Sim2Real Deployment Error #22
Description
Hi,
Thank you for the great work!
I've followed the instructions and the trained policy worked well in Mujoco by sim2sim. However, when deploying to the real G1, it reports the below error:
[ros2_control_node-3] [WARN] [1760659797.903606860] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-3] [INFO] [1760659797.903883021] [resource_manager]: Loading hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760659797.906016582] [resource_manager]: Initialize hardware 'UnitreeSdk2'
[ros2-5] stdin is not a terminal device. Keyboard handling disabled.[INFO] [1760659798.046735998] [rosbag2_recorder]: Press SPACE for pausing/resuming
[ros2-5] [INFO] [1760659798.047516642] [rosbag2_recorder]: Listening for topics...
[ros2-5] [INFO] [1760659798.047530222] [rosbag2_recorder]: Event publisher thread: Starting
[ros2-5] [INFO] [1760659798.048583047] [rosbag2_recorder]: Subscribed to topic '/tf'
[ros2-5] [INFO] [1760659798.048946379] [rosbag2_recorder]: Subscribed to topic '/tf_static'
[ros2-5] [INFO] [1760659798.049286681] [rosbag2_recorder]: Subscribed to topic '/robot_description'
[ros2-5] [INFO] [1760659798.049756393] [rosbag2_recorder]: Subscribed to topic '/joy'
[ros2-5] [INFO] [1760659798.049969325] [rosbag2_recorder]: Subscribed to topic '/events/write_split'
[ros2-5] [INFO] [1760659798.050554458] [rosbag2_recorder]: Subscribed to topic '/diagnostics'
[ros2-5] [INFO] [1760659798.050598978] [rosbag2_recorder]: Recording...
[spawner-2] [INFO] [1760659798.057144621] [spawner_walking_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-1] [INFO] [1760659798.065506644] [spawner_state_estimator]: waiting for service /controller_manager/list_controllers to become available...
[ros2-5] [INFO] [1760659798.151938454] [rosbag2_recorder]: Subscribed to topic '/cmd_vel'
[ros2_control_node-3] [INFO] [1760659804.422068940] [resource_manager]: Successful initialization of hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760659804.422236771] [resource_manager]: 'configure' hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760659804.422241921] [resource_manager]: Successful 'configure' of hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760659804.422266311] [resource_manager]: 'activate' hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760659804.422269101] [resource_manager]: Successful 'activate' of hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760659804.424292981] [controller_manager]: update rate is 500 Hz
[ros2_control_node-3] [INFO] [1760659804.424312731] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-3] [WARN] [1760659804.424399792] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-3] Stack trace (most recent call last) in thread 18996:
[ros2_control_node-3] #8 Object "", at 0xffffffffffffffff, in
[ros2_control_node-3] #7 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in __clone3 [0x74d03bf268bf]
[ros2_control_node-3] #6 Source "./nptl/pthread_create.c", line 442, in start_thread [0x74d03be94ac2]
[ros2_control_node-3] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x74d03c2dc252, in
[ros2_control_node-3] #4 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x6107312c708d, in
[ros2_control_node-3] #3 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x74d03c7b14a4, in controller_manager::ControllerManager::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-3] #2 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x74d03c11cc7c, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-3] #1 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x74d03c13a4cf, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-3] #0 Object "/opt/ros/humble/lib/libunitree_systems.so", at 0x74d034c3add4, in unitree::UnitreeSdk2::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-3] Segmentation fault (Address not mapped to object [(nil)])
[ERROR] [ros2_control_node-3]: process has died [pid 18815, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_vgrcw2x1 --params-file /tmp/motion_tracking_controller/temp_controllers.yaml'].
I've also tried the former issue's solution pointing the path of LD_LIBRARY_PATH, but it still reported the same error.
Hope that someone can help me!
Thank you so much.