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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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libfranka: Move command rejected: command not possible in the current mode ("User stopped")! #128

Closed BolunDai0216 closed 1 year ago

BolunDai0216 commented 1 year ago

Hi,

I was trying to run the libfranka example communication_test, but I got the following error

libfranka: Move command rejected: command not possible in the current mode ("User stopped")!

Can anyone help me understand how I can change the robot_mode?

Thanks in advance!

I did check the IP address of the robot, and the emergency stop is not pressed. The robot is flashing green lights. I also tried restarting the terminal and it did not work.

BolunDai0216 commented 1 year ago

Hi,

I was trying to run the libfranka example communication_test, but I got the following error

libfranka: Move command rejected: command not possible in the current mode ("User stopped")!

Can anyone help me understand how I can change the robot_mode?

Thanks in advance!

I did check the IP address of the robot, and the emergency stop is not pressed. The robot is flashing green lights. I also tried restarting the terminal and it did not work.

The issue was I did not disable the safety rules in watchman.

blackholebug commented 1 year ago

To disable the safety rules, you need: 1). a safety operator account; 2). delete all the rules in the watchman under the Work Scenario; 3). test your code in the Execution Mode (System status should be ready now). Thanks to @BolunDai0216 for sharing the hints!

andrejpan commented 1 year ago

This discussion thread should also be helpful on this topic.