mc_rtc学习：omniORB: Error: a servant has been deleted that is still activated

报错：

omniORB: (827) 2023-04-18 13:17:03.390760: Error: a servant has been deleted that is still activated.
      id: root<73> (active)

具体报错：

[critical] firstOrderImpedance is already handled by another loading function
[critical] === Backtrace ===
 0# void mc_rtc::log::error_and_throw<std::runtime_error, char const (&) [50], std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>(char const (&) [50], std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) at /usr/include/mc_rtc/logging.h:52
 1# mc_solver::GenericLoader<mc_tasks::MetaTaskLoader, mc_tasks::MetaTask>::register_load_function(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<std::shared_ptr<mc_tasks::MetaTask> (mc_solver::QPSolver&, mc_rtc::Configuration const&)>) at /usr/include/mc_solver/GenericLoader.hpp:124
 2# __static_initialization_and_destruction_0 at /home/zxa/ros/ws_bwc_test1/src/isri-aist/BaselineWalkingController/src/tasks/FirstOrderImpedanceTask.cpp:130
 3# 0x00007FDE994098D3 in /lib64/ld-linux-x86-64.so.2
 4# 0x00007FDE9940E39F in /lib64/ld-linux-x86-64.so.2
 5# 0x00007FDE9857816F in /lib/x86_64-linux-gnu/libc.so.6
 6# 0x00007FDE9940D96A in /lib64/ld-linux-x86-64.so.2
 7# 0x00007FDE941F2F96 in /lib/x86_64-linux-gnu/libdl.so.2
 8# 0x00007FDE9857816F in /lib/x86_64-linux-gnu/libc.so.6
 9# 0x00007FDE985781FF in /lib/x86_64-linux-gnu/libc.so.6
10# 0x00007FDE941F3745 in /lib/x86_64-linux-gnu/libdl.so.2
11# 0x00007FDE941F3051 in /lib/x86_64-linux-gnu/libdl.so.2
12# 0x00007FDE8178214A in /usr/lib/x86_64-linux-gnu/libltdl.so.7
13# 0x00007FDE8177ECA2 in /usr/lib/x86_64-linux-gnu/libltdl.so.7
14# 0x00007FDE81780984 in /usr/lib/x86_64-linux-gnu/libltdl.so.7
15# 0x00007FDE81781121 in /usr/lib/x86_64-linux-gnu/libltdl.so.7
16# 0x00007FDE341FD3F7 in /usr/lib/x86_64-linux-gnu/libmc_rtc_loader.so.2
17# 0x00007FDE34214E75 in /usr/lib/x86_64-linux-gnu/libmc_rtc_loader.so.2
18# 0x00007FDE341FD591 in /usr/lib/x86_64-linux-gnu/libmc_rtc_loader.so.2
19# 0x00007FDE341FDE3E in /usr/lib/x86_64-linux-gnu/libmc_rtc_loader.so.2
20# 0x00007FDE360B4812 in /usr/lib/x86_64-linux-gnu/libmc_control.so.2
21# 0x00007FDE360AF380 in /usr/lib/x86_64-linux-gnu/libmc_control.so.2
22# 0x00007FDE360AFCBD in /usr/lib/x86_64-linux-gnu/libmc_control.so.2
23# 0x00007FDE36331EF3 in /usr/lib/MCControl.so
24# 0x00007FDE36355381 in /usr/lib/MCControl.so
25# 0x00007FDE6D10562A in /usr/lib/x86_64-linux-gnu/libRTC-1.1.2.so
26# 0x00007FDE6D117BB0 in /usr/lib/x86_64-linux-gnu/libRTC-1.1.2.so
27# 0x00007FDE6D13C4AF in /usr/lib/x86_64-linux-gnu/libRTC-1.1.2.so
28# 0x00007FDE6D21F32C in /usr/lib/x86_64-linux-gnu/libRTC-1.1.2.so
29# 0x00007FDE6E315E64 in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
30# 0x00007FDE6D223B08 in /usr/lib/x86_64-linux-gnu/libRTC-1.1.2.so
31# 0x00007FDE6E30E9E2 in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
32# 0x00007FDE6E2E8026 in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
33# 0x00007FDE6E336390 in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
34# 0x00007FDE6E337398 in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
35# 0x00007FDE6E3332EA in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
36# 0x00007FDE6E2DA350 in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
37# 0x00007FDE6E2DB51F in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
38# 0x00007FDE6E2D9EC9 in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
39# 0x00007FDE6E2DB49E in /usr/lib/x86_64-linux-gnu/libomniORB4.so.2
40# 0x00007FDE6E01D4C8 in /usr/lib/x86_64-linux-gnu/libomnithread.so.4
41# 0x00007FDE971C16DB in /lib/x86_64-linux-gnu/libpthread.so.0
42# 0x00007FDE9853261F in /lib/x86_64-linux-gnu/libc.so.6

omniORB: (827) 2023-04-18 13:17:03.390760: Error: a servant has been deleted that is still activated.
      id: root<73> (active)

分析

查阅mc_rtc官网资料，FirstOrderImpedance Task已经添加进入了mc_rtc框架。用户自定义的控制器无需在添加FirstOrderImpedance task ，否则会出现如上的错误。

解决方法

1.删除控制器中载入FirstOrderImpedance代码部分
2.更新控制器到最新版本