixelSDKWrapper::write] addr=0x13, len=1
[ros2_control_node-1] data: 00
[ros2_control_node-1] [DynamixelSDKWrapper::write] FAILED: comm_result=-1000 ([TxRxResult] Port is in use!)
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] Port is in use!
[ros2_control_node-1] [INFO] [1782978229.443346999] [turtlebot3_manipulation]: Wait for IMU re-calibration
[ros2_control_node-1] [DynamixelSDKWrapper::write] addr=0x3b, len=1
[ros2_control_node-1] data: 01
[ros2_control_node-1] [DynamixelSDKWrapper::write] SUCCESS
[spawner-3] [INFO] [1782978230.030681601] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...