Problems when launching robot

[hao-l1]

🐛 Bug

When I try to launch the robot, an error occur that the subprocess died when command aborted.

HYDRA_FULL_ERROR=1 launch_robot.py robot_client=franka_hardware

/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/core/utils.py:146: UserWarning: register_resolver() is deprecated. See https://github.com/omry/omegaconf/issues/426 for migration instructions.

OmegaConf.register_resolver(name, f) /home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/plugins/config_source.py:190: UserWarning: Missing @package directive robot_client/franka_hardware.yaml in pkg://polymetis.conf. See https://hydra.cc/docs/next/upgrades/0.11_to_1.0/adding_a_package_directive warnings.warn(message=msg, category=UserWarning) [2022-09-29 18:55:13,606][main][INFO] - Adding /home/haoli/anaconda3/envs/polymetis/lib/python3.8/build to $PATH [2022-09-29 18:55:13,606][main][INFO] - Starting server [2022-09-29 18:55:13,607][main][INFO] - Acquiring sudo... "Acquired sudo." [2022-09-29 18:55:13.843] [info] Using real time: true [2022-09-29 18:55:13.843] [info] Using server address: 0.0.0.0:50051 Using 20MB as stack size Using 80 as real-time thread priority Using 0 as cpu_dma_latency Disabled sbrk... Disabled mmap... Locked memory... Initialized pthread... Finished setting stacksize... Finished setting scheduling policy & priority... Creating thread... Started realtime thread. [2022-09-29 18:55:14.615] [info] Server listening on 0.0.0.0:50051 [2022-09-29 18:55:14,642][main][INFO] - Starting robot client... /home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/utils.py:32: UserWarning: OmegaConf.is_none() is deprecated, see https://github.com/omry/omegaconf/issues/547 if OmegaConf.is_none(config): [2022-09-29 18:55:14,710][polymetis.robot_client.executable_robot_client][INFO] - === Config: === robot_ip: 172.16.0.2 control_ip: 0.0.0.0 control_port: 50051 readonly: false mock: false use_real_time: true hz: 1000 num_dofs: 7 exec: franka_panda_client robot_client_metadata_path: /tmp/tmp6tc7yc2q limit_rate: true lpf_cutoff_frequency: 100 limits: cartesian_pos_upper:

• 1.0
• 0.4
• 1.0 cartesian_pos_lower:
• 0.1
• -0.4
• -0.05 joint_pos_upper:
• 2.8
• 1.66
• 2.8
• -0.17
• 2.8
• 3.65
• 2.8 joint_pos_lower:
• -2.8
• -1.66
• -2.8
• -2.97
• -2.8
• 0.08
• -2.8 joint_vel:
• 2.075
• 2.075
• 2.075
• 2.075
• 2.51
• 2.51
• 2.51 elbow_vel: 2.075 joint_torques:
• 86.0
• 86.0
• 86.0
• 86.0
• 11.5
• 11.5
• 11.5 collision_behavior: lower_torque:
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0 upper_torque:
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0 lower_force:
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0 upper_force:
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0
• 40.0 safety_controller: is_active: true margins: cartesian_pos: 0.05 joint_pos: 0.2 joint_vel: 0.5 stiffness: cartesian_pos: 200.0 joint_pos: 50.0 joint_vel: 20.0

[2022-09-29 18:55:14,711][polymetis.robot_client.executable_robot_client][INFO] - === Executing client at /home/haoli/anaconda3/envs/polymetis/bin/franka_panda_client === Using 20MB as stack size Using 80 as real-time thread priority Using 0 as cpu_dma_latency Disabled sbrk... Disabled mmap... Locked memory... Initialized pthread... Finished setting stacksize... Finished setting scheduling policy & priority... Creating thread... Started realtime thread. [2022-09-29 18:55:14.770] [info] ==== Initializing new RobotClient... ==== [2022-09-29 18:55:14.903] [info] Success. [2022-09-29 18:55:14.904] [info] Connecting to Franka Emika... Traceback (most recent call last): File "/home/haoli/anaconda3/envs/polymetis/bin/launch_robot.py", line 94, in main() File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/main.py", line 32, in decorated_main _run_hydra( File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/_internal/utils.py", line 346, in _run_hydra run_and_report( File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/_internal/utils.py", line 201, in run_and_report raise ex File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/_internal/utils.py", line 198, in run_and_report return func() File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/_internal/utils.py", line 347, in lambda: hydra.run( File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/_internal/hydra.py", line 107, in run return run_job( File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/hydra/core/utils.py", line 127, in run_job ret.return_value = task_function(task_cfg) File "/home/haoli/anaconda3/envs/polymetis/bin/launch_robot.py", line 90, in main client.run() File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/site-packages/polymetis/robot_client/executable_robot_client.py", line 78, in run subprocess.run( File "/home/haoli/anaconda3/envs/polymetis/lib/python3.8/subprocess.py", line 516, in run raise CalledProcessError(retcode, process.args, subprocess.CalledProcessError: Command '['sudo', 'env', '"PATH=$PATH"', '/home/haoli/anaconda3/envs/polymetis/bin/franka_panda_client', '/tmp/tmpsqsvo0ia']' died with <Signals.SIGABRT: 6>. [2022-09-29 18:55:15,073][main][INFO] - Using sudo to kill subprocess with pid 3458, pgid 3458...

To Reproduce

Steps to reproduce the behavior:

1. use real time kernel 5.11.4
2. create a conda env for polymetis
3. activate env and run launch_robot.py robot_client=franka_hardware

Expected behavior

Is it because I use the wrong real time kernel? I met some problem when building the kernel 5.11.0, so I just download the kernel that others' already built.

Environment

• Version (Git commit): latest
• Environment (which devfair/robodev/laptop) ubuntu 20.04

Additional context

[1heart]

Can you verify that the communication test works before running Polymetis? This will determine whether it's a Polymetis-specific issue or (as you suspect) a real-time kernel issue.

The libfranka communication test is bundled in the Polymetis conda package.

Also, our new repo is at fairo. I would suggest adding future Issues there to centralize our discussion.