我启动不了

[Black0Moonlight]

我在运行
roslaunch legged_unitree_description empty_world.launch
和
roslaunch legged_controllers load_controller.launch cheater:=false
命令后，在rqt中打开controller manager，
我选择启动joint_state_controller（正常启动）和legged_controller, 这时在运行gazebo的终端会出现报错：

[ INFO] [1705243731.562377629, 124.387000000]: Waiting for the initial policy ...
terminate called after throwing an instance of 'std::logic_error'
what(): From file: /local/robotpkg/var/tmp/robotpkg/path/hpp-fcl/work/hpp-fcl-2.4.0/include/hpp/fcl/narrowphase/narrowphase.h
in function: void hpp::fcl::GJKSolver::initialize_gjk(hpp::fcl::details::GJK&, const hpp::fcl::details::MinkowskiDiff&, const S1&, const S2&, hpp::fcl::Vec3f&, hpp::fcl::support_func_guess_t&) const [with S1 = hpp::fcl::Box; S2 = hpp::fcl::Box; hpp::fcl::Vec3f = Eigen::Matrix<double, 3, 1>; hpp::fcl::support_func_guess_t = Eigen::Matrix<int, 2, 1>]
at line: 84
message: Wrong initial guess for GJK.

Aborted (core dumped)
[gazebo-2] process has died [pid 32831, exit code 134, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode /home/blamlight/ROS1_WS/go1_ocs2_ws/src/legged_control/legged_gazebo/worlds/empty_world.world __name:=gazebo __log:=/home/blamlight/.ros/log/f8a65b58-b2e6-11ee-bcf7-ed90a72ff31a/gazebo-2.log].
log file: /home/blamlight/.ros/log/f8a65b58-b2e6-11ee-bcf7-ed90a72ff31a/gazebo-2*.log

请问有什么解决方法吗，另外我的Robotmodel也不能正常加载。