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leggedrobotics / ocs2

Optimal Control for Switched Systems
https://leggedrobotics.github.io/ocs2
BSD 3-Clause "New" or "Revised" License
836 stars 221 forks source link

ocs2_legged_robot "ddp" and "sqp" example bug #74

Closed rcjhhsh closed 1 year ago

rcjhhsh commented 1 year ago

Describe the bug An error was reported while running roslaunch ocs2_legged_robot_ros legged_robot_ddp.launch and roslaunch ocs2_legged_robot_ros legged_robot_sqp.launch

Screenshots Screenshot from 2023-05-10 17-50-11

Screenshot from 2023-05-10 17-51-45

Screenshot from 2023-05-10 17-48-32

Desktop (please complete the following information):

Additional context Pinocchio and Hpp-fcl are installed by conda -c conda-forge All of the examples your provided can work except legged robot example The "sqp" example problem is same as "ddp"

ghost commented 1 year ago

Perhaps you are using different versions of CppAd

rcjhhsh commented 1 year ago

Perhaps you are using different versions of CppAd

I check my CppAD version. My CppAD just use the ocs2_thirdparty‘s cppad. and the version is: CPPAD version: repository: https://github.com/coin-or/CppAD/tree/stable/20190200 tag: 20190200.5 commit_hash: 6d82707ef4847d4cb3bf27a4671918ee618512fd

YifeiLyu commented 3 months ago

Hi, can I ask how did you fix this issue?