Open ALICEYZ5 opened 6 months ago
olaghattas
commented
1 week ago Any help with this issue? cartesian_pose_example_controller always gives "motion aborted by reflex!" . When I run the example in libfranka (./examples/generate_cartesian_pose_motion ) it works but when I use ros2 it gives me the error. Is there a condition or anything that needs changing?
this is the command I am using "ros2 launch franka_bringup cartesian_pose_example_controller.launch.py arm_id:=fr3 robot_ip:="
AndreasKuhner
commented
1 week ago Hi @olaghattas , what version of libfranka/franka_ros2 do you use?
Cheers, Andreas
ALICEYZ5
commented
1 week ago Check your internet card. Franka website has requirement on the latency of the card.
olaghattas
commented
1 week ago Hey @AndreasKuhner, the libfranka version is 0.13.3 and franka_ros2 is v0.1.15. The compatibility sections show that they are compatible https://frankaemika.github.io/docs/compatibility.html
olaghattas
commented
1 week ago Hey @ALICEYZ5, wouldnt the internet card issue cause the cartesian_pose_example_controller not to work with ros2 and libfranka example. My network card is RTL8111/8168/8411 PCI Express Gigabit Ethernet Controller (by Realtek Semiconductor Co., Ltd.) which meets the minimum requirement 100BASE-TX.
ALICEYZ5
commented
1 week ago Please refer to this link for trouble shooting: https://frankaemika.github.io/docs/troubleshooting.html#network-bandwidth-delay-and-jitter-test
olaghattas
commented
1 week ago @ALICEYZ5 Thanks for the suggestion, but I have already checked those steps before.
I have included a more detailed description of what I am facing.
with ros2 running the communication_test command was successfully COMMAND: communication_test 172.16.0.2 OUTPUT: WARNING: This example will move the robot! Please make sure to have the user stop button at hand! Press Enter to continue...
Finished moving to initial joint configuration.
Starting communication test. Starting communication test.
Also running it with libfranka was successful too
COMMAND: ~/libfranka/build$ ./examples/communication_test 172.16.0.2
OUTPUT:
WARNING: This example will move the robot! Please make sure to have the user stop button at hand!
Press Enter to continue...
Finished moving to initial joint configuration.
Starting communication test.
When I run generate_cartesian_pose_motion from the libfranka repository it works fine and it moves the robot
COMMAND: ~/libfranka/build$ ./examples/generate_cartesian_pose_motion 172.16.0.2 OUTPUT:
WARNING: This example will move the robot! Please make sure to have the user stop button at hand! Press Enter to continue...
Finished moving to initial joint configuration.
Finished motion, shutting down example
My problem is that when I try to run the same example but using the launch file in ros2 it generates an error however ros2 launch franka_bringup joint_velocity_example_controller.launch.py arm_id:=fr3 robot_ip:=172.16.0.2 doesn't
COMMAND: ros2 launch franka_bringup cartesian_pose_example_controller.launch.py arm_id:=fr3 robot_ip:=172.16.0.2
OUTPUT: [ros2_control_node-3] terminate called after throwing an instance of 'franka::ControlException' [ros2_control_node-3] what(): libfranka: Move command aborted: motion aborted by reflex! ["cartesian_motion_generator_velocity_discontinuity", "cartesian_motion_generator_acceleration_discontinuity"] [ros2_control_node-3] Stack trace (most recent call last) in thread 9216: [ros2_control_node-3] #19 Object "", at 0xffffffffffffffff, in [ros2_control_node-3] #18 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in clone3 [0x7f16e7bf984f] [ros2_control_node-3] #17 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7f16e7b67ac2] [ros2_control_node-3] #16 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7df8252, in [ros2_control_node-3] #15 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x560d57942800, in [ros2_control_node-3] #14 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f16e8dc12d4, in controller_manager::ControllerManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-3] #13 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f16e7a0669c, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-3] #12 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f16e7a23e8f, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-3] #11 Source "/home/olagh/franka_ros2_ws/src/franka_ros2/franka_hardware/src/franka_hardware_interface.cpp", line 171, in read [0x7f16e09d4076] [ros2_control_node-3] 168: if (hw_franka_modelptr == nullptr) { [ros2_control_node-3] 169: hw_franka_modelptr = robot_->getModel(); [ros2_control_node-3] 170: } [ros2_control_node-3] > 171: hw_franka_robotstate = robot_->readOnce(); [ros2_control_node-3] 172: [ros2_control_node-3] 173: initializePositionCommands(hw_franka_robotstate); [ros2_control_node-3] #10 Source "/home/olagh/franka_ros2_ws/src/franka_ros2/franka_hardware/src/robot.cpp", line 55, in readOnce [0x7f16e09f0cb0] [ros2_control_node-3] 52: if (!activecontrol) { [ros2_control_node-3] 53: currentstate = robot_->readOnce(); [ros2_control_node-3] 54: } else { [ros2_control_node-3] > 55: currentstate = readOnceActiveControl(); [ros2_control_node-3] 56: } [ros2_control_node-3] 57: return currentstate; [ros2_control_node-3] 58: } [ros2_control_node-3] #9 Source "/home/olagh/franka_ros2_ws/src/franka_ros2/franka_hardware/src/robot.cpp", line 237, in readOnceActiveControl [0x7f16e09f208b] [ros2_control_node-3] 235: franka::RobotState Robot::readOnceActiveControl() { [ros2_control_node-3] 236: // When controller is active use active control to read the robot state [ros2_control_node-3] > 237: const auto [currentstate, ] = activecontrol->readOnce(); [ros2_control_node-3] 238: return current_state; [ros2_control_node-3] 239: } [ros2_control_node-3] #8 Object "/home/olagh/libfranka/build/libfranka.so.0.13.3", at 0x7f16e065b4d7, in franka::ActiveControl::readOnce() [ros2_control_node-3] #7 Object "/home/olagh/libfranka/build/libfranka.so.0.13.3", at 0x7f16e0659d98, in franka::Robot::Impl::throwOnMotionError(franka::RobotState const&, unsigned int) [clone .cold] [ros2_control_node-3] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7dca4d7, in __cxa_throw [ros2_control_node-3] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7dca276, in std::terminate() [ros2_control_node-3] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7dca20b, in [ros2_control_node-3] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7dbeb9d, in [ros2_control_node-3] #2 Source "./stdlib/abort.c", line 79, in abort [0x7f16e7afb7f2] [ros2_control_node-3] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f16e7b15475] [ros2_control_node-3] #0 | Source "./nptl/pthread_kill.c", line 89, in pthread_kill_internal [ros2_control_node-3] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation [ros2_control_node-3] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f16e7b699fc] [ros2_control_node-3] Aborted (Signal sent by tkill() 9083 1000) [ERROR] [ros2_control_node-3]: process has died [pid 9083, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /home/olagh/franka_ros2_ws/install/franka_bringup/share/franka_bringup/config/controllers.yaml --params-file /tmp/launch_params_fpog1o5n --params-file /tmp/launch_params_29mqhx8s -r joint_states:=franka/joint_states']. [INFO] [launch]: process[ros2_control_node-3] was required: shutting down launched system [INFO] [franka_gripper_node-6]: sending signal 'SIGINT' to process[franka_gripper_node-6] [INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2] [INFO] [joint_state_publisher-1]: sending signal 'SIGINT' to process[joint_state_publisher-1]
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 9081] [INFO] [joint_state_publisher-1]: process has finished cleanly [pid 9079] [INFO] [franka_gripper_node-6]: process has finished cleanly [pid 9089]
AndreasKuhner
commented
1 week ago If you use libfranka 0.13.3 (I guess you use the master controller version 5.5.0 or 5.6.0?) then you can get the newest compatible version for you: 0.13.6 -> this has some juicy fixes for franka_ros2 on board :smile:
Otherwise, you could also upgrade the master controller version to 5.7.x and check out libfranka 0.14.2 - this also has the fixes.
If you are able to run the same example with libfranka, there is a good chance that the new versions fix the problem.
olaghattas
commented
1 week ago That fixed the issue.
Thanks @AndreasKuhner !
Hi franka scientist, I was running cartesian_pose_example_controller in _franka_examplecontrollers (just ros2 launch franka_bringup cartesian_pose_example_controller.launch.py robot_ip:=, without changing any code), but got the error:
libfranka: Move command aborted: motion aborted by reflex! ["cartesian_motion_generator_velocity_discontinuity", "cartesian_motion_generator_acceleration_discontinuity", "cartesian_motion_generator_joint_acceleration_discontinuity"]os: Ubuntu 22.04 ROS2 humble franka_ros2 branch: humble, tag: v0.1.13 libfranka branch: fr3-develop, tag: 0.13.3 I was also trying to reduce the radius of motion, but no matter how much I reduced, the same error still show up, unless I set the radius - 0. besides, I tried to set cartesian_pose_command_rate_limitactive = true, does not help either. Please advise. Thanks,