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Error: Set affinity failed


i’m trying to follow the instructions on the docs to run high_level_mode on the a1. I’ve connected a PC via LAN and can ssh into the rasberry pi. When typing roslaunch mbs_unitree_ros high_level_mode.launch the following error occurs: Error: Set affinity failed.

The full response:

... logging to /home/felix/.ros/log/4316c64c-4623-11ec-8e83-00155d380107/roslaunch-felix-Virtual-Machine-1539.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://felix-Virtual-Machine:46849/


 * /control_level: highlevel
 * /firmwork: 3_2
 * /robot_name: a1
 * /rosdistro: melodic
 * /rosversion: 1.14.12

    high_level_driver (mbs_unitree_ros/high_level_mode)
    node_lcm_server (unitree_legged_real/lcm_server_3_2)

auto-starting new master
process[master]: started with pid [1550]

setting /run_id to 4316c64c-4623-11ec-8e83-00155d380107
process[rosout-1]: started with pid [1561]
started core service [/rosout]
process[node_lcm_server-2]: started with pid [1564]
process[high_level_driver-3]: started with pid [1565]
UDP Initialized. Port: 8080 
LCM Initialized. Subscribe channel: LCM_High_Cmd, Publish channel: LCM_High_State
[Loop Start] named: UDP_Send, period: 2(ms), run at cpu: 3 
Error: Set affinity failed.
[node_lcm_server-2] process has died [pid 1564, exit code 254, cmd /home/felix/catkin_ws/devel/lib/unitree_legged_real/lcm_server_3_2 a1 highlevel __name:=node_lcm_server __log:=/home/felix/.ros/log/4316c64c-4623-11ec-8e83-00155d380107/node_lcm_server-2.log].
log file: /home/felix/.ros/log/4316c64c-4623-11ec-8e83-00155d380107/node_lcm_server-2*.log
[high_level_driver-3] process has died [pid 1565, exit code 254, cmd /home/felix/catkin_ws/devel/lib/mbs_unitree_ros/high_level_mode __name:=high_level_driver __log:=/home/felix/.ros/log/4316c64c-4623-11ec-8e83-00155d380107/high_level_driver-3.log].
log file: /home/felix/.ros/log/4316c64c-4623-11ec-8e83-00155d380107/high_level_driver-3*.log

I’m running Ubuntu 18.04 on Hyper-V. Can this be the problem? If yes, what VM service do you recommend?

Thank you for your time,


1 Like

Hi Felix,
Are you running your source code on Rasberry Pi or on your VM?
I have never used this with VM.

I was running it on my remote PC on a VM (Hyper-V). I resolved the issue by running it on WSL. I thought I can only run the High_Level_Mode node on a remote PC. Can I also run it on the Rasberry Pi in the robot?

I think running it on a RPI should not be a problem.

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