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marcbone / liborl

Cartesian motion generation for Franka Emika Panda robots
European Union Public License 1.2
40 stars 10 forks source link

libfranka: Connection to FCI refused. Please install FCI feature or enable FCI mode in Desk. #6

Closed stonfute closed 1 year ago

stonfute commented 1 year ago

Hello, thanks for your work. I have a small problem.

Everything works fine with libfranka, but when using liborl I've this error when i tried any example libfranka: Connection to FCI refused. Please install FCI feature or enable FCI mode in Desk.

Any idea ?

marcbone commented 1 year ago

Are you sure you are connecting to the correct ip address and have FCI enabled in Desk?

stonfute commented 1 year ago

yeah ! Everything works fine when I use libfranka alone

marcbone commented 1 year ago

This is very confusing. So this error can only happen when libfranka tries to connect to a wrong computer or a robot that does not have fci enabled. Can you tell me what you are running? Or try out one of the examples of liborl?

stonfute commented 1 year ago

Yes, I tried several examples and always the same results. No other cue since everything work fine with libfranka standalone. some info about config : ubuntu 22.04, libfranka 9.2, firmware 4.2.2

marcbone commented 1 year ago

Ok I think I got it. liborl also connects to the gripper. You dont have a gripper attached, right?

stonfute commented 1 year ago

oh yeah ! that's it ! Thanks for the hint