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qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
BSD 3-Clause "New" or "Revised" License
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Rospy service Exception : Transport error completing service call #60

Open dhananjayrajmane opened 6 months ago

dhananjayrajmane commented 6 months ago

While running legged control, I am getting following exception :

'pawup.switchingTimes': {0, 2}

'pawup.modeSequence': {RF_LH_RH}

[ INFO] [1708660110.135367770]: legged_robot_mpc_mode_schedule command node is ready. Enter the desired gait, for the list of available gait enter "list": Loaded 'controllers/joint_state_controller' Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 523, in call responses = transport.receive_once() File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 744, in receive_once self.stat_bytes += recv_buff(sock, b, p.buff_size) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 111, in recv_buff raise TransportTerminated("unable to receive data from sender, check sender's logs for details") rospy.exceptions.TransportTerminated: unable to receive data from sender, check sender's logs for details

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/controller_manager/controller_manager", line 49, in controller_manager_interface.load_controller(c) File "/opt/ros/noetic/lib/python3/dist-packages/controller_manager/controller_manager_interface.py", line 61, in load_controller resp = s.call(LoadControllerRequest(name)) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 533, in call raise ServiceException("transport error completing service call: %s"%(str(e))) rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details