franka_ros_interface
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justagist
Error occurs with libfranka 0.8 and no real time kernel
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/
SUMMARY
PARAMETERS
- /controllers_config/command_timeout: 0.2
- /controllers_config/default_controller: position_joint_tr...
- /controllers_config/impedance_controller: franka_ros_interf...
- /controllers_config/position_controller: franka_ros_interf...
- /controllers_config/torque_controller: franka_ros_interf...
- /controllers_config/trajectory_controller: position_joint_tr...
- /controllers_config/velocity_controller: franka_ros_interf...
- /franka_control/publish_frequency: 1000
- /franka_gripper/default_grasp_epsilon/inner: 0.005
- /franka_gripper/default_grasp_epsilon/outer: 0.005
- /franka_gripper/default_speed: 0.2
- /franka_gripper/joint_names: ['panda_finger_jo...
- /franka_gripper/publish_rate: 30
- /franka_gripper/robot_ip: 192.168.50.234
- /franka_ros_interface/custom_franka_state_controller/arm_id: panda
- /franka_ros_interface/custom_franka_state_controller/joint_names: ['panda_joint1', ...
- /franka_ros_interface/custom_franka_state_controller/publish_rate: 1000
- /franka_ros_interface/custom_franka_state_controller/type: franka_interface/...
- /franka_ros_interface/effort_joint_impedance_controller/arm_id: panda
- /franka_ros_interface/effort_joint_impedance_controller/coriolis_factor: 1.0
- /franka_ros_interface/effort_joint_impedance_controller/d_gains: [50.0, 50.0, 50.0...
- /franka_ros_interface/effort_joint_impedance_controller/joint_names: ['panda_joint1', ...
- /franka_ros_interface/effort_joint_impedance_controller/k_gains: [1200.0, 1000.0, ...
- /franka_ros_interface/effort_joint_impedance_controller/publish_rate: 30.0
- /franka_ros_interface/effort_joint_impedance_controller/type: franka_ros_contro...
- /franka_ros_interface/effort_joint_position_controller/arm_id: panda
- /franka_ros_interface/effort_joint_position_controller/d_gains: [50.0, 50.0, 50.0...
- /franka_ros_interface/effort_joint_position_controller/joint_names: ['panda_joint1', ...
- /franka_ros_interface/effort_joint_position_controller/k_gains: [1200.0, 1000.0, ...
- /franka_ros_interface/effort_joint_position_controller/publish_rate: 30.0
- /franka_ros_interface/effort_joint_position_controller/type: franka_ros_contro...
- /franka_ros_interface/effort_joint_torque_controller/arm_id: panda
- /franka_ros_interface/effort_joint_torque_controller/compensate_coriolis: False
- /franka_ros_interface/effort_joint_torque_controller/joint_names: ['panda_joint1', ...
- /franka_ros_interface/effort_joint_torque_controller/type: franka_ros_contro...
- /franka_ros_interface/position_joint_position_controller/joint_names: ['panda_joint1', ...
- /franka_ros_interface/position_joint_position_controller/type: franka_ros_contro...
- /franka_ros_interface/velocity_joint_velocity_controller/joint_names: ['panda_joint1', ...
- /franka_ros_interface/velocity_joint_velocity_controller/type: franka_ros_contro...
- /gripper_config/default_grasp_epsilon/inner: 0.005
- /gripper_config/default_grasp_epsilon/outer: 0.005
- /gripper_config/default_speed: 0.1
- /gripper_config/joint_names: ['panda_finger_jo...
- /joint_state_desired_publisher/rate: 1000
- /joint_state_desired_publisher/source_list: ['franka_ros_inte...
- /joint_state_publisher/rate: 1000
- /joint_state_publisher/source_list: ['franka_ros_inte...
- /move_group/allow_trajectory_execution: True
- /move_group/controller_list: [{'name': 'positi...
- /move_group/hand/planner_configs: ['SBLkConfigDefau...
- /move_group/jiggle_fraction: 0.05
- /move_group/max_range: 5.0
- /move_group/max_safe_path_cost: 1
- /move_group/moveit_controller_manager: moveit_simple_con...
- /move_group/moveit_manage_controllers: True
- /move_group/octomap_frame: camera_rgb_optica...
- /move_group/octomap_resolution: 0.05
- /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
- /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
- /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
- /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
- /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
- /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
- /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
- /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
- /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
- /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
- /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
- /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
- /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
- /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
- /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
- /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
- /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
- /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
- /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
- /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
- /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
- /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
- /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
- /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
- /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
- /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/ESTkConfigDefault/range: 0.0
- /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
- /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
- /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
- /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
- /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
- /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
- /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
- /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
- /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
- /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
- /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
- /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
- /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
- /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
- /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
- /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
- /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
- /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
- /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
- /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
- /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
- /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
- /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
- /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
- /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
- /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
- /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
- /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
- /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
- /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
- /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
- /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/RRTkConfigDefault/range: 0.0
- /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
- /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
- /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
- /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
- /move_group/planner_configs/SBLkConfigDefault/range: 0.0
- /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
- /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
- /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
- /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
- /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
- /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
- /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
- /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
- /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
- /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
- /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
- /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
- /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
- /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
- /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
- /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
- /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
- /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
- /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
- /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
- /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
- /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
- /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
- /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
- /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
- /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
- /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
- /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
- /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
- /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
- /move_group/planning_plugin: ompl_interface/OM...
- /move_group/planning_scene_monitor/publish_geometry_updates: True
- /move_group/planning_scene_monitor/publish_planning_scene: True
- /move_group/planning_scene_monitor/publish_state_updates: True
- /move_group/planning_scene_monitor/publish_transforms_updates: True
- /move_group/request_adapters: default_planner_r...
- /move_group/sensors: [{'sensor_plugin'...
- /move_group/start_state_max_bounds_error: 0.1
- /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
- /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
- /move_group/trajectory_execution/allowed_start_tolerance: 0.01
- /position_joint_trajectory_controller/constraints/goal_time: 0.5
- /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
- /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
- /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
- /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
- /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
- /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
- /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
- /position_joint_trajectory_controller/joints: ['panda_joint1', ...
- /position_joint_trajectory_controller/type: position_controll...
- /robot_config/arm_id: panda
- /robot_config/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
- /robot_config/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
- /robot_config/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
- /robot_config/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
- /robot_config/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
- /robot_config/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
- /robot_config/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
- /robot_config/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
- /robot_config/cutoff_frequency: 100
- /robot_config/internal_controller: joint_impedance
- /robot_config/joint_config/joint_acceleration_limit/panda_joint1: 15.0
- /robot_config/joint_config/joint_acceleration_limit/panda_joint2: 7.5
- /robot_config/joint_config/joint_acceleration_limit/panda_joint3: 10.0
- /robot_config/joint_config/joint_acceleration_limit/panda_joint4: 12.5
- /robot_config/joint_config/joint_acceleration_limit/panda_joint5: 15.0
- /robot_config/joint_config/joint_acceleration_limit/panda_joint6: 20.0
- /robot_config/joint_config/joint_acceleration_limit/panda_joint7: 20.0
- /robot_config/joint_config/joint_effort_limit/panda_joint1: 87
- /robot_config/joint_config/joint_effort_limit/panda_joint2: 87
- /robot_config/joint_config/joint_effort_limit/panda_joint3: 87
- /robot_config/joint_config/joint_effort_limit/panda_joint4: 87
- /robot_config/joint_config/joint_effort_limit/panda_joint5: 12
- /robot_config/joint_config/joint_effort_limit/panda_joint6: 12
- /robot_config/joint_config/joint_effort_limit/panda_joint7: 12
- /robot_config/joint_config/joint_position_limit/lower/panda_joint1: -2.8973
- /robot_config/joint_config/joint_position_limit/lower/panda_joint2: -1.7628
- /robot_config/joint_config/joint_position_limit/lower/panda_joint3: -2.8973
- /robot_config/joint_config/joint_position_limit/lower/panda_joint4: -3.0718
- /robot_config/joint_config/joint_position_limit/lower/panda_joint5: -2.8973
- /robot_config/joint_config/joint_position_limit/lower/panda_joint6: -0.0175
- /robot_config/joint_config/joint_position_limit/lower/panda_joint7: -2.8973
- /robot_config/joint_config/joint_position_limit/upper/panda_joint1: 2.8973
- /robot_config/joint_config/joint_position_limit/upper/panda_joint2: 1.7628
- /robot_config/joint_config/joint_position_limit/upper/panda_joint3: 2.8973
- /robot_config/joint_config/joint_position_limit/upper/panda_joint4: -0.0698
- /robot_config/joint_config/joint_position_limit/upper/panda_joint5: 2.8973
- /robot_config/joint_config/joint_position_limit/upper/panda_joint6: 3.7525
- /robot_config/joint_config/joint_position_limit/upper/panda_joint7: 2.8973
- /robot_config/joint_config/joint_velocity_limit/panda_joint1: 2.175
- /robot_config/joint_config/joint_velocity_limit/panda_joint2: 2.175
- /robot_config/joint_config/joint_velocity_limit/panda_joint3: 2.175
- /robot_config/joint_config/joint_velocity_limit/panda_joint4: 2.175
- /robot_config/joint_config/joint_velocity_limit/panda_joint5: 2.61
- /robot_config/joint_config/joint_velocity_limit/panda_joint6: 2.61
- /robot_config/joint_config/joint_velocity_limit/panda_joint7: 2.61
- /robot_config/joint_config/realtime_config: RealtimeConfig::k...
- /robot_config/joint_limit_warning_threshold: 0.1
- /robot_config/joint_names: ['panda_joint1', ...
- /robot_config/neutral_pose/panda_joint1: -0.01779206022777...
- /robot_config/neutral_pose/panda_joint2: -0.7601235411041661
- /robot_config/neutral_pose/panda_joint3: 0.019782607023391807
- /robot_config/neutral_pose/panda_joint4: -2.342050140544315
- /robot_config/neutral_pose/panda_joint5: 0.029840531355804868
- /robot_config/neutral_pose/panda_joint6: 1.5411935298621688
- /robot_config/neutral_pose/panda_joint7: 0.7534486589746342
- /robot_config/rate_limiting: True
- /robot_config/robot_ip: 192.168.50.234
- /robot_description: <?xml version="1....
- /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
- /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
- /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
- /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
- /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
- /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
- /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
- /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
- /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
- /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
- /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
- /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
- /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
- /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
- /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
- /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
- /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
- /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
- /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
- /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
- /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
- /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
- /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
- /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
- /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
- /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
- /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
- /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
- /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
- /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
- /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
- /robot_description_semantic: <?xml version="1....
- /robot_state_publisher/publish_frequency: 1000
- /rosdistro: noetic
- /rosversion: 1.15.13
NODES / base_to_link0 (tf/static_transform_publisher) controllers (controller_manager/spawner) demo_scene_loader (franka_moveit/create_demo_planning_scene.py) franka_control (franka_interface/custom_franka_control_node) franka_gripper (franka_gripper/franka_gripper_node) joint_state_desired_publisher (joint_state_publisher/joint_state_publisher) joint_state_publisher (joint_state_publisher/joint_state_publisher) load_controllers (controller_manager/controller_manager) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) state_controller_spawner (controller_manager/spawner) world_to_base (tf/static_transform_publisher)
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
Thanks a lot!
