Sim2Real problem about unknown joint name: state_estimator

[Thocyt]

Hello, great developers! When I finished Sim2Sim successfully, I met problem in Sim2Real part like follow:

[ros2_control_node-3] [FATAL] [1760684983.317425836] [UnitreeSdk2]: Unknown joint name: state_estimator

I don't know how to fix it and other processes all went well. The whole log is as follows:

(beyondmimic) server@server-Precision-3630-Tower:/colcon_ws/src$ xacro /opt/ros/humble/share/unitree_description/urdf/g1/robot.xacro | grep -n "state_estimator"
1396:
1397:
1399:
1402:
(beyondmimic) server@server-Precision-3630-Tower:/colcon_ws/src$ ros2 launch motion_tracking_controller real.launch.py network_interface:=enxc8a362625867 policy_path:=/home/server/beyondmimic/whole_body_tracking/logs/rsl_rl/g1_flat/2025-10-16_09-11-37/exported/policy.onnx
[INFO] [launch]: All log files can be found below /home/server/.ros/log/2025-10-17-15-09-41-401612-server-Precision-3630-Tower-173820
[INFO] [launch]: Default logging verbosity is set to INFO
[launch] Temp controllers.yaml written to /tmp/motion_tracking_controller/temp_controllers.yaml
[INFO] [spawner-1]: process started with pid [173823]
[INFO] [spawner-2]: process started with pid [173825]
[INFO] [ros2_control_node-3]: process started with pid [173827]
[INFO] [robot_state_publisher-4]: process started with pid [173829]
[INFO] [ros2-5]: process started with pid [173831]
[INFO] [joy_linux_node-6]: process started with pid [173833]
[INFO] [joy_teleop-7]: process started with pid [173835]
[robot_state_publisher-4] [WARN] [1760684981.835019084] [kdl_parser]: The root link pelvis has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-4] [INFO] [1760684981.835216484] [robot_state_publisher]: got segment LL_FOOT
[robot_state_publisher-4] [INFO] [1760684981.835267416] [robot_state_publisher]: got segment LR_FOOT
[robot_state_publisher-4] [INFO] [1760684981.835277909] [robot_state_publisher]: got segment camera_bottom_screw_frame
[robot_state_publisher-4] [INFO] [1760684981.835286541] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-4] [INFO] [1760684981.835293677] [robot_state_publisher]: got segment head_link
[robot_state_publisher-4] [INFO] [1760684981.835300011] [robot_state_publisher]: got segment imu_in_pelvis
[robot_state_publisher-4] [INFO] [1760684981.835306224] [robot_state_publisher]: got segment imu_in_torso
[robot_state_publisher-4] [INFO] [1760684981.835312937] [robot_state_publisher]: got segment left_ankle_pitch_link
[robot_state_publisher-4] [INFO] [1760684981.835321100] [robot_state_publisher]: got segment left_ankle_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835327975] [robot_state_publisher]: got segment left_elbow_link
[robot_state_publisher-4] [INFO] [1760684981.835334818] [robot_state_publisher]: got segment left_hip_pitch_link
[robot_state_publisher-4] [INFO] [1760684981.835341436] [robot_state_publisher]: got segment left_hip_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835347935] [robot_state_publisher]: got segment left_hip_yaw_link
[robot_state_publisher-4] [INFO] [1760684981.835354099] [robot_state_publisher]: got segment left_knee_link
[robot_state_publisher-4] [INFO] [1760684981.835361729] [robot_state_publisher]: got segment left_rubber_hand
[robot_state_publisher-4] [INFO] [1760684981.835368531] [robot_state_publisher]: got segment left_shoulder_pitch_link
[robot_state_publisher-4] [INFO] [1760684981.835375082] [robot_state_publisher]: got segment left_shoulder_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835381705] [robot_state_publisher]: got segment left_shoulder_yaw_link
[robot_state_publisher-4] [INFO] [1760684981.835388217] [robot_state_publisher]: got segment left_wrist_pitch_link
[robot_state_publisher-4] [INFO] [1760684981.835394586] [robot_state_publisher]: got segment left_wrist_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835403007] [robot_state_publisher]: got segment left_wrist_yaw_link
[robot_state_publisher-4] [INFO] [1760684981.835409713] [robot_state_publisher]: got segment logo_link
[robot_state_publisher-4] [INFO] [1760684981.835416323] [robot_state_publisher]: got segment mid360_link
[robot_state_publisher-4] [INFO] [1760684981.835423137] [robot_state_publisher]: got segment pelvis
[robot_state_publisher-4] [INFO] [1760684981.835429838] [robot_state_publisher]: got segment pelvis_contour_link
[robot_state_publisher-4] [INFO] [1760684981.835436466] [robot_state_publisher]: got segment right_ankle_pitch_link
[robot_state_publisher-4] [INFO] [1760684981.835443123] [robot_state_publisher]: got segment right_ankle_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835449565] [robot_state_publisher]: got segment right_elbow_link
[robot_state_publisher-4] [INFO] [1760684981.835462224] [robot_state_publisher]: got segment right_hip_pitch_link
[robot_state_publisher-4] [INFO] [1760684981.835471826] [robot_state_publisher]: got segment right_hip_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835478563] [robot_state_publisher]: got segment right_hip_yaw_link
[robot_state_publisher-4] [INFO] [1760684981.835485060] [robot_state_publisher]: got segment right_knee_link
[robot_state_publisher-4] [INFO] [1760684981.835493241] [robot_state_publisher]: got segment right_rubber_hand
[robot_state_publisher-4] [INFO] [1760684981.835499905] [robot_state_publisher]: got segment right_shoulder_pitch_link
[robot_state_publisher-4] [INFO] [1760684981.835507895] [robot_state_publisher]: got segment right_shoulder_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835514751] [robot_state_publisher]: got segment right_shoulder_yaw_link
[robot_state_publisher-4] [INFO] [1760684981.835522548] [robot_state_publisher]: got segment right_wrist_pitch_link
[robot_state_publisher-4] [INFO] [1760684981.835529946] [robot_state_publisher]: got segment right_wrist_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835537682] [robot_state_publisher]: got segment right_wrist_yaw_link
[robot_state_publisher-4] [INFO] [1760684981.835544512] [robot_state_publisher]: got segment state_estimator_dummy
[robot_state_publisher-4] [INFO] [1760684981.835551004] [robot_state_publisher]: got segment torso_link
[robot_state_publisher-4] [INFO] [1760684981.835557573] [robot_state_publisher]: got segment waist_roll_link
[robot_state_publisher-4] [INFO] [1760684981.835564135] [robot_state_publisher]: got segment waist_yaw_link
[robot_state_publisher-4] [INFO] [1760684981.835572729] [robot_state_publisher]: got segment walking_controller_dummy
[ros2_control_node-3] [WARN] [1760684981.836838478] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-3] [INFO] [1760684981.837749187] [resource_manager]: Loading hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760684981.842149111] [resource_manager]: Initialize hardware 'UnitreeSdk2'
[joy_linux_node-6] [WARN] [1760684981.860502127] [joy_node]: Couldn't open joystick force feedback: Bad file descriptor
[joy_linux_node-6] [INFO] [1760684981.860609681] [joy_node]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ros2-5] stdin is not a terminal device. Keyboard handling disabled.[INFO] [1760684982.044082890] [rosbag2_recorder]: Press SPACE for pausing/resuming
[ros2-5] [INFO] [1760684982.045714902] [rosbag2_storage]: Opened database 'rosbag2_2025_10_17-15_09_42/rosbag2_2025_10_17-15_09_42_0.db3' for READ_WRITE.
[ros2-5] [INFO] [1760684982.046574010] [rosbag2_recorder]: Listening for topics...
[ros2-5] [INFO] [1760684982.046586194] [rosbag2_recorder]: Event publisher thread: Starting
[ros2-5] [INFO] [1760684982.049513754] [rosbag2_recorder]: Subscribed to topic '/tf'
[ros2-5] [INFO] [1760684982.064277786] [rosbag2_recorder]: Subscribed to topic '/tf_static'
[ros2-5] [INFO] [1760684982.065343218] [rosbag2_recorder]: Subscribed to topic '/robot_description'
[ros2-5] [INFO] [1760684982.066774540] [rosbag2_recorder]: Subscribed to topic '/joy'
[ros2-5] [INFO] [1760684982.069880951] [rosbag2_recorder]: Subscribed to topic '/events/write_split'
[ros2-5] [INFO] [1760684982.071251471] [rosbag2_recorder]: Subscribed to topic '/diagnostics'
[ros2-5] [INFO] [1760684982.071334100] [rosbag2_recorder]: Recording...
[ros2-5] [INFO] [1760684982.076158456] [rosbag2_recorder]: Subscribed to topic '/rtc_status'
[ros2_control_node-3] G1 type: 5
[ros2_control_node-3] [INFO] [1760684982.093561145] [resource_manager]: Successful initialization of hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760684982.093917502] [resource_manager]: 'configure' hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760684982.093934905] [resource_manager]: Successful 'configure' of hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760684982.094006457] [resource_manager]: 'activate' hardware 'UnitreeSdk2'
[ros2_control_node-3] [INFO] [1760684982.094018849] [resource_manager]: Successful 'activate' of hardware 'UnitreeSdk2'
[spawner-2] [INFO] [1760684982.110285406] [spawner_walking_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-3] [INFO] [1760684982.196927752] [controller_manager]: update rate is 500 Hz
[ros2_control_node-3] [INFO] [1760684982.196963926] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-3] [WARN] [1760684982.197077307] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2-5] [INFO] [1760684982.284187342] [rosbag2_recorder]: Subscribed to topic '/cmd_vel'
[spawner-2] [INFO] [1760684982.397940952] [spawner_walking_controller]: Setting controller param "params_file" to "['/tmp/motion_tracking_controller/temp_controllers.yaml']" for walking_controller
[ros2_control_node-3] [INFO] [1760684982.410539328] [controller_manager]: Loading controller 'walking_controller'
[spawner-2] [INFO] [1760684982.426154836] [spawner_walking_controller]: Loaded walking_controller
[ros2_control_node-3] [INFO] [1760684982.427104919] [controller_manager]: Configuring controller 'walking_controller'
[ros2_control_node-3] Metadata:
[ros2_control_node-3] joint_names: [left_hip_pitch_joint, right_hip_pitch_joint, waist_yaw_joint, left_hip_roll_joint, right_hip_roll_joint, waist_roll_joint, left_hip_yaw_joint, right_hip_yaw_joint, waist_pitch_joint, left_knee_joint, right_knee_joint, left_shoulder_pitch_joint, right_shoulder_pitch_joint, left_ankle_pitch_joint, right_ankle_pitch_joint, left_shoulder_roll_joint, right_shoulder_roll_joint, left_ankle_roll_joint, right_ankle_roll_joint, left_shoulder_yaw_joint, right_shoulder_yaw_joint, left_elbow_joint, right_elbow_joint, left_wrist_roll_joint, right_wrist_roll_joint, left_wrist_pitch_joint, right_wrist_pitch_joint, left_wrist_yaw_joint, right_wrist_yaw_joint]
[ros2_control_node-3] joint_stiffness: 40.179 40.179 40.179 99.098 99.098 28.501 40.179 40.179 28.501 99.098 99.098 14.251 14.251 28.501 28.501 14.251 14.251 28.501 28.501 14.251 14.251 14.251 14.251 14.251 14.251 16.778 16.778 16.778 16.778
[ros2_control_node-3] joint_damping: 2.558 2.558 2.558 6.309 6.309 1.814 2.558 2.558 1.814 6.309 6.309 0.907 0.907 1.814 1.814 0.907 0.907 1.814 1.814 0.907 0.907 0.907 0.907 0.907 0.907 1.068 1.068 1.068 1.068
[ros2_control_node-3] default_joint_pos: -0.312 -0.312 0 0 0 0 0 0 0 0.669 0.669 0.2 0.2 -0.363 -0.363 0.2 -0.2 0 0 0 0 0.6 0.6 0 0 0 0 0 0
[ros2_control_node-3] command_names: [motion]
[ros2_control_node-3] observation_names: [command, motion_anchor_pos_b, motion_anchor_ori_b, base_lin_vel, base_ang_vel, joint_pos, joint_vel, actions]
[ros2_control_node-3] observation_history_lengths not found, set to default
[ros2_control_node-3] observation_history_lengths: [1, 1, 1, 1, 1, 1, 1, 1]
[ros2_control_node-3] action_scale: 0.548 0.548 0.548 0.351 0.351 0.439 0.548 0.548 0.439 0.351 0.351 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.075 0.075 0.075 0.075
[ros2_control_node-3] anchor_body_name: torso_link
[ros2_control_node-3] body_names: [pelvis, left_hip_roll_link, left_knee_link, left_ankle_roll_link, right_hip_roll_link, right_knee_link, right_ankle_roll_link, torso_link, left_shoulder_roll_link, left_elbow_link, left_wrist_yaw_link, right_shoulder_roll_link, right_elbow_link, right_wrist_yaw_link]
[ros2_control_node-3] Inputs:
[ros2_control_node-3] Input 0: obs - Shape: [1, 160]
[ros2_control_node-3] Input 1: time_step - Shape: [1, 1]
[ros2_control_node-3] Outputs:
[ros2_control_node-3] Output 0: actions - Shape: [1, 29]
[ros2_control_node-3] Output 1: joint_pos - Shape: [1, 29]
[ros2_control_node-3] Output 2: joint_vel - Shape: [1, 29]
[ros2_control_node-3] Output 3: body_pos_w - Shape: [1, 14, 3]
[ros2_control_node-3] Output 4: body_quat_w - Shape: [1, 14, 4]
[ros2_control_node-3] Output 5: body_lin_vel_w - Shape: [1, 14, 3]
[ros2_control_node-3] Output 6: body_ang_vel_w - Shape: [1, 14, 3]
[ros2_control_node-3] [INFO] [1760684982.449084329] [MotionTrackingController]: Load Onnx model from /home/server/beyondmimic/whole_body_tracking/logs/rsl_rl/g1_flat/2025-10-16_09-11-37/exported/policy.onnx successfully !
[ros2-5] [INFO] [1760684982.498562067] [rosbag2_recorder]: Subscribed to topic '/walking_controller/transition_event'
[ros2-5] [INFO] [1760684982.499174693] [rosbag2_recorder]: Subscribed to topic '/walking_controller/policy_io'
[INFO] [spawner-2]: process has finished cleanly [pid 173825]
[ros2_control_node-3] [WARN] [1760684983.185255927] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.185387788] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.185431405] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.185481362] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.185523058] [controller_manager]: Empty activate and deactivate list, not requesting switch
[ros2_control_node-3] [WARN] [1760684983.185952290] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.186053194] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.186092778] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.186116939] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.186144536] [controller_manager]: Empty activate and deactivate list, not requesting switch
[ros2_control_node-3] [WARN] [1760684983.186597461] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.186694179] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.186731596] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.186755416] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.186836315] [controller_manager]: Empty activate and deactivate list, not requesting switch
[ros2_control_node-3] [WARN] [1760684983.187243988] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.187315131] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.187355480] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.187380735] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.187408679] [controller_manager]: Empty activate and deactivate list, not requesting switch
[ros2_control_node-3] [WARN] [1760684983.187852238] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.187925535] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.187964089] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.187990040] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.188019755] [controller_manager]: Empty activate and deactivate list, not requesting switch
[ros2_control_node-3] [WARN] [1760684983.188506756] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.188606628] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.188675691] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.188731689] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.188785808] [controller_manager]: Empty activate and deactivate list, not requesting switch
[ros2_control_node-3] [WARN] [1760684983.222405947] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.222498861] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.222529027] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.222545152] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.222569279] [controller_manager]: Empty activate and deactivate list, not requesting switch
[ros2_control_node-3] [WARN] [1760684983.222819083] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.222845730] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.222859722] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.222889505] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.222902587] [controller_manager]: Empty activate and deactivate list, not requesting switch
[spawner-1] [INFO] [1760684983.239925228] [spawner_state_estimator]: Setting controller param "params_file" to "['/tmp/motion_tracking_controller/temp_controllers.yaml']" for state_estimator
[ros2_control_node-3] [INFO] [1760684983.247880138] [controller_manager]: Loading controller 'state_estimator'
[spawner-1] [INFO] [1760684983.265959935] [spawner_state_estimator]: Loaded state_estimator
[ros2_control_node-3] [INFO] [1760684983.266983291] [controller_manager]: Configuring controller 'state_estimator'
[ros2_control_node-3] [INFO] [1760684983.269980331] [state_estimator]: GM observer Cut off frequency: 10.000000
[ros2_control_node-3] [INFO] [1760684983.271884322] [state_estimator]: IMU process acceleration noise density: 0.010000
[ros2_control_node-3] [INFO] [1760684983.271904409] [state_estimator]: IMU process acceleration bias noise density: 0.005000
[ros2_control_node-3] [INFO] [1760684983.271910409] [state_estimator]: Contact process noise position: 0.002000
[ros2_control_node-3] [INFO] [1760684983.271915454] [state_estimator]: Contact sensor noise position: 0.002000
[ros2_control_node-3] [INFO] [1760684983.271920270] [state_estimator]: Contact height sensor noise: 0.002000
[ros2_control_node-3] [INFO] [1760684983.271925017] [state_estimator]: Contact radius: 0.000000
[ros2_control_node-3] [INFO] [1760684983.271930285] [state_estimator]: Contact force threshold: 150.000000
[ros2_control_node-3] [INFO] [1760684983.271935715] [state_estimator]: Contact force scale: 15.000000
[ros2_control_node-3] [INFO] [1760684983.271940579] [state_estimator]: Contact ZMP length x: 0.080000
[ros2_control_node-3] [INFO] [1760684983.271945193] [state_estimator]: Contact ZMP length y: 0.025000
[ros2_control_node-3] [INFO] [1760684983.271949652] [state_estimator]: Position noise density: 0.010000
[ros2_control_node-3] [WARN] [1760684983.274203280] [state_estimator]: Position Topic or Pose frame for external localization correction is not set
[ros2_control_node-3] [WARN] [1760684983.277296737] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.277317047] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.277330869] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.277340916] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.277353911] [controller_manager]: Empty activate and deactivate list, not requesting switch
[ros2_control_node-3] [WARN] [1760684983.277511391] [controller_manager]: Could not 'deactivate' controller with name 'standby_controller' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.277532620] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.277542859] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.277548497] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.277554785] [controller_manager]: Empty activate and deactivate list, not requesting switch
[spawner-1] [INFO] [1760684983.282088830] [spawner_state_estimator]: Configured and activated state_estimator
[spawner-1] [INFO] [1760684983.291699229] [spawner_state_estimator]: Setting controller param "params_file" to "['/tmp/motion_tracking_controller/temp_controllers.yaml']" for standby_controller
[ros2-5] [INFO] [1760684983.296487860] [rosbag2_recorder]: Subscribed to topic '/wrench_LR_FOOT'
[ros2-5] [INFO] [1760684983.297547971] [rosbag2_recorder]: Subscribed to topic '/odom'
[ros2_control_node-3] [INFO] [1760684983.298292963] [controller_manager]: Loading controller 'standby_controller'
[ros2-5] [INFO] [1760684983.298902977] [rosbag2_recorder]: Subscribed to topic '/legged_control/visualization'
[ros2-5] [INFO] [1760684983.299576578] [rosbag2_recorder]: Subscribed to topic '/joint_states'
[ros2-5] [INFO] [1760684983.300112270] [rosbag2_recorder]: Subscribed to topic '/wrench_LL_FOOT'
[ros2-5] [INFO] [1760684983.300601984] [rosbag2_recorder]: Subscribed to topic '/state_estimator/transition_event'
[ros2-5] [INFO] [1760684983.301283980] [rosbag2_recorder]: Subscribed to topic '/wrench_pelvis'
[spawner-1] [INFO] [1760684983.314145823] [spawner_state_estimator]: Loaded standby_controller
[ros2_control_node-3] [INFO] [1760684983.314366705] [controller_manager]: Configuring controller 'standby_controller'
[ros2_control_node-3] [FATAL] [1760684983.317425836] [UnitreeSdk2]: Unknown joint name: state_estimator
[spawner-1] [INFO] [1760684983.320113477] [spawner_state_estimator]: Configured and activated standby_controller
[ros2_control_node-3] [WARN] [1760684983.322318386] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.322352726] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.322365895] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [INFO] [1760684983.322525568] [controller_manager]: Switch controller timeout is set to 0, using default 1s!
[ros2_control_node-3] [FATAL] [1760684983.323508334] [UnitreeSdk2]: Unknown joint name: state_estimator
[ros2_control_node-3] [WARN] [1760684983.325525085] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
[ros2_control_node-3] [WARN] [1760684983.325556329] [controller_manager]: Controller with name 'standby_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.325571388] [controller_manager]: Could not deactivate controller with name 'standby_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.
[ros2_control_node-3] [WARN] [1760684983.325582213] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
[ros2_control_node-3] [WARN] [1760684983.325594652] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using ros2 control list_controllers -v CLI to get more information.

[zhuhaier1992]

I think the state_estimator problem can be solved by directly command ros2 after turning the robot on: ros2 launch motion_tracking_controller real.launch.py network_interface:=<network_interface> wandb_path:=<your_wandb_run_path>. That means, don't touch remote controller at all.

The log is as follows:

1760943897.1331360 [INFO] [launch]: All log files can be found below /home/robot/.ros/log/2025-10-20-15-04-57-132793-robot-ROG-154325
1760943897.1331923 [INFO] [launch]: Default logging verbosity is set to INFO
1760943897.3650002 [INFO] [spawner-1]: process started with pid [154328]
1760943897.3650928 [INFO] [spawner-2]: process started with pid [154330]
1760943897.3651290 [INFO] [ros2_control_node-3]: process started with pid [154332]
1760943897.3651576 [INFO] [robot_state_publisher-4]: process started with pid [154334]
1760943897.3651836 [INFO] [ros2-5]: process started with pid [154336]
1760943897.3652093 [INFO] [joy_linux_node-6]: process started with pid [154338]
1760943897.3652339 [INFO] [joy_teleop-7]: process started with pid [154340]
1760943897.3802989 [joy_linux_node-6] [ERROR] [1760943897.380105525] [joy_node]: Couldn't open joystick /dev/input/js0. Will retry every second.
1760943897.3844953 [ros2_control_node-3] [WARN] [1760943897.384270564] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
1760943897.3865027 [ros2_control_node-3] [INFO] [1760943897.384880852] [resource_manager]: Loading hardware 'UnitreeSdk2' 
1760943897.3887193 [ros2_control_node-3] [INFO] [1760943897.388626474] [resource_manager]: Initialize hardware 'UnitreeSdk2' 
1760943897.6262407 [ERROR] [ros2-5]: process has died [pid 154336, exit code 2, cmd 'ros2 bag record -s mcap -a --exclude (/EstimatorData|/SymState(_back)?|/api/.*|/arm/action/state|/arm_sdk|/audio_msg|/audiosender|/config_change_status|/dex3/(left|right)/(cmd|state)|/frontvideostream|/gnss|/gpt_(cmd|state)|/gptflowfeedback|/lf/(bmsstate|dex3/(left|right)/state|lowstate|mainboardstate|odommodestate|secondary_imu|sportmodestate)|/low(cmd|state)|/multiplestate|/odommodestate|/parameter_events|/public_network_status|/rosout|/rtc/(state|status)|/secondary_imu|/selftest|/servicestate(activate)?|/slam_info|/sportmodestate|/utlidar/range_info|/videohub/inner|/webrtc(req|res)|/wirelesscontroller)'].
1760943902.7829669 [ros2_control_node-3] G1 type: 5
1760943902.7936685 [ros2_control_node-3] [INFO] [1760943902.793454202] [resource_manager]: Successful initialization of hardware 'UnitreeSdk2'
1760943902.7938957 [ros2_control_node-3] [INFO] [1760943902.793683539] [resource_manager]: 'configure' hardware 'UnitreeSdk2' 
1760943902.7939317 [ros2_control_node-3] [INFO] [1760943902.793689649] [resource_manager]: Successful 'configure' of hardware 'UnitreeSdk2'
1760943902.7939534 [ros2_control_node-3] [INFO] [1760943902.793720038] [resource_manager]: 'activate' hardware 'UnitreeSdk2' 
1760943902.7939723 [ros2_control_node-3] [INFO] [1760943902.793723378] [resource_manager]: Successful 'activate' of hardware 'UnitreeSdk2'
1760943902.7978232 [ros2_control_node-3] [INFO] [1760943902.797703832] [controller_manager]: update rate is 500 Hz
1760943902.7981913 [ros2_control_node-3] [INFO] [1760943902.797958760] [controller_manager]: RT kernel is recommended for better performance
1760943902.8813322 [ros2_control_node-3] [INFO] [1760943902.881025963] [controller_manager]: Loading controller 'state_estimator'
1760943902.8972805 [ros2_control_node-3] [INFO] [1760943902.897204229] [controller_manager]: Configuring controller 'state_estimator'
1760943902.8994725 [ros2_control_node-3] [INFO] [1760943902.899363208] [state_estimator]: GM observer Cut off frequency: 10.000000
1760943902.9008565 [ros2_control_node-3] [INFO] [1760943902.900696100] [state_estimator]: IMU process acceleration noise density: 0.010000
1760943902.9008942 [ros2_control_node-3] [INFO] [1760943902.900710793] [state_estimator]: IMU process acceleration bias noise density: 0.005000
1760943902.9009216 [ros2_control_node-3] [INFO] [1760943902.900714864] [state_estimator]: Contact process noise position: 0.002000
1760943902.9009435 [ros2_control_node-3] [INFO] [1760943902.900717965] [state_estimator]: Contact sensor noise position: 0.002000
1760943902.9009650 [ros2_control_node-3] [INFO] [1760943902.900725472] [state_estimator]: Contact height sensor noise: 0.002000
1760943902.9009924 [ros2_control_node-3] [INFO] [1760943902.900728313] [state_estimator]: Contact radius: 0.000000
1760943902.9010127 [ros2_control_node-3] [INFO] [1760943902.900731694] [state_estimator]: Contact force threshold: 150.000000
1760943902.9011030 [ros2_control_node-3] [INFO] [1760943902.900735518] [state_estimator]: Contact force scale: 15.000000
1760943902.9011321 [ros2_control_node-3] [INFO] [1760943902.900739124] [state_estimator]: Contact ZMP length x: 0.080000
1760943902.9011559 [ros2_control_node-3] [INFO] [1760943902.900742019] [state_estimator]: Contact ZMP length y: 0.025000
1760943902.9011776 [ros2_control_node-3] [INFO] [1760943902.900744826] [state_estimator]: Position noise density: 0.010000
1760943902.9024081 [ros2_control_node-3] [WARN] [1760943902.902355796] [state_estimator]: Position Topic or Pose frame for external localization correction is not set
1760943902.9129324 [ros2_control_node-3] [INFO] [1760943902.912827843] [controller_manager]: Loading controller 'standby_controller'
1760943902.9216049 [ros2_control_node-3] [INFO] [1760943902.921323592] [controller_manager]: Configuring controller 'standby_controller'
1760943902.9243994 [ros2_control_node-3] [FATAL] [1760943902.924243698] [UnitreeSdk2]: Unknown joint name: state_estimator
1760943902.9266422 [ros2_control_node-3] [INFO] [1760943902.926346750] [controller_manager]: Loading controller 'walking_controller'
1760943902.9334340 [ros2_control_node-3] [INFO] [1760943902.933338826] [controller_manager]: Configuring controller 'walking_controller'
1760943902.9521646 [ros2_control_node-3] Metadata:
1760943902.9522662 [ros2_control_node-3] 	joint_names: [left_hip_pitch_joint, left_hip_roll_joint, left_hip_yaw_joint, left_knee_joint, left_ankle_pitch_joint, left_ankle_roll_joint, right_hip_pitch_joint, right_hip_roll_joint, right_hip_yaw_joint, right_knee_joint, right_ankle_pitch_joint, right_ankle_roll_joint, waist_yaw_joint, waist_roll_joint, waist_pitch_joint, left_shoulder_pitch_joint, left_shoulder_roll_joint, left_shoulder_yaw_joint, left_elbow_joint, left_wrist_roll_joint, left_wrist_pitch_joint, left_wrist_yaw_joint, right_shoulder_pitch_joint, right_shoulder_roll_joint, right_shoulder_yaw_joint, right_elbow_joint, right_wrist_roll_joint, right_wrist_pitch_joint, right_wrist_yaw_joint]
1760943902.9523168 [ros2_control_node-3] 	joint_stiffness: 40.179 99.098 40.179 99.098 28.501 28.501 40.179 99.098 40.179 99.098 28.501 28.501 40.179 28.501 28.501 14.251 14.251 14.251 14.251 14.251 16.778 16.778 14.251 14.251 14.251 14.251 14.251 16.778 16.778
1760943902.9523511 [ros2_control_node-3] 	joint_damping: 2.558 6.309 2.558 6.309 1.814 1.814 2.558 6.309 2.558 6.309 1.814 1.814 2.558 1.814 1.814 0.907 0.907 0.907 0.907 0.907 1.068 1.068 0.907 0.907 0.907 0.907 0.907 1.068 1.068
1760943902.9523807 [ros2_control_node-3] 	default_joint_pos: -0.312      0      0  0.669 -0.363      0 -0.312      0      0  0.669 -0.363      0      0      0      0    0.2    0.2      0    0.6      0      0      0    0.2   -0.2      0    0.6      0      0      0
1760943902.9524078 [ros2_control_node-3] 	command_names: [motion]
1760943902.9524348 [ros2_control_node-3] 	observation_names: [command, motion_anchor_ori_b, base_ang_vel, joint_pos, joint_vel, actions]
1760943902.9524629 [ros2_control_node-3] 	observation_history_lengths not found, set to default
1760943902.9524894 [ros2_control_node-3] 	observation_history_lengths: [1, 1, 1, 1, 1, 1]
1760943902.9525154 [ros2_control_node-3] 	action_scale: 0.548 0.351 0.548 0.351 0.439 0.439 0.548 0.351 0.548 0.351 0.439 0.439 0.548 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.075 0.075 0.439 0.439 0.439 0.439 0.439 0.075 0.075
1760943902.9525416 [ros2_control_node-3] 	anchor_body_name: torso_link
1760943902.9525685 [ros2_control_node-3] 	body_names: [pelvis, left_hip_roll_link, left_knee_link, left_ankle_roll_link, right_hip_roll_link, right_knee_link, right_ankle_roll_link, torso_link, left_shoulder_roll_link, left_elbow_link, left_wrist_yaw_link, right_shoulder_roll_link, right_elbow_link, right_wrist_yaw_link]
1760943902.9526055 [ros2_control_node-3] Inputs:
1760943902.9526453 [ros2_control_node-3]   Input 0: obs - Shape: [1, 154]
1760943902.9526715 [ros2_control_node-3]   Input 1: time_step - Shape: [1, 1]
1760943902.9526963 [ros2_control_node-3] Outputs:
1760943902.9527209 [ros2_control_node-3]   Output 0: actions - Shape: [1, 29]
1760943902.9527452 [ros2_control_node-3]   Output 1: joint_pos - Shape: [1, 29]
1760943902.9527690 [ros2_control_node-3]   Output 2: joint_vel - Shape: [1, 29]
1760943902.9527931 [ros2_control_node-3]   Output 3: body_pos_w - Shape: [1, 14, 3]
1760943902.9528172 [ros2_control_node-3]   Output 4: body_quat_w - Shape: [1, 14, 4]
1760943902.9528410 [ros2_control_node-3]   Output 5: body_lin_vel_w - Shape: [1, 14, 3]
1760943902.9528649 [ros2_control_node-3]   Output 6: body_ang_vel_w - Shape: [1, 14, 3]
1760943902.9530182 [ros2_control_node-3] [INFO] [1760943902.952021941] [MotionTrackingController]: Load Onnx model from /home/robot/code/g1_spinkick_example/spinkick_safe.onnx successfully !
1760943903.0655882 [INFO] [spawner-1]: process has finished cleanly [pid 154328]
1760943903.0879664 [INFO] [spawner-2]: process has finished cleanly [pid 154330]

After this, the robot will enter "locked standing" mode.
Then push L1 + A on the joystick, the log shows:

1760943980.3596520 [ros2_control_node-3] [WARN] [1760943980.359027395] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
1760943980.3617756 [ros2_control_node-3] [WARN] [1760943980.359129516] [controller_manager]: Controller with name 'standby_controller' is not inactive so its followingcontrollers do not have to be checked, because it cannot be activated.
1760943980.3619711 [ros2_control_node-3] [WARN] [1760943980.359147867] [controller_manager]: Could not activate controller with name 'standby_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information.
1760943980.3620703 [ros2_control_node-3] [WARN] [1760943980.359165201] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
1760943980.3621662 [ros2_control_node-3] [WARN] [1760943980.359176171] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information.
1760943980.3622615 [ros2_control_node-3] [INFO] [1760943980.359193709] [controller_manager]: Empty activate and deactivate list, not requesting switch

And the robot remains the "locked standing" mode, as 'standby controller' shown in the log.
Then push R1 + A, the robot will directly act learned action. So be careful at this moment.

[Thocyt]

I think the state_estimator problem can be solved by directly command ros2 after turning the robot on: ros2 launch motion_tracking_controller real.launch.py network_interface:=<network_interface> wandb_path:=<your_wandb_run_path>. That means, don't touch remote controller at all.

The log is as follows:

1760943897.1331360 [INFO] [launch]: All log files can be found below /home/robot/.ros/log/2025-10-20-15-04-57-132793-robot-ROG-154325
1760943897.1331923 [INFO] [launch]: Default logging verbosity is set to INFO
1760943897.3650002 [INFO] [spawner-1]: process started with pid [154328]
1760943897.3650928 [INFO] [spawner-2]: process started with pid [154330]
1760943897.3651290 [INFO] [ros2_control_node-3]: process started with pid [154332]
1760943897.3651576 [INFO] [robot_state_publisher-4]: process started with pid [154334]
1760943897.3651836 [INFO] [ros2-5]: process started with pid [154336]
1760943897.3652093 [INFO] [joy_linux_node-6]: process started with pid [154338]
1760943897.3652339 [INFO] [joy_teleop-7]: process started with pid [154340]
1760943897.3802989 [joy_linux_node-6] [ERROR] [1760943897.380105525] [joy_node]: Couldn't open joystick /dev/input/js0. Will retry every second.
1760943897.3844953 [ros2_control_node-3] [WARN] [1760943897.384270564] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
1760943897.3865027 [ros2_control_node-3] [INFO] [1760943897.384880852] [resource_manager]: Loading hardware 'UnitreeSdk2' 
1760943897.3887193 [ros2_control_node-3] [INFO] [1760943897.388626474] [resource_manager]: Initialize hardware 'UnitreeSdk2' 
1760943897.6262407 [ERROR] [ros2-5]: process has died [pid 154336, exit code 2, cmd 'ros2 bag record -s mcap -a --exclude (/EstimatorData|/SymState(_back)?|/api/.*|/arm/action/state|/arm_sdk|/audio_msg|/audiosender|/config_change_status|/dex3/(left|right)/(cmd|state)|/frontvideostream|/gnss|/gpt_(cmd|state)|/gptflowfeedback|/lf/(bmsstate|dex3/(left|right)/state|lowstate|mainboardstate|odommodestate|secondary_imu|sportmodestate)|/low(cmd|state)|/multiplestate|/odommodestate|/parameter_events|/public_network_status|/rosout|/rtc/(state|status)|/secondary_imu|/selftest|/servicestate(activate)?|/slam_info|/sportmodestate|/utlidar/range_info|/videohub/inner|/webrtc(req|res)|/wirelesscontroller)'].
1760943902.7829669 [ros2_control_node-3] G1 type: 5
1760943902.7936685 [ros2_control_node-3] [INFO] [1760943902.793454202] [resource_manager]: Successful initialization of hardware 'UnitreeSdk2'
1760943902.7938957 [ros2_control_node-3] [INFO] [1760943902.793683539] [resource_manager]: 'configure' hardware 'UnitreeSdk2' 
1760943902.7939317 [ros2_control_node-3] [INFO] [1760943902.793689649] [resource_manager]: Successful 'configure' of hardware 'UnitreeSdk2'
1760943902.7939534 [ros2_control_node-3] [INFO] [1760943902.793720038] [resource_manager]: 'activate' hardware 'UnitreeSdk2' 
1760943902.7939723 [ros2_control_node-3] [INFO] [1760943902.793723378] [resource_manager]: Successful 'activate' of hardware 'UnitreeSdk2'
1760943902.7978232 [ros2_control_node-3] [INFO] [1760943902.797703832] [controller_manager]: update rate is 500 Hz
1760943902.7981913 [ros2_control_node-3] [INFO] [1760943902.797958760] [controller_manager]: RT kernel is recommended for better performance
1760943902.8813322 [ros2_control_node-3] [INFO] [1760943902.881025963] [controller_manager]: Loading controller 'state_estimator'
1760943902.8972805 [ros2_control_node-3] [INFO] [1760943902.897204229] [controller_manager]: Configuring controller 'state_estimator'
1760943902.8994725 [ros2_control_node-3] [INFO] [1760943902.899363208] [state_estimator]: GM observer Cut off frequency: 10.000000
1760943902.9008565 [ros2_control_node-3] [INFO] [1760943902.900696100] [state_estimator]: IMU process acceleration noise density: 0.010000
1760943902.9008942 [ros2_control_node-3] [INFO] [1760943902.900710793] [state_estimator]: IMU process acceleration bias noise density: 0.005000
1760943902.9009216 [ros2_control_node-3] [INFO] [1760943902.900714864] [state_estimator]: Contact process noise position: 0.002000
1760943902.9009435 [ros2_control_node-3] [INFO] [1760943902.900717965] [state_estimator]: Contact sensor noise position: 0.002000
1760943902.9009650 [ros2_control_node-3] [INFO] [1760943902.900725472] [state_estimator]: Contact height sensor noise: 0.002000
1760943902.9009924 [ros2_control_node-3] [INFO] [1760943902.900728313] [state_estimator]: Contact radius: 0.000000
1760943902.9010127 [ros2_control_node-3] [INFO] [1760943902.900731694] [state_estimator]: Contact force threshold: 150.000000
1760943902.9011030 [ros2_control_node-3] [INFO] [1760943902.900735518] [state_estimator]: Contact force scale: 15.000000
1760943902.9011321 [ros2_control_node-3] [INFO] [1760943902.900739124] [state_estimator]: Contact ZMP length x: 0.080000
1760943902.9011559 [ros2_control_node-3] [INFO] [1760943902.900742019] [state_estimator]: Contact ZMP length y: 0.025000
1760943902.9011776 [ros2_control_node-3] [INFO] [1760943902.900744826] [state_estimator]: Position noise density: 0.010000
1760943902.9024081 [ros2_control_node-3] [WARN] [1760943902.902355796] [state_estimator]: Position Topic or Pose frame for external localization correction is not set
1760943902.9129324 [ros2_control_node-3] [INFO] [1760943902.912827843] [controller_manager]: Loading controller 'standby_controller'
1760943902.9216049 [ros2_control_node-3] [INFO] [1760943902.921323592] [controller_manager]: Configuring controller 'standby_controller'
1760943902.9243994 [ros2_control_node-3] [FATAL] [1760943902.924243698] [UnitreeSdk2]: Unknown joint name: state_estimator
1760943902.9266422 [ros2_control_node-3] [INFO] [1760943902.926346750] [controller_manager]: Loading controller 'walking_controller'
1760943902.9334340 [ros2_control_node-3] [INFO] [1760943902.933338826] [controller_manager]: Configuring controller 'walking_controller'
1760943902.9521646 [ros2_control_node-3] Metadata:
1760943902.9522662 [ros2_control_node-3] 	joint_names: [left_hip_pitch_joint, left_hip_roll_joint, left_hip_yaw_joint, left_knee_joint, left_ankle_pitch_joint, left_ankle_roll_joint, right_hip_pitch_joint, right_hip_roll_joint, right_hip_yaw_joint, right_knee_joint, right_ankle_pitch_joint, right_ankle_roll_joint, waist_yaw_joint, waist_roll_joint, waist_pitch_joint, left_shoulder_pitch_joint, left_shoulder_roll_joint, left_shoulder_yaw_joint, left_elbow_joint, left_wrist_roll_joint, left_wrist_pitch_joint, left_wrist_yaw_joint, right_shoulder_pitch_joint, right_shoulder_roll_joint, right_shoulder_yaw_joint, right_elbow_joint, right_wrist_roll_joint, right_wrist_pitch_joint, right_wrist_yaw_joint]
1760943902.9523168 [ros2_control_node-3] 	joint_stiffness: 40.179 99.098 40.179 99.098 28.501 28.501 40.179 99.098 40.179 99.098 28.501 28.501 40.179 28.501 28.501 14.251 14.251 14.251 14.251 14.251 16.778 16.778 14.251 14.251 14.251 14.251 14.251 16.778 16.778
1760943902.9523511 [ros2_control_node-3] 	joint_damping: 2.558 6.309 2.558 6.309 1.814 1.814 2.558 6.309 2.558 6.309 1.814 1.814 2.558 1.814 1.814 0.907 0.907 0.907 0.907 0.907 1.068 1.068 0.907 0.907 0.907 0.907 0.907 1.068 1.068
1760943902.9523807 [ros2_control_node-3] 	default_joint_pos: -0.312      0      0  0.669 -0.363      0 -0.312      0      0  0.669 -0.363      0      0      0      0    0.2    0.2      0    0.6      0      0      0    0.2   -0.2      0    0.6      0      0      0
1760943902.9524078 [ros2_control_node-3] 	command_names: [motion]
1760943902.9524348 [ros2_control_node-3] 	observation_names: [command, motion_anchor_ori_b, base_ang_vel, joint_pos, joint_vel, actions]
1760943902.9524629 [ros2_control_node-3] 	observation_history_lengths not found, set to default
1760943902.9524894 [ros2_control_node-3] 	observation_history_lengths: [1, 1, 1, 1, 1, 1]
1760943902.9525154 [ros2_control_node-3] 	action_scale: 0.548 0.351 0.548 0.351 0.439 0.439 0.548 0.351 0.548 0.351 0.439 0.439 0.548 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.075 0.075 0.439 0.439 0.439 0.439 0.439 0.075 0.075
1760943902.9525416 [ros2_control_node-3] 	anchor_body_name: torso_link
1760943902.9525685 [ros2_control_node-3] 	body_names: [pelvis, left_hip_roll_link, left_knee_link, left_ankle_roll_link, right_hip_roll_link, right_knee_link, right_ankle_roll_link, torso_link, left_shoulder_roll_link, left_elbow_link, left_wrist_yaw_link, right_shoulder_roll_link, right_elbow_link, right_wrist_yaw_link]
1760943902.9526055 [ros2_control_node-3] Inputs:
1760943902.9526453 [ros2_control_node-3]   Input 0: obs - Shape: [1, 154]
1760943902.9526715 [ros2_control_node-3]   Input 1: time_step - Shape: [1, 1]
1760943902.9526963 [ros2_control_node-3] Outputs:
1760943902.9527209 [ros2_control_node-3]   Output 0: actions - Shape: [1, 29]
1760943902.9527452 [ros2_control_node-3]   Output 1: joint_pos - Shape: [1, 29]
1760943902.9527690 [ros2_control_node-3]   Output 2: joint_vel - Shape: [1, 29]
1760943902.9527931 [ros2_control_node-3]   Output 3: body_pos_w - Shape: [1, 14, 3]
1760943902.9528172 [ros2_control_node-3]   Output 4: body_quat_w - Shape: [1, 14, 4]
1760943902.9528410 [ros2_control_node-3]   Output 5: body_lin_vel_w - Shape: [1, 14, 3]
1760943902.9528649 [ros2_control_node-3]   Output 6: body_ang_vel_w - Shape: [1, 14, 3]
1760943902.9530182 [ros2_control_node-3] [INFO] [1760943902.952021941] [MotionTrackingController]: Load Onnx model from /home/robot/code/g1_spinkick_example/spinkick_safe.onnx successfully !
1760943903.0655882 [INFO] [spawner-1]: process has finished cleanly [pid 154328]
1760943903.0879664 [INFO] [spawner-2]: process has finished cleanly [pid 154330]

After this, the robot will enter "locked standing" mode. Then push L1 + A on the joystick, the log shows:

1760943980.3596520 [ros2_control_node-3] [WARN] [1760943980.359027395] [controller_manager]: Could not 'deactivate' controller with name 'walking_controller1' because no controller with this name exists
1760943980.3617756 [ros2_control_node-3] [WARN] [1760943980.359129516] [controller_manager]: Controller with name 'standby_controller' is not inactive so its followingcontrollers do not have to be checked, because it cannot be activated.
1760943980.3619711 [ros2_control_node-3] [WARN] [1760943980.359147867] [controller_manager]: Could not activate controller with name 'standby_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information.
1760943980.3620703 [ros2_control_node-3] [WARN] [1760943980.359165201] [controller_manager]: Controller with name 'walking_controller' can not be deactivated since it is not active.
1760943980.3621662 [ros2_control_node-3] [WARN] [1760943980.359176171] [controller_manager]: Could not deactivate controller with name 'walking_controller'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information.
1760943980.3622615 [ros2_control_node-3] [INFO] [1760943980.359193709] [controller_manager]: Empty activate and deactivate list, not requesting switch

And the robot remains the "locked standing" mode, as 'standby controller' shown in the log. Then push R1 + A, the robot will directly act learned action. So be careful at this moment.

Hello! Thanks for replying! According to your words, I should just run command ROS2 after turning on the robot without entering the debug mode by pressing L2+R2 ? g1不用进入调试模式直接跑real launch是吗？

[zhuhaier1992]

Yes. The ros2 command will set g1 to debug mode automatically.

[Thocyt]

Yes. The ros2 command will set g1 to debug mode automatically.

I just tried, but the default stand-by position is strange, after running ros2, only the ankles will move and others remain at the points still. However, the ankles titled upwards but not to stand straight. And I had already modified the default positions in every controllers.yaml but it turned out in vain as it showed. Plus, when I clicked B button or Select button on joystick, the robot didn't seem to enter the damped mode. Did you meet the same problem before? And what it should be like in standby mode? And do you know how to modify the stand by default position? Many thanks if you answer my questions!

[zhuhaier1992]

I haven't met this problem. Standby will be 'locked standing' as I commented before.

Yes. The ros2 command will set g1 to debug mode automatically.

I just tried, but the default stand-by position is strange, after running ros2, only the ankles will move and others remain at the points still. However, the ankles titled upwards but not to stand straight. And I had already modified the default positions in every controllers.yaml but it turned out in vain as it showed. Plus, when I clicked B button or Select button on joystick, the robot didn't seem to enter the damped mode. Did you meet the same problem before? And what it should be like in standby mode? And do you know how to modify the stand by default position? Many thanks if you answer my questions!

[Skevinci]

Sorry for invoking an unrelated questions. May I ask how you installed the legged_control2 package since it's "404 Page not found"?

Thank you very much!

[zhuhaier1992]

Sorry for invoking an unrelated questions. May I ask how you installed the legged_control2 package since it's "404 Page not found"?

Thank you very much!

Use the binary installation method in the doc.

[Skevinci]

Sorry for invoking an unrelated questions. May I ask how you installed the legged_control2 package since it's "404 Page not found"?
Thank you very much!

Use the binary installation method in the doc.

Thanks for the reply! I've followed the binary installation, but after connecting the wire and setting up all the things, ros2 topic list only returns two topics. There might be some problems in connection?

[zhuhaier1992]

Sorry for invoking an unrelated questions. May I ask how you installed the legged_control2 package since it's "404 Page not found"?
Thank you very much!

Use the binary installation method in the doc.

Thanks for the reply! I've followed the binary installation, but after connecting the wire and setting up all the things, ros2 topic list only returns two topics. There might be some problems in connection?

Might be a ros2 problem.

[Skevinci]

Sorry for invoking an unrelated questions. May I ask how you installed the legged_control2 package since it's "404 Page not found"?
Thank you very much!

Use the binary installation method in the doc.

Thanks for the reply! I've followed the binary installation, but after connecting the wire and setting up all the things, ros2 topic list only returns two topics. There might be some problems in connection?

Might be a ros2 problem.

Thank you so much!

[xingzewu24]

Same problem, did you solve it? Thanks!

[zhuhaier1992]

I met this problem soon after a successful run. However since legged_control is not open, this repo lost most of its value At 2025-11-14 17:38:38, "Xingze Wu" ***@***.***> wrote: xingzewu24 left a comment (HybridRobotics/motion_tracking_controller#23) Same problem, did you solve it? Thanks! — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: ***@***.***>

[xingzewu24]

I met this problem soon after a successful run. However since legged_control is not open, this repo lost most of its value

At 2025-11-14 17:38:38, "Xingze Wu" @.***> wrote:

xingzewu24 left a comment (#23)

Same problem, did you solve it? Thanks!

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You are receiving this because you commented.Message ID: @.***>

Me too. And I reinstalled it but still got this error. So I chose another deployment of "robojudo" and it worked.

[xingzewu24]

I met this problem soon after a successful run. However since legged_control is not open, this repo lost most of its value

At 2025-11-14 17:38:38, "Xingze Wu" @.***> wrote:

xingzewu24 left a comment (#23)

Same problem, did you solve it? Thanks!

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How did you solve it?

[zhuhaier1992]

I met this problem soon after a successful run. However since legged_control is not open, this repo lost most of its value
At 2025-11-14 17:38:38, "Xingze Wu" @.> wrote:
xingzewu24 left a comment (#23)
Same problem, did you solve it? Thanks!
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You are receiving this because you commented.Message ID: _@_.**>

How did you solve it?

I didn't solve it, I just installed it on another computer again. Better choice for deploy: other repos like robomimic_deploy or robojudo.