Error occurs with libfranka 0.8 and no real time kernel

[schnellerblitz99]

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!

[qtw1998]

same with u bro