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Some problems #91

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jin-yiwei opened this issue Dec 24, 2024 · 0 comments

jin-yiwei commented Dec 24, 2024 •

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

Problem:

libfranka example is ok except "force_control", the error is: "libfranka: Move command aborted: motion aborted by reflex! ["controller_torque_discontinuity"]"
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!

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