sp-sophia-labs
commented
9 months ago You are not using a real-time kernel. Using a real-time kernel is strongly recommended! Information about how to set up a real-time kernel can be found here: https://frankaemika.github.io/docs/installation_linux.html#setting-up-the-real-time-kernel
[ros2_control_node-3] terminate called after throwing an instance of 'franka::ControlException' [ros2_control_node-3] what(): libfranka: Move command aborted: motion aborted by reflex! ["communication_constraints_violation"]
[ros2_control_node-3] #15 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55c09a0b7800, in [ros2_control_node-3] #14 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f6772097294, in controller_manager::ControllerManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-3] #13 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f6771cef78c, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-3] #12 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f6771d0cdd4, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-3] #11 Object "/home/robotics-101/workspace/ws_control/install/franka_hardware/lib/libfranka_hardware.so", at 0x7f676a823cb8, in franka_hardware::FrankaHardwareInterface::read(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-3] #10 Object "/home/robotics-101/workspace/ws_control/install/franka_hardware/lib/libfranka_hardware.so", at 0x7f676a8401a4, in franka_hardware::Robot::readOnce() [ros2_control_node-3] #9 Object "/home/robotics-101/workspace/ws_control/install/franka_hardware/lib/libfranka_hardware.so", at 0x7f676a84157f, in franka_hardware::Robot::readOnceActiveControl() [ros2_control_node-3] #8 Object "/usr/lib/libfranka.so.0.13.2", at 0x7f676a96e527, in franka::ActiveControl::readOnce() [ros2_control_node-3] #7 Object "/usr/lib/libfranka.so.0.13.2", at 0x7f676a96cde2, in franka::Robot::Impl::throwOnMotionError(franka::RobotState const&, unsigned int) [clone .cold]