How to use SH-MPC

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I would like to know how to use SH-MPC within this framework. My environment is Ubuntu 20.04 with ROS1, and I am using ACADOS as the solver.

I was able to successfully run:

roslaunch mpc_planner_jackalsimulator ros1_jackalsimulator.launch

However, when I tried to switch the solver to SH-MPC, the following error occurred:

================================================================================
REQUIRED process [jackalsimulator_planner-2] has died!
process has died [pid 216207, exit code -6]

I would appreciate any guidance on how to correctly use SH-MPC in this framework.