Instant crash at launch

[SteveNguyen]

All the examples crashe immediately with no log or specific error message.
Example for ros2 launch mujoco_ros2_control_demos cart_example_position.launch.py

Same behavior for both the main and humble-devel branches.
Digging a little bit it seems like calls to controller_manager (read/write and update) in the update() method of MujocoRos2Control provoke the problem?

mujoco_ros2_control/mujoco_ros2_control/src/mujoco_ros2_control.cpp

Line 144 in ba232c0

controller_manager_->read(sim_time_ros, sim_period);

Any idea?

Tested under:

• Ubuntu 22.04.3
• ROS2 Humble

[sangteak601]

It works fine on my machine. It looks like a dependency issue.

Can you try installing dependencies before launching them?

rosdep update && rosdep install --from-paths ./ --ignore-src -y

[SteveNguyen]

Well, oddly enough, it works if I compile everything in debug mode with:
colcon build --packages-select mujoco_ros2_control --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug