Some problems

[jin-yiwei]

Hello~
Environment: ubuntu22.04 + realtime kernel + libfranka0.14.1 + franka_ros2

Problem:

1. libfranka example is ok except "force_control", the error is: "libfranka: Move command aborted: motion aborted by reflex! ["controller_torque_discontinuity"]"
2. all franka_ros2 example is not ok, the errors in 2 different PC are:

• [ros2_control_node-3] terminate called after throwing an instance of 'St9bad_alloc'; [ros2_control_node-3] what(): std::bad_alloc

• what(): libfranka: Move command aborted: motion aborted by reflex! ["cartesian_motion_generator_velocity_discontinuity", "cartesian_motion_generator_acceleration_discontinuity"]

Do you know why? thanks!

[AndreasKuhner]

Hi @jin-yiwei ,
discontinuities usually have 2 sources of errors:

1. The sent commands introduce too big jumps from the last one. Aka last commanded torque is too far away from the current command or
2. Communication problems -> if too many commands are delayed received, it can introduce jumps again resulting in discontinuities.

For the first one, there is not much we can do on our side (aka you need to make sure to send valid commands).
For the second one -> there is a libfranka 0.14.2 which helps in reducing some communication problems with ROS 2. Maybe you could try this version.

Otherwise, you could also run the examples directly with libfranka. Especially, it has a communication example giving you some statistics of our good your connection is.

Cheers,
Andreas