Open xh16166 opened 1 year ago
Hi @xh16166 ,
I don't have enough information with the code you provided to identify the cause of this issue. Can you tell me which line is triggering the fault? I would also need to see the implementation of your KortexRobot class.
In the meantime, you can just make sure that your baseCyclic client is using a router real-time, with UDP transport via port 10001.
I want to use the high level mode to send speed to the robot and simultaneously obtain feedback information on the robot's joint position, speed, and torque. I used the Async method, but my program encountered the following error: Robot connection successful [libprotobuf FATAL /home/robot/kortex-XH/api_cpp/examples/kortex_api/include/google/protobuf/repeated_field.h:1522] CHECK failed: (index) < (currentsize): terminate called after throwing an instance of 'google::protobuf::FatalException' what(): CHECK failed: (index) < (currentsize):
Process finished with exit code 134 (interrupted by signal 6: SIGABRT)
When sending speed, the robot does indeed move, and the program does not enter the while loop, so joint information is not printed. I want to know how to solve this problem. Here is my program. I hope someone can help me check it. Thank you very much for your reply.
include "kortex_api/include/common/KortexRobot.h"
include "iostream"
include "utilities.h"
if defined(_MSC_VER)
include
else
include
endif
include
include//pinocchio
include
include <boost/asio.hpp>
include
include
include
include
include
int main(int argc, char **argv) {
}