I get this error when I launch franka_example_controller.launch.I used the newest franka_lib and franka_ros.

started roslaunch server http://superkai-OptiPlex-5040:41125/

SUMMARY

PARAMETERS

/cartesian_impedance_example_controller/arm_id: panda
/cartesian_impedance_example_controller/joint_names: ['panda_joint1', ...
/cartesian_impedance_example_controller/type: franka_example_co...
/cartesian_pose_example_controller/arm_id: panda
/cartesian_pose_example_controller/type: franka_example_co...
/cartesian_velocity_example_controller/arm_id: panda
/cartesian_velocity_example_controller/type: franka_example_co...
/dual_arm_cartesian_impedance_example_controller/left/arm_id: panda_2
/dual_arm_cartesian_impedance_example_controller/left/joint_names: ['panda_2_joint1'...
/dual_arm_cartesian_impedance_example_controller/right/arm_id: panda_1
/dual_arm_cartesian_impedance_example_controller/right/joint_names: ['panda_1_joint1'...
/dual_arm_cartesian_impedance_example_controller/type: franka_example_co...
/elbow_example_controller/arm_id: panda
/elbow_example_controller/type: franka_example_co...
/force_example_controller/arm_id: panda
/force_example_controller/joint_names: ['panda_joint1', ...
/force_example_controller/type: franka_example_co...
/franka_control/arm_id: panda
/franka_control/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
/franka_control/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
/franka_control/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
/franka_control/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
/franka_control/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
/franka_control/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
/franka_control/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
/franka_control/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
/franka_control/cutoff_frequency: 100
/franka_control/internal_controller: joint_impedance
/franka_control/joint_limit_warning_threshold: 0.1
/franka_control/joint_names: ['panda_joint1', ...
/franka_control/rate_limiting: True
/franka_control/realtime_config: enforce
/franka_control/robot_ip: 172.16.0.2
/franka_state_controller/arm_id: panda
/franka_state_controller/joint_names: ['panda_joint1', ...
/franka_state_controller/publish_rate: 30
/franka_state_controller/type: franka_control/Fr...
/joint_impedance_example_controller/acceleration_time: 2.0
/joint_impedance_example_controller/arm_id: panda
/joint_impedance_example_controller/coriolis_factor: 1.0
/joint_impedance_example_controller/d_gains: [50.0, 50.0, 50.0...
/joint_impedance_example_controller/joint_names: ['panda_joint1', ...
/joint_impedance_example_controller/k_gains: [600.0, 600.0, 60...
/joint_impedance_example_controller/publish_rate: 10.0
/joint_impedance_example_controller/radius: 0.1
/joint_impedance_example_controller/type: franka_example_co...
/joint_impedance_example_controller/vel_max: 0.15
/joint_position_example_controller/joint_names: ['panda_joint1', ...
/joint_position_example_controller/type: franka_example_co...
/joint_state_desired_publisher/rate: 30
/joint_state_desired_publisher/source_list: ['franka_state_co...
/joint_state_publisher/rate: 30
/joint_state_publisher/source_list: ['franka_state_co...
/joint_velocity_example_controller/joint_names: ['panda_joint1', ...
/joint_velocity_example_controller/type: franka_example_co...
/model_example_controller/arm_id: panda
/model_example_controller/type: franka_example_co...
/position_joint_trajectory_controller/constraints/goal_time: 0.5
/position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
/position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
/position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
/position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
/position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
/position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
/position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
/position_joint_trajectory_controller/joints: ['panda_joint1', ...
/position_joint_trajectory_controller/type: position_controll...
/robot_description: <?xml version="1....
/rosdistro: kinetic
/rosversion: 1.12.14

NODES / controller_spawner (controller_manager/spawner) franka_control (franka_control/franka_control_node) joint_state_desired_publisher (joint_state_publisher/joint_state_publisher) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) state_controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

process[franka_control-1]: started with pid [3626] process[state_controller_spawner-2]: started with pid [3627] process[robot_state_publisher-3]: started with pid [3628] process[joint_state_publisher-4]: started with pid [3629] process[joint_state_desired_publisher-5]: started with pid [3632] process[controller_spawner-6]: started with pid [3633] process[rviz-7]: started with pid [3634] franka_control_node: malloc.c:2394: sysmalloc: Assertion `(old_top == initial_top (av) && old_size == 0) || ((unsigned long) (old_size) >= MINSIZE && prev_inuse (old_top) && ((unsigned long) old_end & (pagesize - 1)) == 0)' failed. INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/superkai/.ros/log/latest' ================================================================================REQUIRED process [franka_control-1] has died! process has died [pid 3626, exit code -6, cmd /home/superkai/franka_ros/devel/lib/franka_control/franka_control_node __name:=franka_control __log:=/home/superkai/.ros/log/44cee110-bb3a-11ea-817f-14b31f0f89b4/franka_control-1.log]. log file: /home/superkai/.ros/log/44cee110-bb3a-11ea-817f-14b31f0f89b4/franka_control-1*.log Initiating shutdown!

[INFO] [1593567226.467638]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1593567226.469255]: Controller Spawner: Waiting for service controller_manager/load_controller [rviz-7] killing on exit [controller_spawner-6] killing on exit [joint_state_desired_publisher-5] killing on exit [joint_state_publisher-4] killing on exit [robot_state_publisher-3] killing on exit [state_controller_spawner-2] killing on exit [franka_control-1] killing on exit Traceback (most recent call last): Traceback (most recent call last): File "/opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher", line 39, in File "/opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher", line 39, in import joint_state_publisher import joint_state_publisher File "/opt/ros/kinetic/lib/python2.7/dist-packages/joint_state_publisher/init.py", line 38, in File "/opt/ros/kinetic/lib/python2.7/dist-packages/joint_state_publisher/init.py", line 38, in import sensor_msgs.msg import sensor_msgs.msg File "/opt/ros/kinetic/lib/python2.7/dist-packages/sensor_msgs/msg/init.py", line 9, in File "/opt/ros/kinetic/lib/python2.7/dist-packages/sensor_msgs/msg/init.py", line 9, in from ._JointState import from ._JointState import File "/opt/ros/kinetic/lib/python2.7/dist-packages/sensor_msgs/msg/_JointState.py", line 2, in File "/opt/ros/kinetic/lib/python2.7/dist-packages/sensor_msgs/msg/_JointState.py", line 2, in """autogenerated by genpy from sensor_msgs/JointState.msg. Do not edit.""" """autogenerated by genpy from sensor_msgs/JointState.msg. Do not edit.""" KeyboardInterrupt KeyboardInterrupt [WARN] [1593567226.700278]: Controller Spawner couldn't find the expected controller_manager ROS interface. [WARN] [1593567226.700966]: Controller Spawner couldn't find the expected controller_manager ROS interface. shutting down processing monitor... ... shutting down processing monitor complete done

frankaemika / franka_ros

franka_control_node: malloc.c:2394: sysmalloc: Assertion REQUIRED process [franka_control-1] has died! #107

SUMMARY