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This could be because of 2 reasons. 1) Looks like you have different version of nova on controller and compute.

Can you run nova --version controller and then the same on compute?

You should be able to see if your compute nodes are registered with the controller , on the controller, nova-manage service list. 2) You upgraded nova but never upgrade the db schema via nova-manage db sync

You can run nova-manage db sync from the controller, its not harmful. It will update the schema to what the current version of nova is on the controller.