libfranka: unable to set realtime scheduling: Operation not permitted

[YinjieLin]

Hello guys! I am using Franka with my computer as following: Also, I install the realtime kernel followed by the instructions of FCI documents, and after the installation, I used the rt-test to test if the real-time kernel was worked well, All the results seem OK, however, when I restart and enter in the kernel 4.14.12_rt10, errors happened and, the Graphic driver and wireless driver did not work well. When I start the roslauch with Franka example controllers, errors shown as "libfranka: unable to set realtime scheduling: Operation not permitted" Detailed: errors.txt

I have tried to reinstall the real-time kernel many times, with 4.14.12 or other 4.14 versions, the results were the same. Is the problem because of the i9 9900k cup? Since no problem happened on my laptop(i7 8650u). Are there any solutions to this problem?

[EricCousineau-TRI]

(FYI Just a fellow user here)

If it's not suuuper important that you run realtime, then you can use realtime_config = RealtimeConfig::kIgnore: https://frankaemika.github.io/libfranka/classfranka_1_1Robot.html#ae63bc19390df3d54f3a270814df35eb6

Before delving into anything ROS-laden, you may want to try one of the direct examples, e.g.: https://github.com/frankaemika/libfranka/blob/f1f46fb008a37eb0d1dba00c971ff7e5a7bfbfd3/examples/generate_joint_position_motion.cpp

Then mayhaps try something like cd build && sudo ./examples/generate_joint_position_motion <robot-address> to see if it's a permissions issue.

If so, then maybe see if you can configure rtprio to allow priority changes. (A colleague had set this up on our side, I dunno the specifics): https://serverfault.com/questions/487602/linux-etc-security-limits-conf-explanation

[DaHornung]

@YinjieLin I faced the same issue on Ubuntu 18.04 and 5.4.102-rt53 #1 SMP PREEMPT_RT kernel. Even with the libfranka examples. (communication_test, generate_cartesian_pose_motion and generate_elbow_motion) ( I don't think it does not matter if you launch a file in ROS or use an example code, as this is probably a systems error). The error is thrown right after pressing in the examples.

I also consulted the steps in: https://frankaemika.github.io/docs/troubleshooting.html and set the cpu performance up to performance and verified.

Jitter test gave: --- 172.16.0.2 ping statistics --- 10000 packets transmitted, 10000 received, 0% packet loss, time 9998ms rtt min/avg/max/mdev = 0.080/0.185/0.354/0.037 ms

And I double-checked that user is within the realtime group with: getent group Result realtime:x:1001:userName I also logged off and on and also rebooted.

[DaHornung]

My bad, I somehow commented the configurations in the limits.config:

@realtime soft rtprio 99 @realtime soft priority 99 @realtime soft memlock 102400 @realtime hard rtprio 99 @realtime hard priority 99 @realtime hard memlock 102400

That resolved the error.

Also I did not use fakeroot for makeing the kernel. Just: make -j4 deb-pkg

[hussienali321]

How you commented on the limits.conf ??because when I add them to the file I can't save the file

[DaHornung]

Ah yeah, I was playing a bit. I tried saving it under a different (temporary) file name. The command prompt opens the same questions again then I typed in the original file name. I re-opened the files to double-check if the changes were applied.

Regards

[hussienali321]

@Dahornung Can you please give me more information to understand you? Thanks for your help