problem when deploy policy on real g1 robot

[zzerann]

I got the problem relating to UnitreeSdk2, which show as follows:

[ros2_control_node-3] [INFO] [1756797387.040623004] [resource_manager]: Loading hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1756797387.043708660] [resource_manager]: Initialize hardware 'UnitreeSdk2'
[ros2_control_node-3] free(): invalid pointer
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #31 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x721b0ca3d6df, in controller_manager::ControllerManager::init_resource_manager(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #30 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x721b0c3c01c5, in hardware_interface::ResourceManager::load_urdf(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-3] #29 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x721b0c3bf28b, in
[ros2_control_node-3] #28 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x721b0c3e74ea, in
[ros2_control_node-3] #27 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x721b0c3e581b, in hardware_interface::System::initialize(hardware_interface::HardwareInfo const&)
[ros2_control_node-3] #26 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c38a91, in unitree::UnitreeSdk2::on_init(hardware_interface::HardwareInfo const&)
[ros2_control_node-3] #25 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01cd3fed, in unitree::robot::b2::MotionSwitcherClient::MotionSwitcherClient()
[ros2_control_node-3] #24 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01d537b9, in unitree::robot::Client::Client(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool)
[ros2_control_node-3] #23 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c92689, in unitree::robot::ClientBase::ClientBase(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #22 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c950ea, in unitree::robot::ClientStub::Init(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #21 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c98077, in unitree::robot::ChannelLabor<unitree_api::msg::dds::Request, unitree_api::msg::dds::Response>::InitChannel(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::function<void (void const*)> const&, int)
[ros2_control_node-3] #20 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c98fd9, in std::shared_ptr<unitree::common::DdsTopicChannel<unitree_api::msg::dds::Request> > unitree::robot::ChannelFactory::CreateSendChannel<unitree_api::msg::dds::Request>(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #19 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c99e2b, in std::shared_ptr<unitree::common::DdsTopicChannel<unitree_api::msg::dds::Request> > unitree::common::DdsFactoryModel::CreateTopicChannel<unitree_api::msg::dds::Request>(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #18 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c9ce90, in unitree::common::DdsTopicChannel<unitree_api::msg::dds::Request>::SetTopic(std::shared_ptrunitree::common::DdsParticipant const&, std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, unitree::common::DdsTopicQos const&)
[ros2_control_node-3] #17 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c9e2e3, in unitree::common::DdsTopic<unitree_api::msg::dds::Request>::DdsTopic(std::shared_ptrunitree::common::DdsParticipant const&, std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, unitree::common::DdsTopicQos const&)
[ros2_control_node-3] #16 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01ca9243, in dds::topic::Topic<unitree_api::msg::dds::Request, dds::topic::detail::Topic>::operator=(dds::topic::Topic<unitree_api::msg::dds::Request, dds::topic::detail::Topic>&&)
[ros2_control_node-3] #15 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01ca9200, in dds::topic::Topic<unitree_api::msg::dds_::Request_, dds::topic::detail::Topic>::operator=(dds::topic::Topic<unitree_api::msg::dds_::Request_, dds::topic::detail::Topic> const&)
[ros2_control_node-3] #14 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01ca91b8, in dds::topic::TAnyTopic<dds::topic::detail::Topic<unitree_api::msg::dds_::Request_> >::operator=(dds::topic::TAnyTopic<dds::topic::detail::Topic<unitree_api::msg::dds_::Request_> > const&)
[ros2_control_node-3] #13 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01cab630, in dds::core::TEntity<dds::topic::detail::Topic<unitree_api::msg::dds_::Request_> >::operator=(dds::core::TEntity<dds::topic::detail::Topic<unitree_api::msg::dds_::Request_> > const&)
[ros2_control_node-3] #12 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01cab5da, in dds::core::Reference<dds::topic::detail::Topic<unitree_api::msg::dds_::Request_> >::operator=(dds::core::Reference<dds::topic::detail::Topic<unitree_api::msg::dds_::Request_> > const&)
[ros2_control_node-3] #11 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01cab5ac, in std::shared_ptr<dds::topic::detail::Topic<unitree_api::msg::dds_::Request_> >::operator=(std::shared_ptr<dds::topic::detail::Topic<unitree_api::msg::dds_::Request_> > const&)
[ros2_control_node-3] #10 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01cab57e, in std::shared_ptr<dds::topic::detail::Topic<unitree_api::msg::dds::Request>, (__gnu_cxx::_Lock_policy)2>::operator=(std::shared_ptr<dds::topic::detail::Topic<unitree_api::msg::dds::Request>, (__gnu_cxx::_Lock_policy)2> const&)
[ros2_control_node-3] #9 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01c43da1, in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::operator=(std::__shared_count<(__gnu_cxx::Lock_policy)2> const&)
[ros2_control_node-3] #8 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01cca408, in std::Sp_counted_ptr<dds::topic::detail::Topic<unitree_api::msg::dds::Request>, (__gnu_cxx::_Lock_policy)2>::M_destroy()
[ros2_control_node-3] #7 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x721b01cc9e19, in std::Sp_counted_ptr<dds::topic::detail::Topic<unitree_api::msg::dds::Request>, (__gnu_cxx::_Lock_policy)2>::~_Sp_counted_ptr()
[ros2_control_node-3] #6 Source "./malloc/malloc.c", line 3391, in __libc_free [0x721b0c0a5452]
[ros2_control_node-3] #5 Source "./malloc/malloc.c", line 4439, in _int_free [0x721b0c0a2a43]
[ros2_control_node-3] #4 Source "./malloc/malloc.c", line 5664, in malloc_printerr [0x721b0c0a0cfb]
[ros2_control_node-3] #3 Source "../sysdeps/posix/libc_fatal.c", line 156, in __stack_chk_fail [0x721b0c089676]
[ros2_control_node-3] #2 Source "./stdlib/abort.c", line 79, in abort [0x721b0c0287f2]
[ros2_control_node-3] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x721b0c042475]
[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 [0x721b0c0969fc]
[ros2_control_node-3] Aborted (Signal sent by tkill() 122432 1000)

[Falcons95]

same problem, did you solve it ?

[hint7]

Same issue, although it works successfully on MuJoCo.

[yongzhe627]

we have same problem, do you have any for solving it? Thanks!

[Falcons95]

seems to be something wrong with unitree_sdk2 settings, because running unitree_sdk2 example report same "invalid pointer" error.
This following line sovled my problem.
export LD_LIBRARY_PATH="/path/to/your/unitree_sdk2 /libs:$LD_LIBRARY_PATH"

[zzerann]

seems to be something wrong with unitree_sdk2 settings, because running unitree_sdk2 example report same "invalid pointer" error. This following line sovled my problem. export LD_LIBRARY_PATH="/path/to/your/unitree_sdk2 /libs:$LD_LIBRARY_PATH"

thx a lot, I solved the problem :)