无法开启使能，使能自动关闭

[Astexia-Johnny]

无法开启使能。
你好，我这里用ubuntu20.04 和ros noetic ，elfin5机械臂。
按照技术方案进行环境的配置与部署。
机械臂前期是稳定运行过一段时间，也可以正常使能servo on，控制机械臂移动，今天我按顺序运行

$ roslaunch elfin_robot_bringup elfin5_bringup.launch

$ sudo chrt 10 bash
$ roslaunch elfin_robot_bringup elfin_ros_control.launch

$ roslaunch elfin5_moveit_config moveit_planning_execution.launch

$ roslaunch elfin_basic_api elfin_basic_api.launch

**现象：**在我点击servo on时候，机械臂在使能开启的下一刻，马上自动关闭了使能，并出现以下报错。

api窗口报错如下
Failed to start the default controller

以下是txpdo
rosservice call /elfin_ros_control/elfin/get_txpdo "data: true"
success: True
message: "slave1_txpdo:\n0x21:0x00:0xf8:0xff:0xf1:0x18:0xf3:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x08:0x00:0x00:0x0f:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x21:0x00:0x00:0x00:0x9a:0x9b:0xac:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x08:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:\n
slave2_txpdo:\n0x21:0x00:0x17:0x00:0x13:0x6a:0x56:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x08:0x00:0x00:0x0f:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x21:0x00:0xf4:0xff:0x01:0x51:0x02:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x08:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:\n
slave3_txpdo:\n0x21:0x00:0xfe:0x00:0x07:0xc4:0x7d:0x01:0xff:0xff:0x00:0x00:0x00:0x00:0x08:0x00:0x00:0x0f:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x21:0x00:0x11:0x00:0xc4:0x34:0xaa:0x01:0xff:0xff:0x00:0x00:0x00:0x00:0x08:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:0x00:\n"

在此之前，机械臂并未有任何硬件方面的变动，并未有改装或加装东西，突然就这样了。
我也单独用示教器控制机械臂，能正常开启使能并控制机械臂移动。
希望能得到您的帮助。