marcbone
commented
2 years ago Indeed very strange. Do the libfranka examples work for you? You could also try to print out the robot state and check if it contains some error right before this line
Closed xav12358 closed 1 year ago
marcbone
commented
2 years ago Indeed very strange. Do the libfranka examples work for you? You could also try to print out the robot state and check if it contains some error right before this line
xav12358
commented
2 years ago The example seems to work properly but I did try several time to notice the trouble. In fact it comes after few trajectories. How could I print the robot state ?
Edit :
I finally manage to display robotstate at the line
robot_state
{
"O_T_EE":[
0.996945,
-0.0619811,
0.0473318,
0,
-0.0607056,
-0.997755,
-0.0279273,
0,
0.0489575,
0.0249692,
-0.998489,
0,
0.498686,
0.0542688,
0.346505,
1
],
"O_T_EE_d":[
0.996919,
-0.0621948,
0.0475884,
0,
-0.0609586,
-0.997765,
-0.0270017,
0,
0.0491623,
0.0240181,
-0.998502,
0,
0.498704,
0.054228,
0.346497,
1
],
"F_T_NE":[
0.7071,
-0.7071,
0,
0,
0.7071,
0.7071,
0,
0,
0,
0,
1,
0,
0,
0,
0.1034,
1
],
"NE_T_EE":[
1,
0,
0,
0,
0,
1,
0,
0,
0,
0,
1,
0,
0,
0,
0,
1
],
"F_T_EE":[
0.7071,
-0.7071,
0,
0,
0.7071,
0.7071,
0,
0,
0,
0,
1,
0,
0,
0,
0.1034,
1
],
"EE_T_K":[
1,
0,
0,
0,
0,
1,
0,
0,
0,
0,
1,
0,
0,
0,
0,
1
],
"m_ee":0.73,
"F_x_Cee":[
-0.01,
0,
0.03
],
"I_ee":[
0.001,
0,
0,
0,
0.0025,
0,
0,
0,
0.0017
],
"m_load":0,
"F_x_Cload":[
0,
0,
0
],
"I_load":[
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"m_total":0.73,
"F_x_Ctotal":[
-0.01,
0,
0.03
],
"I_total":[
0.001,
0,
0,
0,
0.0025,
0,
0,
0,
0.0017
],
"elbow":[
-1.22372,
-1
],
"elbow_d":[
-1.22365,
-1
],
"elbow_c":[
-1.22365,
-1
],
"delbow_c":[
0,
0
],
"ddelbow_c":[
0,
0
],
"tau_J":[
0.139658,
16.4523,
23.1207,
12.8739,
0.399223,
1.9573,
0.27099
],
"tau_J_d":[
0,
0,
0,
0,
0,
0,
0
],
"dtau_J":[
-27.2432,
82.5512,
-8.17079,
67.8198,
-27.0724,
1.49786,
-12.3204
],
"q":[
1.70736,
-1.04182,
-1.22372,
-2.15479,
-0.966112,
1.65601,
1.65263
],
"dq":[
-0.000177993,
-0.000765296,
0.000301725,
0.000132541,
0.000141749,
-0.000402616,
-0.000159667
],
"q_d":[
1.70761,
-1.04168,
-1.22365,
-2.15476,
-0.966783,
1.65548,
1.65316
],
"dq_d":[
0,
0,
0,
0,
0,
0,
0
],
"ddq_d":[
0,
0,
0,
0,
0,
0,
0
],
"joint_contact":[
0,
0,
0,
0,
0,
0,
0
],
"cartesian_contact":[
0,
0,
0,
0,
0,
0
],
"joint_collision":[
0,
0,
0,
0,
0,
0,
0
],
"cartesian_collision":[
0,
0,
0,
0,
0,
0
],
"tau_ext_hat_filtered":[
0.140164,
0.343611,
0.338843,
-0.0955836,
-0.337628,
-0.396731,
0.281813
],
"O_F_ext_hat_K":[
-0.58635,
0.529576,
0.677138,
-0.641246,
-0.589601,
0.0643429
],
"K_F_ext_hat_K":[
-0.585344,
-0.511713,
-0.691598,
-0.50093,
0.0851334,
0.205794
],
"O_dP_EE_d":[
0,
0,
0,
0,
0,
0
],
"O_ddP_O":[
0,
0,
-9.81
],
"O_T_EE_c":[
0.996919,
-0.0621948,
0.0475884,
0,
-0.0609586,
-0.997765,
-0.0270017,
0,
0.0491623,
0.0240181,
-0.998502,
0,
0.498704,
0.054228,
0.346497,
1
],
"O_dP_EE_c":[
0,
0,
0,
0,
0,
0
],
"O_ddP_EE_c":[
0,
0,
0,
0,
0,
0
],
"theta":[
1.70738,
-1.04067,
-1.2221,
-2.15388,
-0.966068,
1.65622,
1.65266
],
"dtheta":[
0,
0,
0,
0,
0,
0,
0
],
"current_errors":[
],
"last_motion_errors":[
],
"control_command_success_rate":0,
"robot_mode":"Idle",
"time":655796
}
ControlLoop<T>::operator() 16
terminate called after throwing an instance of 'std::runtime_error'
what(): Duration is out of dual 32-bit range
The problem seems to come from the line 176
xav12358
commented
2 years ago Now I get a other error:
robot_state {"O_T_EE": [0.998503,0.00655939,0.0541181,0,0.0107181,-0.99697,-0.0769153,0,0.0534506,0.0773817,-0.995568,0,0.624205,-0.0461188,0.313763,1], "O_T_EE_d": [0.998506,0.00663385,0.0540552,0,0.0107797,-0.996981,-0.07677,0,0.0533837,0.0772395,-0.995582,0,0.62411,-0.0460058,0.31394,1], "F_T_NE": [0.7071,-0.7071,0,0,0.7071,0.7071,0,0,0,0,1,0,0,0,0.1034,1], "NE_T_EE": [1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1], "F_T_EE": [0.7071,-0.7071,0,0,0.7071,0.7071,0,0,0,0,1,0,0,0,0.1034,1], "EE_T_K": [1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1], "m_ee": 0.73, "F_x_Cee": [-0.01,0,0.03], "I_ee": [0.001,0,0,0,0.0025,0,0,0,0.0017], "m_load": 0, "F_x_Cload": [0,0,0], "I_load": [0,0,0,0,0,0,0,0,0], "m_total": 0.73, "F_x_Ctotal": [-0.01,0,0.03], "I_total": [0.001,0,0,0,0.0025,0,0,0,0.0017], "elbow": [-0.539811,-1], "elbow_d": [-0.539849,-1], "elbow_c": [-0.539849,-1], "delbow_c": [0,0], "ddelbow_c": [0,0], "tau_J": [0.338022,-34.2416,-3.54739,22.082,0.405631,2.13309,0.171197], "tau_J_d": [0,0,0,0,0,0,0], "dtau_J": [-23.1824,-70.7726,15.5215,-5.69258,-13.1749,-9.29907,-0.338779], "q": [0.400719,0.253954,-0.539811,-1.82521,0.243849,2.07589,0.539669], "dq": [5.47495e-05,0.000430492,-0.00013211,-0.000507437,6.92507e-06,7.0402e-05,0.000216986], "q_d": [0.401021,0.253459,-0.539849,-1.82536,0.243353,2.07562,0.540098], "dq_d": [0,0,0,0,0,0,0], "ddq_d": [0,0,0,0,0,0,0], "joint_contact": [0,0,0,0,0,0,0], "cartesian_contact": [0,0,0,0,0,0], "joint_collision": [0,0,0,0,0,0,0], "cartesian_collision": [0,0,0,0,0,0], "tau_ext_hat_filtered": [0.34337,-0.506352,0.132142,-0.0942173,-0.292322,-0.160086,0.164135], "O_F_ext_hat_K": [-2.74616,1.10059,1.02853,-0.956291,-1.71322,0.350538], "K_F_ext_hat_K": [-2.67922,-1.20583,-1.08559,-0.575427,0.21904,0.162541], "O_dP_EE_d": [0,0,0,0,0,0], "O_ddP_O": [0,0,-9.81], "O_T_EE_c": [0.998506,0.00663385,0.0540552,0,0.0107797,-0.996981,-0.07677,0,0.0533837,0.0772395,-0.995582,0,0.62411,-0.0460058,0.31394,1], "O_dP_EE_c": [0,0,0,0,0,0], "O_ddP_EE_c": [0,0,0,0,0,0], "theta": [0.400743,0.25155,-0.54006,-1.82366,0.243893,2.07612,0.539688], "dtheta": [0,0,0,0,0,0,0], "current_errors": [], "last_motion_errors": ["joint_motion_generator_position_limits_violation"], "control_command_success_rate": 0, "robot_mode": "Idle", "time": 2410974}
terminate called after throwing an instance of 'std::runtime_error'
what(): Duration is out of dual 32-bit range
Error: joint_motion_generator_position_limits_violation
marcbone
commented
2 years ago " joint_motion_generator_position_limits_violation" means that you run into the joint limits of the robot. So you should try a different trajectory
xav12358
commented
2 years ago Indeed it comes from a robot joint limit.
For the duration exception, I have decide to remove the throw :+1:
It seems to work.
Does it seem good ?
marcbone
commented
2 years ago Interesting. I mean if this works for you :shrug: . However, I am leaving this issue open since there seems to be a different issue somewhere
xav12358
commented
2 years ago The trouble seems to comes again. What could be the procedure to check where it comes from ?
xav12358
commented
1 year ago I have no answer and the trouble is not solved. Is there a way to give you me information? Trace, log, debug info ?
marcbone
commented
1 year ago What I basically need would be the value of every variable in the entire stack. Somewhere something is not properly set. If i would know which variable is the problem I could maybe find the reason. But without being able to reproduce it myself it is very hard to debug this.
xav12358
commented
1 year ago How could I generate the value of every variable in the entire stack? Could I made a direct call to you via Team or Meet? I could also let the control of my computer temporally
xav12358
commented
1 year ago @marcbone It seems it comes from the version of my moveit. I update the all packages and it seems there is no more pb since 1 week. I hope it will solve my problem definitively
Maverobot
commented
1 year ago The issue seems to be solved. Closed due to inactivity.
Hello,
I get a strange error when I use libfranka. After few move I get that error:
I use gdb to debug it and here is the result:
My example run on Ubuntu 20.04 on Noetic. Libfranka is compile in debug mode Franka ros is compile also in debug mode using libfranka build.
Edit: I build libfranka in debug: