Errors using franka example controller

[Cody-Vu]

Hello erveryone,

I tried to test the the franka example controllers by executeing the following commands (Franka Panda, ROS1 noetic):

roslaunch franka_example_controllers joint_impedance_example_controller.launch
robot_ip:=172.16.0.2 load_gripper:=true robot:=panda

roslaunch franka_example_controllers cartesian_impedance_example_controller.launch
robot_ip:=172.16.0.2 load_gripper:=true robot:=panda

But I received the following errors:

For joint_impedance_example_controller.launch:
[ WARN] [1738329461.725580248]: Interactive marker ‘equilibrium_pose’ contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[ERROR] [1738329468.352640481]: libfranka: Move command aborted: motion aborted by reflex! [“communication_constraints_violation”]
control_command_success_rate: 0.75

For cartesian_impedance_example_controller.launch:
[ERROR] [1738329875.420847288]: libfranka: Move command rejected: command not possible in the current mode (“Reflex”)!

Is anyone familiar with the errors and know how to fix them? Thanks in advance