I am trying to run it with libfranka 0.8 and NO real time kernel. I get the following error message when running:
roslaunch franka_interface interface.launch
auto-starting new master
process[master]: started with pid [146155]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 35a1e71e-4d1a-11ec-84c7-bd43e44a67b6
process[rosout-1]: started with pid [146188]
started core service [/rosout]
process[franka_gripper-2]: started with pid [146195]
process[franka_control-3]: started with pid [146196]
process[state_controller_spawner-4]: started with pid [146197]
process[robot_state_publisher-5]: started with pid [146198]
[ INFO] [1637753551.656617041]: franka_gripper_node: Found default_speed 0.2
process[joint_state_publisher-6]: started with pid [146202]
[ INFO] [1637753551.657485585]: franka_gripper_node: Found default_grasp_epsilon inner: 0.005, outer: 0.005
process[joint_state_desired_publisher-7]: started with pid [146210]
process[controllers-8]: started with pid [146212]
process[load_controllers-9]: started with pid [146217]
process[base_to_link0-10]: started with pid [146224]
process[world_to_base-11]: started with pid [146225]
process[move_group-12]: started with pid [146227]
process[demo_scene_loader-13]: started with pid [146228]
Im here 1
Im here 2
[ INFO] [1637753551.720551149]: MotionControllerInterface Initialised
[ WARN] [1637753551.733439501]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[ WARN] [1637753551.733998004]: Falling back to using the the move_group node namespace (deprecated behavior).
[ INFO] [1637753551.738914607]: Loading robot model 'panda'...
[ WARN] [1637753551.738981848]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1637753551.739023788]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1637753551.804954456]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1637753551.806468843]: Listening to 'joint_states' for joint states
[ INFO] [1637753551.809197586]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1637753551.809220716]: Starting planning scene monitor
[ INFO] [1637753551.810526742]: Listening to '/planning_scene'
[ INFO] [1637753551.810549862]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1637753551.811790758]: Listening to '/collision_object'
[ INFO] [1637753551.812830343]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1637753551.823258263]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world '
[ INFO] [1637753551.823279403]: Loading planning pipeline ''
[ INFO] [1637753551.856875856]: Using planning interface 'OMPL'
[ INFO] [1637753551.859467769]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1637753551.859677430]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1637753551.859838180]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1637753551.860010051]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1637753551.860160392]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1637753551.860309743]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1637753551.860342223]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1637753551.860357973]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1637753551.860372393]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1637753551.860386173]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1637753551.860400263]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1637753551.860413823]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1637753551.897497321]: EffortJointImpedanceController: Did not find controller_state_publish_rate. Using default 30 [Hz].
Loaded 'franka_ros_interface/effort_joint_impedance_controller'
[ INFO] [1637753551.915999390]: EffortJointPositionController: Did not find controller_state_publish_rate. Using default 30 [Hz].
Loaded 'franka_ros_interface/effort_joint_position_controller'
[ INFO] [1637753551.930620951]: EffortJointTorqueController: Coriolis compensation disabled!
[ INFO] [1637753551.930940323]: EffortJointTorqueController: Did not find controller_state_publish_rate. Using default 30 [Hz].
Loaded 'franka_ros_interface/effort_joint_torque_controller'
[ INFO] [1637753551.936285399]: VelocityJointVelocityController: Did not find controller_state_publish_rate. Using default 30 [Hz].
Loaded 'franka_ros_interface/velocity_joint_velocity_controller'
[ INFO] [1637753551.949808523]: PositionJointPositionController: Did not find controller_state_publish_rate. Using default 30 [Hz].
Loaded 'franka_ros_interface/position_joint_position_controller'
/home/flairop/.local/lib/python3.8/site-packages/quaternion/numba_wrapper.py:23: UserWarning:
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Could not import from numba, which means that some
parts of this code may run MUCH more slowly. You
may wish to install numba.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
warnings.warn(warning_text)
[INFO] [1637753551.982437]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1637753551.986958]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1637753551.988586]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1637753551.989586]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1637753551.991397]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1637753551.992577]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1637753551.995733]: Loading controller: position_joint_trajectory_controller
[INFO] [1637753551.996171]: Loading controller: franka_ros_interface/custom_franka_state_controller
[INFO] [1637753552.003887]: Controller Spawner: Loaded controllers: franka_ros_interface/custom_franka_state_controller
[INFO] [1637753552.038058]: Controller Spawner: Loaded controllers: position_joint_trajectory_controller
[ INFO] [1637753552.043750665]: FrankaHW: Prepared switching controllers to joint_position with parameters limit_rate=1, cutoff_frequency=100, internal_controller=joint_impedance
[INFO] [1637753552.043854]: Started controllers: franka_ros_interface/custom_franka_state_controller
terminate called after throwing an instance of 'franka::RealtimeException'
what(): libfranka: unable to set realtime scheduling: Operation not permitted
[INFO] [1637753552.044894]: Started controllers: position_joint_trajectory_controller
================================================================================REQUIRED process [franka_control-3] has died!
process has died [pid 146196, exit code -6, cmd /home/flairop/Gilles/flairop_cell_ws/devel/lib/franka_interface/custom_franka_control_node __name:=franka_control __log:=/home/flairop/.ros/log/35a1e71e-4d1a-11ec-84c7-bd43e44a67b6/franka_control-3.log].
log file: /home/flairop/.ros/log/35a1e71e-4d1a-11ec-84c7-bd43e44a67b6/franka_control-3*.log
Initiating shutdown!
[INFO] [1637753552.156802]: Creating Demo Planning Scene
[ INFO] [1637753552.158436849]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[demo_scene_loader-13] killing on exit
[move_group-12] killing on exit
[world_to_base-11] killing on exit
[base_to_link0-10] killing on exit
[load_controllers-9] killing on exit
[controllers-8] killing on exit
[joint_state_desired_publisher-7] killing on exit
[joint_state_publisher-6] killing on exit
[robot_state_publisher-5] killing on exit
[state_controller_spawner-4] killing on exit
[INFO] [1637753552.251627]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1637753552.252046]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1637753552.254120]: Stopping all controllers...
[INFO] [1637753552.254740]: Stopping all controllers...
[WARN] [1637753552.258847]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[WARN] [1637753552.258966]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[franka_control-3] killing on exit
[franka_gripper-2] killing on exit
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
You can start planning now!
[ WARN] [1637753557.159884818]: service '/get_planning_scene' not advertised yet. Continue waiting...
[ INFO] [1637753557.160280250]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[demo_scene_loader-13] escalating to SIGTERM
[demo_scene_loader-13] escalating to SIGKILL
[rosout-1] killing on exit
[master] killing on exit
Shutdown errors:
process[demo_scene_loader-13, pid 146228]: required SIGKILL. May still be running.
shutting down processing monitor...
... shutting down processing monitor complete
done
I am guessing that this error is related to the real time kernel, is there a way how I can tell libfranka to enable robot without real time kernel, as it is possible in the new version of libfranka?
[ INFO] [1637753552.043750665]: FrankaHW: Prepared switching controllers to joint_position with parameters limit_rate=1, cutoff_frequency=100, internal_controller=joint_impedance
[INFO] [1637753552.043854]: Started controllers: franka_ros_interface/custom_franka_state_controller
terminate called after throwing an instance of 'franka::RealtimeException'
what(): libfranka: unable to set realtime scheduling: Operation not permitted
[INFO] [1637753552.044894]: Started controllers: position_joint_trajectory_controller
Hey,
I am trying to run it with libfranka 0.8 and NO real time kernel. I get the following error message when running:
roslaunch franka_interface interface.launch
started roslaunch server http://cell2:40065/
I am guessing that this error is related to the real time kernel, is there a way how I can tell libfranka to enable robot without real time kernel, as it is possible in the new version of libfranka?
Thanks a lot!