libfranka: unable to set realtime scheduling: Operation not permitted

[VivekSai07]

Real-time Scheduling Permission Issue for FrankaRobot

I'm currently working with the Franka Emika robot using the MATLAB Toolbox, and I ran into the following issue when attempting to execute joint trajectory motion:

Error using FrankaRobot/joint_trajectory_motion
Joint trajectory motion failed: libfranka: unable to set realtime scheduling: Operation no

This error seems to indicate a problem with permissions related to setting real-time scheduling, which is required by the libfranka library.

I've referred to the official documentation for resolving real-time permission issues:

Allow a user to set real-time permissions for its processes - Franka Emika Installation Guide

Below are the outputs of the following three commands:

• uname -a
• groups
• cat /etc/security/limits.conf

Output