Wrong ZMQ command in the tutorials #81
Description
Hey,
When running the ZMQ command of the tutorials
bash deploy.sh sim --input-type zmq \
--zmq-host localhost \
--zmq-port 5556 \
--zmq-topic poseI get the following error:
⚠️ WARNING: This will start the REAL robot control system!
Proceed with deployment? [Y/n]:
🚀 Starting deployment...
[DEBUG] Program starting...
[DEBUG] Arguments validated...
[INFO] Using observation config: policy/release/observation_config.yaml
[INFO] Using encoder file: policy/release/model_encoder.onnx
[INFO] Using planner file: planner/target_vel/V2/planner_sonic.onnx
[INFO] Using input type: zmq
[INFO] Using output type: all
[DEBUG] Creating G1Deploy object...
1773331972.004309 [0] g1_deploy_: pose: does not match an available interface.
terminate called after throwing an instance of 'unitree::common::DdsException'
what(): Catch dds::core exception. Class:::dds::core::Error, Message:Error Error - Failed to create domain explicitly.
===============================================================================
Context : org::eclipse::cyclonedds::domain::DomainWrap::DomainWrap
Node : UnknownNode
Aborted (core dumped)
error: Recipe `run` failed on line 28 with exit code 134I noticed it is trying to start the deployment for the real robot and not sim.
Instead what works for me is to move the sim parameter at the end of the command, as shown below:
bash deploy.sh --input-type zmq \
--zmq-host localhost \
--zmq-port 5556 \
--zmq-topic pose sim