configuring for xarm6

[coenadasNR]

Hello I am trying to launch the Xarm6 with topic_based_ros2_control. I have added the plugin in the [xarm6.ros2_control.xacro] file :

I have also called the ros2_control plugin with the topic based control plug in all the launch files I need. However I am getting the following error:

[ros2_control_node-6] [INFO] [1705407036.228474113] [resource_manager]: Successful initialization of hardware 'topic_based_ros2_control/TopicBasedSystem' [ros2_control_node-6] [INFO] [1705407036.228622876] [resource_manager]: 'configure' hardware 'topic_based_ros2_control/TopicBasedSystem' [ros2_control_node-6] [INFO] [1705407036.228627632] [resource_manager]: Successful 'configure' of hardware 'topic_based_ros2_control/TopicBasedSystem' [ros2_control_node-6] [INFO] [1705407036.228631888] [resource_manager]: 'activate' hardware 'topic_based_ros2_control/TopicBasedSystem' [ros2_control_node-6] [INFO] [1705407036.228634254] [resource_manager]: Successful 'activate' of hardware 'topic_based_ros2_control/TopicBasedSystem' [ros2_control_node-6] [INFO] [1705407036.230446368] [controller_manager]: update rate is 50 Hz [ros2_control_node-6] [INFO] [1705407036.230557147] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-6] Stack trace (most recent call last) in thread 139319: [ros2_control_node-6] #6 Object "", at 0xffffffffffffffff, in [ros2_control_node-6] #5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fba8582c9ff, in [ros2_control_node-6] #4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fba8579ab42, in [ros2_control_node-6] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fba85a2a2b2, in [ros2_control_node-6] #2 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5645de642800, in [ros2_control_node-6] #1 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fba85e2f294, in controller_manager::ControllerManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-6] #0 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fba85632d7c, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-6] Segmentation fault (Address not mapped to object [0x240])

Could you please help me understand the problem and how I could solve it?