cartesian_pose_example_controller Issue

[ALICEYZ5]

Hi franka scientist,
I was running cartesian_pose_example_controller in franka_example_controllers (just ros2 launch franka_bringup cartesian_pose_example_controller.launch.py robot_ip:=, without changing any code), but got the error:
libfranka: Move command aborted: motion aborted by reflex! ["cartesian_motion_generator_velocity_discontinuity", "cartesian_motion_generator_acceleration_discontinuity", "cartesian_motion_generator_joint_acceleration_discontinuity"]
os: Ubuntu 22.04
ROS2 humble
franka_ros2 branch: humble, tag: v0.1.13
libfranka branch: fr3-develop, tag: 0.13.3
I was also trying to reduce the radius of motion, but no matter how much I reduced, the same error still show up, unless I set the radius - 0. besides, I tried to set cartesian_pose_command_rate_limit_active_ = true, does not help either.
Please advise.
Thanks,

[olaghattas]

Any help with this issue? cartesian_pose_example_controller always gives "motion aborted by reflex!" . When I run the example in libfranka (./examples/generate_cartesian_pose_motion ) it works but when I use ros2 it gives me the error. Is there a condition or anything that needs changing?

this is the command I am using "ros2 launch franka_bringup cartesian_pose_example_controller.launch.py arm_id:=fr3 robot_ip:="

[AndreasKuhner]

Hi @olaghattas ,
what version of libfranka/franka_ros2 do you use?

Cheers,
Andreas

[ALICEYZ5]

Check your internet card. Franka website has requirement on the latency of
the card.

[olaghattas]

Hey @AndreasKuhner, the libfranka version is 0.13.3 and franka_ros2 is v0.1.15. The compatibility sections show that they are compatible https://frankaemika.github.io/docs/compatibility.html

[olaghattas]

Hey @ALICEYZ5, wouldnt the internet card issue cause the cartesian_pose_example_controller not to work with ros2 and libfranka example. My network card is RTL8111/8168/8411 PCI Express Gigabit Ethernet Controller (by Realtek Semiconductor Co., Ltd.) which meets the minimum requirement 100BASE-TX.

[ALICEYZ5]

Please refer to this link for trouble shooting: https://frankaemika.github.io/docs/troubleshooting.html#network-bandwidth-delay-and-jitter-test

[olaghattas]

@ALICEYZ5 Thanks for the suggestion, but I have already checked those steps before.

I have included a more detailed description of what I am facing.

with ros2 running the communication_test command was successfully
COMMAND: communication_test 172.16.0.2
OUTPUT:
WARNING: This example will move the robot! Please make sure to have the user stop button at hand!
Press Enter to continue...

Finished moving to initial joint configuration.

Starting communication test.
Starting communication test.
#100 Current success rate: 1.00
#200 Current success rate: 1.00
#300 Current success rate: 1.00
#400 Current success rate: 1.00
#500 Current success rate: 1.00
#600 Current success rate: 1.00
#700 Current success rate: 1.00
#800 Current success rate: 1.00
#900 Current success rate: 1.00
#1000 Current success rate: 1.00
#1100 Current success rate: 1.00
#1200 Current success rate: 1.00
#1300 Current success rate: 1.00
#1400 Current success rate: 1.00
#1500 Current success rate: 0.98
#1600 Current success rate: 1.00

Also running it with libfranka was successful too
COMMAND: ~/libfranka/build$ ./examples/communication_test 172.16.0.2
OUTPUT:
WARNING: This example will move the robot! Please make sure to have the user stop button at hand!
Press Enter to continue...

Finished moving to initial joint configuration.

Starting communication test.
#100 Current success rate: 1.00
#200 Current success rate: 1.00
#300 Current success rate: 1.00
#400 Current success rate: 1.00
#500 Current success rate: 1.00
#600 Current success rate: 1.00
#700 Current success rate: 1.00
#800 Current success rate: 1.00
#900 Current success rate: 1.00

When I run generate_cartesian_pose_motion from the libfranka repository it works fine and it moves the robot

COMMAND: ~/libfranka/build$ ./examples/generate_cartesian_pose_motion 172.16.0.2
OUTPUT:

WARNING: This example will move the robot! Please make sure to have the user stop button at hand!
Press Enter to continue...

Finished moving to initial joint configuration.

Finished motion, shutting down example

My problem is that when I try to run the same example but using the launch file in ros2 it generates an error however ros2 launch franka_bringup joint_velocity_example_controller.launch.py arm_id:=fr3 robot_ip:=172.16.0.2 doesn't

COMMAND: ros2 launch franka_bringup cartesian_pose_example_controller.launch.py arm_id:=fr3 robot_ip:=172.16.0.2

OUTPUT:
[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! ["cartesian_motion_generator_velocity_discontinuity", "cartesian_motion_generator_acceleration_discontinuity"]
[ros2_control_node-3] Stack trace (most recent call last) in thread 9216:
[ros2_control_node-3] #19 Object "", at 0xffffffffffffffff, in
[ros2_control_node-3] #18 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in clone3 [0x7f16e7bf984f]
[ros2_control_node-3] #17 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7f16e7b67ac2]
[ros2_control_node-3] #16 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7df8252, in
[ros2_control_node-3] #15 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x560d57942800, in
[ros2_control_node-3] #14 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f16e8dc12d4, 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 0x7f16e7a0669c, 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 0x7f16e7a23e8f, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-3] #11 Source "/home/olagh/franka_ros2_ws/src/franka_ros2/franka_hardware/src/franka_hardware_interface.cpp", line 171, in read [0x7f16e09d4076]
[ros2_control_node-3] 168: if (hw_franka_model_ptr == nullptr) {
[ros2_control_node-3] 169: hw_franka_model_ptr = robot_->getModel();
[ros2_control_node-3] 170: }
[ros2_control_node-3] > 171: hw_franka_robot_state_ = robot_->readOnce();
[ros2_control_node-3] 172:
[ros2_control_node-3] 173: initializePositionCommands(hw_franka_robot_state_);
[ros2_control_node-3] #10 Source "/home/olagh/franka_ros2_ws/src/franka_ros2/franka_hardware/src/robot.cpp", line 55, in readOnce [0x7f16e09f0cb0]
[ros2_control_node-3] 52: if (!active_control_) {
[ros2_control_node-3] 53: current_state_ = robot_->readOnce();
[ros2_control_node-3] 54: } else {
[ros2_control_node-3] > 55: current_state_ = readOnceActiveControl();
[ros2_control_node-3] 56: }
[ros2_control_node-3] 57: return current_state_;
[ros2_control_node-3] 58: }
[ros2_control_node-3] #9 Source "/home/olagh/franka_ros2_ws/src/franka_ros2/franka_hardware/src/robot.cpp", line 237, in readOnceActiveControl [0x7f16e09f208b]
[ros2_control_node-3] 235: franka::RobotState Robot::readOnceActiveControl() {
[ros2_control_node-3] 236: // When controller is active use active control to read the robot state
[ros2_control_node-3] > 237: const auto [current_state, ] = active_control->readOnce();
[ros2_control_node-3] 238: return current_state;
[ros2_control_node-3] 239: }
[ros2_control_node-3] #8 Object "/home/olagh/libfranka/build/libfranka.so.0.13.3", at 0x7f16e065b4d7, in franka::ActiveControl::readOnce()
[ros2_control_node-3] #7 Object "/home/olagh/libfranka/build/libfranka.so.0.13.3", at 0x7f16e0659d98, in franka::Robot::Impl::throwOnMotionError(franka::RobotState const&, unsigned int) [clone .cold]
[ros2_control_node-3] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7dca4d7, in __cxa_throw
[ros2_control_node-3] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7dca276, in std::terminate()
[ros2_control_node-3] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7dca20b, in
[ros2_control_node-3] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16e7dbeb9d, in
[ros2_control_node-3] #2 Source "./stdlib/abort.c", line 79, in abort [0x7f16e7afb7f2]
[ros2_control_node-3] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f16e7b15475]
[ros2_control_node-3] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-3] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-3] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f16e7b699fc]
[ros2_control_node-3] Aborted (Signal sent by tkill() 9083 1000)
[ERROR] [ros2_control_node-3]: process has died [pid 9083, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /home/olagh/franka_ros2_ws/install/franka_bringup/share/franka_bringup/config/controllers.yaml --params-file /tmp/launch_params_fpog1o5n --params-file /tmp/launch_params_29mqhx8s -r joint_states:=franka/joint_states'].
[INFO] [launch]: process[ros2_control_node-3] was required: shutting down launched system
[INFO] [franka_gripper_node-6]: sending signal 'SIGINT' to process[franka_gripper_node-6]
[INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2]
[INFO] [joint_state_publisher-1]: sending signal 'SIGINT' to process[joint_state_publisher-1]
[franka_gripper_node-6] [INFO] [1731001848.586929687] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1731001848.587340321] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 9081]
[INFO] [joint_state_publisher-1]: process has finished cleanly [pid 9079]
[INFO] [franka_gripper_node-6]: process has finished cleanly [pid 9089]

[AndreasKuhner]

If you use libfranka 0.13.3 (I guess you use the master controller version 5.5.0 or 5.6.0?) then you can get the newest compatible version for you: 0.13.6 -> this has some juicy fixes for franka_ros2 on board 😄

Otherwise, you could also upgrade the master controller version to 5.7.x and check out libfranka 0.14.2 - this also has the fixes.

If you are able to run the same example with libfranka, there is a good chance that the new versions fix the problem.

[olaghattas]

That fixed the issue.

Thanks @AndreasKuhner !