运行ocs2控制器报错 #52
Description
你好，我在执行以下命令
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go2_description
时，遇到如下错误。
ros2_control_node-3] [INFO] [1755065578.049792964] [controller_manager]: Loading controller 'ocs2_quadruped_controller'
[ros2_control_node-3] [INFO] [1755065578.121800219] [ocs2_quadruped_controller]: Controller Manager Update Rate: 500 Hz
[ros2_control_node-3] [LeggedInterface] Loading task file: "/home/shangguan/code/ros2_ws/install/go2_description/share/go2_description/config/ocs2/task.info"
[ros2_control_node-3] [LeggedInterface] Loading Pinocchio model from: "/home/shangguan/code/ros2_ws/install/go2_description/share/go2_description/urdf/robot.urdf"
[ros2_control_node-3] [LeggedInterface] Loading target command settings from: "/home/shangguan/code/ros2_ws/install/go2_description/share/go2_description/config/ocs2/reference.info"
[ros2_control_node-3] [CppAdInterface] Loading Shared Library: /home/shangguan/ocs2_cpp_ad/go2/dynamics_systemFlowMap/cppad_generated/dynamics_systemFlowMap_lib.so
[ros2_control_node-3] WARNING: Loaded at least one default value in matrix: "Q"
[ros2_control_node-3] terminate called after throwing an instance of 'boost::wrapexceptboost::bad_get'
[ros2_control_node-3] what(): boost::bad_get: failed value get using boost::get
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #31 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x64048f507ee4, in
[ros2_control_node-3] #30 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x76a005e29e3f]
[ros2_control_node-3] #29 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in libc_start_call_main [0x76a005e29d8f]
[ros2_control_node-3] #28 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x64048f50774f, in
[ros2_control_node-3] #27 Object "/opt/ros/humble/lib/librclcpp.so", at 0x76a006683b24, in rclcpp::executors::MultiThreadedExecutor::spin()
[ros2_control_node-3] #26 Object "/opt/ros/humble/lib/librclcpp.so", at 0x76a0066836e9, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[ros2_control_node-3] #25 Object "/opt/ros/humble/lib/librclcpp.so", at 0x76a00667c395, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[ros2_control_node-3] #24 Object "/opt/ros/humble/lib/librclcpp.so", at 0x76a00667c029, in rclcpp::Executor::execute_service(std::shared_ptrrclcpp::ServiceBase)
[ros2_control_node-3] #23 Object "/opt/ros/humble/lib/librclcpp.so", at 0x76a00667e645, in
[ros2_control_node-3] #22 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76a0068a7d4a, in
[ros2_control_node-3] #21 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76a00687107b, in std::Function_handler<void (std::shared_ptr<controller_manager_msgs::srv::LoadController_Request<std::allocator > >, std::shared_ptr<controller_manager_msgs::srv::LoadController_Response<std::allocator > >), std::Bind<void (controller_manager::ControllerManager::(controller_manager::ControllerManager, std::Placeholder<1>, std::Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::LoadController_Request<std::allocator > >, std::shared_ptr<controller_manager_msgs::srv::LoadController_Response<std::allocator > >)> >::M_invoke(std::Any_data const&, std::shared_ptr<controller_manager_msgs::srv::LoadController_Request<std::allocator > >&&, std::shared_ptr<controller_manager_msgs::srv::LoadController_Response<std::allocator > >&&)
[ros2_control_node-3] #20 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76a0068571e8, in controller_manager::ControllerManager::load_controller_service_cb(std::shared_ptr<controller_manager_msgs::srv::LoadController_Request<std::allocator > >, std::shared_ptr<controller_manager_msgs::srv::LoadController_Response<std::allocator > >)
[ros2_control_node-3] #19 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76a006849d60, in controller_manager::ControllerManager::load_controller(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #18 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76a006848179, in controller_manager::ControllerManager::load_controller(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #17 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76a0068512e5, in controller_manager::ControllerManager::add_controller_impl(controller_manager::ControllerSpec const&)
[ros2_control_node-3] #16 Object "/opt/ros/humble/lib/libcontroller_interface.so", at 0x76a006484c86, in controller_interface::ControllerInterfaceBase::init(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-3] #15 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d0e3313, in ocs2::legged_robot::Ocs2QuadrupedController::on_init()
[ros2_control_node-3] #14 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d232f61, in ocs2::legged_robot::CtrlComponent::CtrlComponent(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> const&, CtrlInterfaces&)
[ros2_control_node-3] #13 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d2319d8, in ocs2::legged_robot::CtrlComponent::setupLeggedInterface()
[ros2_control_node-3] #12 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d1fe5db, in ocs2::legged_robot::LeggedInterface::setupOptimalControlProblem(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool)
[ros2_control_node-3] #11 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d1fdcad, in ocs2::legged_robot::LeggedInterface::getBaseTrackingCost(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, ocs2::CentroidalModelInfoTpl const&, bool)
[ros2_control_node-3] #10 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d1fc6eb, in ocs2::legged_robot::LeggedInterface::initializeInputCostWeight(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, ocs2::CentroidalModelInfoTpl const&)
[ros2_control_node-3] #9 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d2199f7, in ZNKR5boost7variantIN9pinocchio21JointModelRevoluteTplIdLi0ELi0EEEJNS2_IdLi0ELi1EEENS2_IdLi0ELi2EEENS1_22JointModelFreeFlyerTplIdLi0EEENS1_19JointModelPlanarTplIdLi0EEENS1_30JointModelRevoluteUnalignedTplIdLi0EEENS1_22JointModelSphericalTplIdLi0EEENS1_25JointModelSphericalZYXTplIdLi0EEENS1_22JointModelPrismaticTplIdLi0ELi0EEENSG_IdLi0ELi1EEENSG_IdLi0ELi2EEENS1_31JointModelPrismaticUnalignedTplIdLi0EEENS1_24JointModelTranslationTplIdLi0EEENS1_30JointModelRevoluteUnboundedTplIdLi0ELi0EEENSO_IdLi0ELi1EEENSO_IdLi0ELi2EEENS1_39JointModelRevoluteUnboundedUnalignedTplIdLi0EEENS1_20JointModelHelicalTplIdLi0ELi0EEENSU_IdLi0ELi1EEENSU_IdLi0ELi2EEENS1_29JointModelHelicalUnalignedTplIdLi0EEENS1_22JointModelUniversalTplIdLi0EEENS_17recursive_wrapperINS1_22JointModelCompositeTplIdLi0ENS1_25JointCollectionDefaultTplEEEEENS12_INS1_18JointModelMimicTplIdLi0ES14_EEEEEE13apply_visitorINS1_6fusion21JointUnaryVisitorBaseINS1_4impl25JointJacobiansForwardStepIdLi0ES14_N5Eigen3RefIKNS1G_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0ENS1G_11InnerStrideILi1EEEEENS1I_IdLi6ELin1ELi0ELi6ELin1EEEEEvE27InternalVisitorModelAndDataINS1_13JointModelTplIdLi0ES14_EENS_6fusion6vectorIJRKNS1_8ModelTplIdLi0ES14_EERNS1_7DataTplIdLi0ES14_EERKS1N_RS1O_EEEEEEENT_11result_typeERS28
[ros2_control_node-3] #8 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d12dcf2, in boost::add_reference<pinocchio::JointDataRevoluteTpl<double, 0, 0> >::type boost::relaxed_get<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataFreeFlyerTpl<double, 0>, pinocchio::JointDataPlanarTpl<double, 0>, pinocchio::JointDataRevoluteUnalignedTpl<double, 0>, pinocchio::JointDataSphericalTpl<double, 0>, pinocchio::JointDataSphericalZYXTpl<double, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double, 0>, pinocchio::JointDataTranslationTpl<double, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double, 0>, pinocchio::JointDataHelicalTpl<double, 0, 0>, pinocchio::JointDataHelicalTpl<double, 0, 1>, pinocchio::JointDataHelicalTpl<double, 0, 2>, pinocchio::JointDataHelicalUnalignedTpl<double, 0>, pinocchio::JointDataUniversalTpl<double, 0>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double, 0, pinocchio::JointCollectionDefaultTpl> >, boost::recursive_wrapper<pinocchio::JointDataMimicTpl<double, 0, pinocchio::JointCollectionDefaultTpl> > >(boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataFreeFlyerTpl<double, 0>, pinocchio::JointDataPlanarTpl<double, 0>, pinocchio::JointDataRevoluteUnalignedTpl<double, 0>, pinocchio::JointDataSphericalTpl<double, 0>, pinocchio::JointDataSphericalZYXTpl<double, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double, 0>, pinocchio::JointDataTranslationTpl<double, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double, 0>, pinocchio::JointDataHelicalTpl<double, 0, 0>, pinocchio::JointDataHelicalTpl<double, 0, 1>, pinocchio::JointDataHelicalTpl<double, 0, 2>, pinocchio::JointDataHelicalUnalignedTpl<double, 0>, pinocchio::JointDataUniversalTpl<double, 0>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double, 0, pinocchio::JointCollectionDefaultTpl> >, boost::recursive_wrapper<pinocchio::JointDataMimicTpl<double, 0, pinocchio::JointCollectionDefaultTpl> > >&)
[ros2_control_node-3] #7 Object "/home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/lib/ocs2_quadruped_controller/libocs2_quadruped_controller.so", at 0x769f9d0b8379, in void boost::throw_exceptionboost::bad_get(boost::bad_get const&) [clone .constprop.0]
[ros2_control_node-3] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x76a0062ae4d7, in __cxa_throw
[ros2_control_node-3] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x76a0062ae276, in std::terminate()
[ros2_control_node-3] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x76a0062ae20b, in
[ros2_control_node-3] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x76a0062a2b9d, in
[ros2_control_node-3] #2 Source "./stdlib/abort.c", line 79, in abort [0x76a005e287f2]
[ros2_control_node-3] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x76a005e42475]
[ros2_control_node-3] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-3] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-3] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x76a005e969fc]
[ros2_control_node-3] Aborted (Signal sent by tkill() 3089305 1000)
[ERROR] [ros2_control_node-3]: process has died [pid 3089305, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /home/shangguan/code/ros2_ws/install/go2_description/share/go2_description/config/robot_control.yaml -r ~/robot_description:=/robot_description'].
[spawner-6] [WARN] [1755065588.056728703] [spawner_ocs2_quadruped_controller]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 1 of 3.)
[spawner-6] [WARN] [1755065598.057420691] [spawner_ocs2_quadruped_controller]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 2 of 3.)
[spawner-6] [WARN] [1755065608.058307948] [spawner_ocs2_quadruped_controller]: Failed getting a result from calling /controller_manager/load_controller in 10.0. (Attempt 3 of 3.)
[spawner-6] Traceback (most recent call last):
[spawner-6] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[spawner-6] sys.exit(load_entry_point('controller-manager==2.51.0', 'console_scripts', 'spawner')())
[spawner-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 227, in main
[spawner-6] ret = load_controller(node, controller_manager_name, controller_name)
[spawner-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/controller_manager_services.py", line 227, in load_controller
[spawner-6] return service_caller(
[spawner-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/controller_manager_services.py", line 150, in service_caller
[spawner-6] raise RuntimeError(
[spawner-6] RuntimeError: Could not successfully call service /controller_manager/load_controller after 3 attempts.
[ERROR] [spawner-6]: process has died [pid 3089494, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner ocs2_quadruped_controller --controller-manager /controller_manager --ros-args'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-2] [INFO] [1755067278.562876082] [rclcpp]: signal_handler(signum=2)
[rviz2-1] [INFO] [1755067278.562876309] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 3089303]
[ERROR] [rviz2-1]: process has died [pid 3089301, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/shangguan/code/ros2_ws/install/ocs2_quadruped_controller/share/ocs2_quadruped_controller/config/visualize_ocs2.rviz --ros-args -r __node:=rviz_ocs2'].
我的系统是ubuntu22.04
ros: ros2-humble
boost:boost 1.74
请问如何解决呢