Run on go1

[boyuandeng]

hi! @antonilo
i had finished all settings, but i got a error when i try to roslaunch
i had run with roslaunch agile_locomotion cms_ros.launch
but when i want run next command
rostopic pub /agile_locomotion/walk std_msgs/Empty "{}" -1
i got this.:
process[agile_locomotion-1]: started with pid [3849] [ INFO] [1691047835.232579541]: Loading parameters... [ INFO] [1691047835.241519694]: [/agile_locomotion] base_path = /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind [ INFO] [1691047835.244527230]: [/agile_locomotion] vision_path = /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/vision [ INFO] [1691047835.248558267]: [/agile_locomotion] general/policy_id = 1200 [ INFO] [1691047835.251827438]: [/agile_locomotion] general/Kp = 46 [ INFO] [1691047835.256704960]: [/agile_locomotion] general/Kd = 0.8 [ INFO] [1691047835.259685091]: [/agile_locomotion] general/force_threshold = 25 [ INFO] [1691047835.262763905]: [/agile_locomotion] general/hip_joint_angle = 0.45 [ INFO] [1691047835.266439505]: [/agile_locomotion] general/lin_speed = 0 [ INFO] [1691047835.270164803]: [/agile_locomotion] general/max_lin_speed = 0.5 [ INFO] [1691047835.273675256]: [/agile_locomotion] general/ang_speed = 0 [ INFO] [1691047835.278020437]: [/agile_locomotion] general/max_ang_speed = 0.4 [ INFO] [1691047835.281052126]: [/agile_locomotion] general/tsteps = 50 [ INFO] [1691047835.284004734]: [/agile_locomotion] general/init_steps = 0 [ INFO] [1691047835.287700917]: [/agile_locomotion] general/testing = 0 [ INFO] [1691047835.290427720]: [/agile_locomotion] general/log = 0 [ INFO] [1691047835.293465994]: [/agile_locomotion] general/latent_size = 10 [ INFO] [1691047835.297873048]: [/agile_locomotion] general/obDim = 42 [ INFO] [1691047835.301422716]: [/agile_locomotion] visual_pred/n_g1 = 1 [ INFO] [1691047835.304696850]: [/agile_locomotion] visual_pred/using_vision = 1 [ INFO] [1691047835.304771820]: Parameters Loaded [ INFO] [1691047835.371162025]: Ros is Ready UDP Initialized. socketfd: 11 Port: 8080 /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind/mlp_1200.pt /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind/mean1200.csv /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind/var1200.csv Model loaded from /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind/mlp_1200.pt read 2170 elements -0.0239535 0.0439375 -0.12916 0.758832 -1.66217 0.0613242 0.842654 -1.70348 -0.0228252 1.0097 -1.61146 0.0425482 0.926225 -1.63034 -0.034175 -0.00407411 -0.0600386 0.0178517 0.00547594 -0.0474542 -0.00861305 0.0663182 -0.0694604 0.0182749 0.0531053 -0.0878771 -0.398974 -0.169958 -0.319639 0.254109 0.00548921 -0.370061 -0.121593 0.459505 -0.31236 0.168439 0.309663 -0.331397 -0.0870205 0.000291746 -0.0870205 0.000291746 -0.0239535 0.0439375 -0.12916 0.758832 -1.66217 0.0613242 0.842654 -1.70348 -0.0228252 1.0097 -1.61146 0.0425482 0.926225 -1.63034 -0.034175 -0.00407411 -0.0600386 0.0178517 0.00547594 -0.0474542 -0.00861305 0.0663182 -0.0694604 0.0182749 0.0531053 -0.0878771 -0.398974 -0.169958 -0.319639 0.254109 0.00548921 -0.370061 -0.121593 0.459505 -0.31236 0.168439 0.309663 -0.331397 -0.0870205 0.000291746 -0.0870205 0.000291746 -0.0239535 0.0439375 -0.12916 0.758832 -1.66217 0.0613242 0.842654 -1.70348 -0.0228252 1.0097 -1.61146 0.0425482 0.926225 -1.63034 -0.034175 -0.00407411 ... read 2170 elements 0.0154548 0.0116776 0.0184138 0.049594 0.0278942 0.0181977 0.0558888 0.0309958 0.0225005 0.0418531 0.0228641 0.0146581 0.0493584 0.0201657 9.36695 9.56942 17.3742 9.20628 8.86184 16.3252 9.10493 8.82635 13.4025 8.22132 10.5601 12.9502 0.155069 0.308698 0.310683 0.15197 0.308596 0.304845 0.177323 0.208968 0.188846 0.141731 0.282548 0.225084 0.0130294 0.0251278 0.0130294 0.0251278 0.0154548 0.0116776 0.0184138 0.049594 0.0278942 0.0181977 0.0558888 0.0309958 0.0225005 0.0418531 0.0228641 0.0146581 0.0493584 0.0201657 9.36695 9.56942 17.3742 9.20628 8.86184 16.3252 9.10493 8.82635 13.4025 8.22132 10.5601 12.9502 0.155069 0.308698 0.310683 0.15197 0.308596 0.304845 0.177323 0.208968 0.188846 0.141731 0.282548 0.225084 0.0130294 0.0251278 0.0130294 0.0251278 0.0154548 0.0116776 0.0184138 0.049594 0.0278942 0.0181977 0.0558888 0.0309958 0.0225005 0.0418531 0.0228641 0.0146581 0.0493584 0.0201657 9.36695 9.56942 ... /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/vision/mlp_1200.pt /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/vision/mean1200.csv /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/vision/var1200.csv Model loaded from /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/vision/mlp_1200.pt read 2170 elements -0.0324568 0.0626056 -0.131 0.758529 -1.62647 0.0651591 0.874964 -1.63657 -0.0282134 0.982228 -1.59791 0.0457578 0.935868 -1.62761 -0.0470667 0.0010261 -0.087897 0.0269814 0.0194737 -0.0693525 -0.0140214 0.0800436 -0.0956743 0.0292944 0.0643533 -0.0960237 -0.418023 -0.208554 -0.306892 0.266959 0.0304787 -0.302846 -0.131643 0.419291 -0.289692 0.190893 0.348675 -0.253107 -0.0678066 0.000747435 -0.0678066 0.000747435 -0.0324568 0.0626056 -0.131 0.758529 -1.62647 0.0651591 0.874964 -1.63657 -0.0282134 0.982228 -1.59791 0.0457578 0.935868 -1.62761 -0.0470667 0.0010261 -0.087897 0.0269814 0.0194737 -0.0693525 -0.0140214 0.0800436 -0.0956743 0.0292944 0.0643533 -0.0960237 -0.418023 -0.208554 -0.306892 0.266959 0.0304787 -0.302846 -0.131643 0.419291 -0.289692 0.190893 0.348675 -0.253107 -0.0678066 0.000747435 -0.0678066 0.000747435 -0.0324568 0.0626056 -0.131 0.758529 -1.62647 0.0651591 0.874964 -1.63657 -0.0282134 0.982228 -1.59791 0.0457578 0.935868 -1.62761 -0.0470667 0.0010261 ... read 2170 elements 0.0190809 0.0259078 0.0207875 0.0494777 0.0357764 0.0196531 0.058697 0.0405954 0.0255469 0.0490561 0.0229684 0.019187 0.0502801 0.0277285 10.2164 10.5676 19.035 9.78872 9.99721 19.3128 10.1362 9.79533 14.7176 9.48268 12.1181 15.7794 0.161398 0.329998 0.339974 0.157455 0.323308 0.340018 0.193207 0.26286 0.202941 0.171694 0.297858 0.294014 0.00741218 0.0200035 0.00741218 0.0200035 0.0190809 0.0259078 0.0207875 0.0494777 0.0357764 0.0196531 0.058697 0.0405954 0.0255469 0.0490561 0.0229684 0.019187 0.0502801 0.0277285 10.2164 10.5676 19.035 9.78872 9.99721 19.3128 10.1362 9.79533 14.7176 9.48268 12.1181 15.7794 0.161398 0.329998 0.339974 0.157455 0.323308 0.340018 0.193207 0.26286 0.202941 0.171694 0.297858 0.294014 0.00741218 0.0200035 0.00741218 0.0200035 0.0190809 0.0259078 0.0207875 0.0494777 0.0357764 0.0196531 0.058697 0.0405954 0.0255469 0.0490561 0.0229684 0.019187 0.0502801 0.0277285 10.2164 10.5676 ... /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind/prop_encoder_1200.pt /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind/mean1200.csv /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind/var1200.csv Model loaded from /home/ubuntu/cms_ws/catkin_cms/src/agile_locomotion/controller/models/blind/prop_encoder_1200.pt read 2170 elements -0.0239535 0.0439375 -0.12916 0.758832 -1.66217 0.0613242 0.842654 -1.70348 -0.0228252 1.0097 -1.61146 0.0425482 0.926225 -1.63034 -0.034175 -0.00407411 -0.0600386 0.0178517 0.00547594 -0.0474542 -0.00861305 0.0663182 -0.0694604 0.0182749 0.0531053 -0.0878771 -0.398974 -0.169958 -0.319639 0.254109 0.00548921 -0.370061 -0.121593 0.459505 -0.31236 0.168439 0.309663 -0.331397 -0.0870205 0.000291746 -0.0870205 0.000291746 -0.0239535 0.0439375 -0.12916 0.758832 -1.66217 0.0613242 0.842654 -1.70348 -0.0228252 1.0097 -1.61146 0.0425482 0.926225 -1.63034 -0.034175 -0.00407411 -0.0600386 0.0178517 0.00547594 -0.0474542 -0.00861305 0.0663182 -0.0694604 0.0182749 0.0531053 -0.0878771 -0.398974 -0.169958 -0.319639 0.254109 0.00548921 -0.370061 -0.121593 0.459505 -0.31236 0.168439 0.309663 -0.331397 -0.0870205 0.000291746 -0.0870205 0.000291746 -0.0239535 0.0439375 -0.12916 0.758832 -1.66217 0.0613242 0.842654 -1.70348 -0.0228252 1.0097 -1.61146 0.0425482 0.926225 -1.63034 -0.034175 -0.00407411 ... read 2170 elements 0.0154548 0.0116776 0.0184138 0.049594 0.0278942 0.0181977 0.0558888 0.0309958 0.0225005 0.0418531 0.0228641 0.0146581 0.0493584 0.0201657 9.36695 9.56942 17.3742 9.20628 8.86184 16.3252 9.10493 8.82635 13.4025 8.22132 10.5601 12.9502 0.155069 0.308698 0.310683 0.15197 0.308596 0.304845 0.177323 0.208968 0.188846 0.141731 0.282548 0.225084 0.0130294 0.0251278 0.0130294 0.0251278 0.0154548 0.0116776 0.0184138 0.049594 0.0278942 0.0181977 0.0558888 0.0309958 0.0225005 0.0418531 0.0228641 0.0146581 0.0493584 0.0201657 9.36695 9.56942 17.3742 9.20628 8.86184 16.3252 9.10493 8.82635 13.4025 8.22132 10.5601 12.9502 0.155069 0.308698 0.310683 0.15197 0.308596 0.304845 0.177323 0.208968 0.188846 0.141731 0.282548 0.225084 0.0130294 0.0251278 0.0130294 0.0251278 0.0154548 0.0116776 0.0184138 0.049594 0.0278942 0.0181977 0.0558888 0.0309958 0.0225005 0.0418531 0.0228641 0.0146581 0.0493584 0.0201657 9.36695 9.56942 ... [ INFO] [1691047839.430245843]: Received startExecutionCallback message! [Loop Start] named: udp_send period: 2(ms) run at cpu: 3 [Loop Start] named: udp_recv period: 2(ms) run at cpu: 3 agile_locomotion: ../nptl/pthread_mutex_lock.c:81: __pthread_mutex_lock: Assertion mutex->__data.__owner == 0' failed. [agile_locomotion-1] process has died [pid 3849, exit code -6, cmd /home/ubuntu/cms_ws/catkin_cms/devel/lib/agile_locomotion/agile_locomotion __name:=agile_locomotion __log:=/home/ubuntu/.ros/log/ac1a1ae2-8feb-11ec-b887-e45f01ce12ec/agile_locomotion-1.log]. log file: /home/ubuntu/.ros/log/ac1a1ae2-8feb-11ec-b887-e45f01ce12ec/agile_locomotion-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete

i guess it caused by memory lock, but i have changed /etc/security/limis.conf
my `/etc/security/limis.conf is here:

ubuntu soft memlock unlimited ubuntu hard memlock unlimited ubuntu soft nice eip ubuntu hard nice eip ubuntu soft rtprio 99 ubuntu hard rtprio 99

[antonilo]

can you try to first go in superuser mode (just type su) and try again?

[boyuandeng]

@antonilo thanks anto!
hello everyone, I finished the work that deploy this repo on go1(NX), here is the video.

I also pushed go1_description(simple but suitable for the specified version of raisim with rl_locomotion) , you can feel free to use it.

then, I will improve the performance.

I will push my code in my repo(maybe in October)

[boyuandeng]

1.mp4