communication_constraints_violation

seivazi commented 4 years ago

Hi, After setting up two ROS machine. PC1 (master) with realtime kernel -roscore

roslaunch mvp_grasping robot_bringup.launch ....Listening to '/move_group/monitored_planning_scene'

PC2 (client)

roslaunch mvp_grasping wrist_realsense.launch

Following error appear in PC1: [ERROR] [1580222432.680721801]: libfranka: Move command aborted: motion aborted by reflex! ["communication_constraints_violation"] control_command_success_rate: 0.52

Any suggestion?

dougsm commented 4 years ago

This error ["communication_constraints_violation"] control_command_success_rate: 0.52 Happens when the network connection between the RT kernel machine and the panda is not able to transmit the control signal at 1khz as required by the panda. Normally it requires a dedicated 1Gbps network connection. Are you sharing network bandwidth with ROS (and especially streaming camera images)? Depending on your networking equipment, it can saturate and fail. I would recommend having one network connection for ROS/internet etc, and a separate, dedicated network link to the panda. I believe this is also what is recommended by Franka. This is the setup that we use and it works reliably.

Relevant Franka FAQ is here which has a lot of other troubleshooting tips for this error: https://frankaemika.github.io/docs/troubleshooting.html#motion-stopped-due-to-discontinuities-or-communication-constraints-violation

seivazi commented 4 years ago

You are right! Once I follow your instruction The error went a way :)

dougsm / mvp_grasp

communication_constraints_violation #9