hi, nice see you. when i use libfranka 0.9.1 "communication_test"only, it is ok. but when run the py script as follows at the same time, the error: terminate called after throwing an instance of 'franka::ControlException' what(): libfranka:Move command aborted:motion aborted by reflex!["communication_constraints_violation"] is comming up. it is not cpu hz problem. what should i do?

the hardware situationa： master computer 192.168.1.10, a franka arm192.168.1.6, a realsense slaver computer192.168.1.13，which all in switch network.

py script the py script is running at realsense slaver computer.the "communication_test"is running at master computer . the py script is used to read letters from a txt file and determine whether to save the realsense image data in the ROS topic as a video based on the letters

!/usr/bin/env python3

import rospy import cv2, re, glob from sensor_msgs.msg import Image

from sensor_msgs.msg import JointState

from cv_bridge import CvBridge

import os

from pathlib import Path

import time

bridge = CvBridge() frame_count = 0 video_writer = None video_file = None is_recording = False

save_dir = None video_savefile = None

flag_num_q = 1

def increment_path(path, exist_ok=False, sep='', mkdir=False):

Increment file or directory path, i.e. save_dir/RGB_video/video, video2, video3, ... etc.

path = Path(path)  # os-agnostic
n2 = ''
if path.exists() and not exist_ok:
    suffix = path.suffix
    path = path.with_suffix('')
    dirs = glob.glob(f"{path}{sep}*")  # similar paths
    matches = [re.search(rf"%s{sep}(\d+)" % path.stem, d) for d in dirs]
    i = [int(m.groups()[0]) for m in matches if m]  # indices
    n2 = max(i) + 1 if i else 2  # increment number
    path = Path(f"{path}{sep}{n2}{suffix}")  # update path
dir = path if path.suffix == '' else path.parent  # directory
if not dir.exists() and mkdir:
    dir.mkdir(parents=True, exist_ok=True)  # make directory
if len(str(n2)) == 0:
    n2 = 1
return path, str(n2)

def image_callback(msg): global frame_count, video_writer, video_file, is_recording, video_savefile, flag_num_q

try:
    cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
except Exception as e:
    rospy.logerr(f"Image conversion failed: {e}")
    return

ros_time = msg.header.stamp
time_text = f"ROS Time: {ros_time.secs}.{ros_time.nsecs:09d}"

font = cv2.FONT_HERSHEY_SIMPLEX
font_scale = 1
font_color = (255, 255, 255)  
thickness = 2
position = (10, 30)  
cv_image = cv2.putText(cv_image, time_text, position, font, font_scale, font_color, thickness, cv2.LINE_AA)

# cv2.imshow('Frame', cv_image)
#key = cv2.waitKey(1) & 0xFF  
key_file = Path("key.txt")
if key_file.exists():
    with open(key_file,'r') as f:
        key = f.read().strip()
else:
    #print(key)
    rospy.logerr("Error:No key data")
print(key)
#if key != 's':
    #if key != 'q':
        #if key != 'p':
            #if key != 'a':
                #print(key)
                #rospy.loginfo("Alert:key value is not right")
if key == 's':
    #rospy.loginfo(f"Now time111: {time.time()}\n")
    if not is_recording:
        is_recording = True
        rospy.loginfo('Recording started...')

        video_dirname, order_name = 'save_dir/RGB_video', '' 
        exist_ok = False
        save_dir, order_num = increment_path(Path(video_dirname) / order_name, exist_ok=exist_ok)
        save_dir = str(save_dir)
        print(order_num)

        order_num = int(order_num) if order_num.isnumeric() else ''
        Path(save_dir).mkdir(parents=True, exist_ok=True)

        for char in save_dir:
            if char in str(order_num):
                save_dir=save_dir.replace(char,'')
        #print(save_dir)

        video_savefile = Path(save_dir) / f'video_{order_num}.mp4c'
        #joint_rosdata_file = Path(save_dir) / f'joint_rosdata_{order_num}.txt'

        height, width, _ = cv_image.shape
        print(height)
        print(width)
        rospy.loginfo(f"Image dimensions: {width}x{height}")
        fourcc = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')
        #fourcc = cv2.VideoWriter_fourcc(*'mp4v')  
        video_writer = cv2.VideoWriter(str(video_savefile), fourcc, 30, (width, height))
    else:
        rospy.loginfo('Already Recording...')
if key == 'q':
    if flag_num_q == 0:
        flag_num_q = 1
        print('...video data logging done...')
        print(f'，if save video，the data in：{str(video_savefile)}')
        frame_count = 0

        is_recording = False

if key == 'p':
    if is_recording and video_writer:
        video_writer.release()
    rospy.loginfo('Recording stopped and exiting...')
    cv2.destroyAllWindows()
    rospy.signal_shutdown('Video saved and exiting...')

if is_recording:
    #rospy.loginfo(f"Now time222: {time.time()}\n")
    if video_savefile is not None:

        video_writer.write(cv_image)
        # xieru joint data
        #record_ros_data(str(joint_rosdata_file))

        frame_count += 1
        rospy.loginfo(f"Frame {frame_count} with timestamp saved to {video_savefile}")
        flag_num_q = 0
    else:
        rospy.loginfo("Recording was not started. video_savefile is not None.")

def main(): rospy.init_node('realsense_image_saver_with_timestamp', anonymous=True) rospy.Subscriber("/camera/color/image_raw", Image, image_callback, queue_size=1)

try:
    rospy.spin()
except KeyboardInterrupt:
    rospy.loginfo("Shutting down...")
finally:
    if video_writer:
        video_writer.release()
        rospy.loginfo("Video writer released.")
    cv2.destroyAllWindows()

if name == 'main': main()

frankaemika / libfranka

libfranka:Move command abord motion aborted by reflex ["communication_constraints_violation"] #163

!/usr/bin/env python3

from sensor_msgs.msg import JointState

import os

import time

Increment file or directory path, i.e. save_dir/RGB_video/video, video2, video3, ... etc.