My PC's browser can successfully connect to Franka Desk, and in the Desk interface, I unlocked the robot, changing its indicator light from yellow to blue. Additionally, when I ping the Franka robot's IP address 172.16.3.69 in the terminal on my PC, I can reach it.
Nevertheless, when I entered the libfranka/build/examples/ directory and ran the test command below, I received the following error. I am unsure where the problem lies and would appreciate your guidance.
./communication_test 172.16.3.69
libfranka: Connection to FCI refused. Please install FCI feature or enable FCI mode in Desk.
PC： Ubuntu 20.04 Ros noetic Rt kernel: Linux xxxxxx 5.15.76-rt53 #2 SMP PREEMPT_RT xxxxxxxxx x86_64 GNU/Linux
I followed the official tutorial at https://frankaemika.github.io/docs/installation_linux.html#installing-from-the-ros-repositories to install libfranka and franka_ros from source code. I also correctly installed the real-time kernel according to the tutorial. However, when I tried to test if the installations were successful, I encountered the following issue.
My PC's browser can successfully connect to Franka Desk, and in the Desk interface, I unlocked the robot, changing its indicator light from yellow to blue. Additionally, when I ping the Franka robot's IP address 172.16.3.69 in the terminal on my PC, I can reach it.
Nevertheless, when I entered the libfranka/build/examples/ directory and ran the test command below, I received the following error. I am unsure where the problem lies and would appreciate your guidance.