ROS2 control can not run normally

[hhsssjejs]

I have installed unetree_mujoco according to the readme file, and successfully compiled the code from the two repositories "ocs2_ros2" and "quadruped_ros2_control". After starting the simulation ./unitree_mujoco, I ran the controller program, ros2 launch go2_description unitree_guide.launch.py, but ROS2 control did not seem to start, and it kept printing the following content in a loop：

![Uploading 09h26m36s时间2024年10月 9日.png…]()

[hhsssjejs]

[legubiao]

I noticed that in your log, it required to enable real-time kernel. You can follow the instruction to enable it and then have another try.

[legubiao]

Here is a screenshot of successful launch

[HJY2918]

I have the same problem when running the code. Is it right to follow the website: https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html to enable my real-time kernel? I have tried, but still the same. Do I need to improve the Ubuntu to the Ubuntu Pro?

[legubiao]

ubuntu pro is not essential as I also using normal version. Can you try the official demo of ros2-control to validate whether ros2-control can work?

[HJY2918]

I enable the real-time kernel, but still "Could not contact service /controller_manager/list_controllers". I can run the ros2-control-demo(https://github.com/ros-controls/ros2_control_demos/tree/humble) successfully.

[legubiao]

What‘s your system and ros version？ I‘ check later using WSL. Now you can try to modified the launch file.

[HJY2918]

My version is as follows: Ubuntu 22.04 LTS ros2-humble