Closed seivazi closed 4 years ago
dougsm
commented
4 years ago Yes, as far as I know you will require the real time kernel for the franka emika. I don't know about the compatibility with the NVIDIA drivers, but if it helps, I usually run the GGCNN inference, realsense camera, scales etc. on a separate PC, with a dedicated computer with the RT kernel for controlling the robot.
seivazi
commented
4 years ago Thank @dougsm for the advise with the second computer. I will do the same. Do I need to change something in your ROS wrapper in order to get connected to the second machine (which connected to robot)? Should franka_control_wrappers moved to that machine?
P.s. Sorry for so many questions. You have done a great work. Hopefully, these discussions make it easier for beginners like me to start and contribute.
mkt1412
commented
2 years ago Thank @dougsm for the advise with the second computer. I will do the same. Do I need to change something in your ROS wrapper in order to get connected to the second machine (which connected to robot)? Should franka_control_wrappers moved to that machine?
P.s. Sorry for so many questions. You have done a great work. Hopefully, these discussions make it easier for beginners like me to start and contribute.
Hi, I'm facing the same problem. Have you solved it? Thanks!
seivazi
commented
2 years ago It is possible to split the project to multiple PCs. However for simplicity you might just clone the whole repo in both PC and just run relevant services in your target PC.
I'm confused about installing Franka Emika. Do i need to Set up the real-time kernel?
I'm following their instruction https://frankaemika.github.io/docs/installation_linux.html for franka_ros but having some error and wonder about real-time kernel because It seems NVIDIA binary drivers are not supported on PREEMPT_RT kernels.