How should I sholve this：Error (exception): Frame index greater than size of frame vector in model - frame may not exist double free or corruption (fasttop)

[Wwwwjunjie]

When my robot took its first step, an error occurred when its foot touched the ground

[Wwwwjunjie]

The problem has been resolved. The reason is that there is an imu-link in the control framework of Talos, but it is not in my robot's URDF file. I replaced imu-link with base_link to solve the problem