[critical] Enabled entry in mc_rtc must contain at least one controller name

[N1ckfm]

Hi, when I run mc_mujoco with the last update of mc_rtc I get an error message, I don't know if it happens to others too, I already tried it with the default robot JVRC1 and the CoM controller in the mc_rtc configuration and the error keeps appearing.

nk@lnx:~/mc_mujoco/build$ mc_mujoco 
[info] Loading default global configuration /usr/etc/mc_rtc.yaml
[error] Cannot convert from YAML if the root type is not a map or a sequence
[warning] Configuration dump until the attempted conversion:
{}
[info] Loading additional global configuration /home/nk/.config/mc_rtc/mc_rtc.yaml
[error] Cannot convert from YAML if the root type is not a map or a sequence
[warning] Configuration dump until the attempted conversion:
{}
[info] Attempt to open /usr/lib/x86_64-linux-gnu/mc_robots/json.so
[info] Found matching class name symbol MC_RTC_ROBOT_MODULE
[warning] Could not get symbol LOAD_GLOBAL in library /usr/lib/x86_64-linux-gnu/mc_robots/json.so
/usr/lib/x86_64-linux-gnu/mc_robots/json.so: undefined symbol: LOAD_GLOBAL
[info] Attempt to open /usr/lib/x86_64-linux-gnu/mc_robots/env.so
[info] Found matching class name symbol MC_RTC_ROBOT_MODULE
[warning] Could not get symbol LOAD_GLOBAL in library /usr/lib/x86_64-linux-gnu/mc_robots/env.so
/usr/lib/x86_64-linux-gnu/mc_robots/env.so: undefined symbol: LOAD_GLOBAL
[info] Attempt to open /usr/lib/x86_64-linux-gnu/mc_robots/jvrc1.so
[info] Found matching class name symbol MC_RTC_ROBOT_MODULE
[warning] Could not get symbol LOAD_GLOBAL in library /usr/lib/x86_64-linux-gnu/mc_robots/jvrc1.so
/usr/lib/x86_64-linux-gnu/mc_robots/jvrc1.so: undefined symbol: LOAD_GLOBAL
[info] Attempt to open /usr/lib/x86_64-linux-gnu/mc_robots/hrp4.so
[info] Found matching class name symbol MC_RTC_ROBOT_MODULE
[warning] Could not get symbol LOAD_GLOBAL in library /usr/lib/x86_64-linux-gnu/mc_robots/hrp4.so
/usr/lib/x86_64-linux-gnu/mc_robots/hrp4.so: undefined symbol: LOAD_GLOBAL
[info] [RobotLoader] Loading aliases from /usr/lib/x86_64-linux-gnu/mc_robots/aliases/env_aliases.yml
[info] [RobotLoader] Loading aliases from /usr/lib/x86_64-linux-gnu/mc_robots/aliases/object_aliases.yml
[info] Attempt to open /usr/lib/x86_64-linux-gnu/mc_robots/jvrc1.so
[warning] Could not get symbol create_args_required in library /usr/lib/x86_64-linux-gnu/mc_robots/jvrc1.so
/usr/lib/x86_64-linux-gnu/mc_robots/jvrc1.so: undefined symbol: create_args_required
[info] Enabled plugins: ROS (autoload)
[critical] Enabled entry in mc_rtc must contain at least one controller name
[critical] === Backtrace ===
 0# 0x00007F77DA6D5282 in /lib/x86_64-linux-gnu/libmc_control.so.2
 1# mc_control::MCGlobalController::GlobalConfiguration::GlobalConfiguration(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mc_rbdyn::RobotModule>) in /lib/x86_64-linux-gnu/libmc_control.so.2
 2# mc_control::MCGlobalController::MCGlobalController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mc_rbdyn::RobotModule>) in /lib/x86_64-linux-gnu/libmc_control.so.2
 3# mc_mujoco::MjSimImpl::MjSimImpl(mc_mujoco::MjConfiguration const&) at /home/nk/mc_mujoco/src/mj_sim.cpp:105
 4# mc_mujoco::MjSim::MjSim(mc_mujoco::MjConfiguration const&) at /home/nk/mc_mujoco/src/mj_sim.cpp:994
 5# main at /home/nk/mc_mujoco/src/main.cpp:73
 6# __libc_start_main at ../csu/libc-start.c:342
 7# _start in mc_mujoco

terminate called after throwing an instance of 'std::runtime_error'
  what():  Enabled entry in mc_rtc must contain at least one controller name
Aborted (`core' generated)

This is the result I get with gdb

nk@lnx:~/mc_mujoco/build$ gdb mc_mujoco 
GNU gdb (Ubuntu 9.2-0ubuntu1~20.04.1) 9.2
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Type "show copying" and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
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For help, type "help".
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Reading symbols from mc_mujoco...
(gdb) run
Starting program: /usr/local/bin/mc_mujoco 
[Depuración de hilo usando libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[Nuevo Thread 0x7ffff5546700 (LWP 6719)]
[info] Loading default global configuration /usr/etc/mc_rtc.yaml

Thread 1 "mc_mujoco" received signal SIGSEGV, Segmentation fault.
0x00007ffff7a50f79 in mc_rtc::Configuration::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) ()
   from /lib/x86_64-linux-gnu/libmc_rtc_utils.so.2
(gdb) bt
#0  0x00007ffff7a50f79 in mc_rtc::Configuration::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) ()
    at /lib/x86_64-linux-gnu/libmc_rtc_utils.so.2
#1  0x00007ffff7a51622 in mc_rtc::Configuration::Configuration(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) ()
    at /lib/x86_64-linux-gnu/libmc_rtc_utils.so.2
#2  0x00007ffff7a510c2 in mc_rtc::Configuration::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) ()
    at /lib/x86_64-linux-gnu/libmc_rtc_utils.so.2
#3  0x00007ffff7e6b860 in mc_control::MCGlobalController::GlobalConfiguration::GlobalConfiguration(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mc_rbdyn::RobotModule>) ()
    at /lib/x86_64-linux-gnu/libmc_control.so.2
#4  0x00007ffff7e5c0a8 in mc_control::MCGlobalController::MCGlobalController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mc_rbdyn::RobotModule>) ()
    at /lib/x86_64-linux-gnu/libmc_control.so.2
#5  0x000055555564fe5c in std::make_unique<mc_control::MCGlobalController, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () at /usr/include/c++/9/bits/shared_ptr_base.h:616
#6  mc_mujoco::MjSimImpl::MjSimImpl(mc_mujoco::MjConfiguration const&)
    (this=0x555555b11c10, config=...) at /home/nk/mc_mujoco/src/mj_sim.cpp:105
--Type <RET> for more, q to quit, c to continue without paging--
#7  0x0000555555655200 in mc_mujoco::MjSim::MjSim(mc_mujoco::MjConfiguration const&) (this=0x7fffffffd908, config=...) at /home/nk/mc_mujoco/src/mj_sim.cpp:994
#8  0x0000555555630238 in main(int, char**)
    (argc=<optimized out>, argv=<optimized out>)
    at /home/nk/mc_mujoco/src/main.cpp:71

Additional information, the cmake configuration in mc_mujoco/build:

BUILD_SHARED_LIBS OFF
BUILD_STATIC ON

The controller works with:

roslaunch mc_rtc_ticker display.launch
rosrun mc_rtc_ticker mc_rtc_ticker

So the problem only appear me with mc_mujoco, I will really appreciate your comments.

[rohanpsingh]

Hi @N1ckfm
Are you sure you have all the latest changes in mc_rtc?

[error] Cannot convert from YAML if the root type is not a map or a sequence
This seems to suggest a problem with your config file and if I'm not wrong, there were some changes related to loading of config files in mc-rtc recently.