[ros2_control_node-2] what(): libfranka: Move command aborted: motion aborted by reflex! ["joint_motion_generator_velocity_discontinuity", "joint_motion_generator_acceleration_discontinuity"] #174
Description
I am having the same problem with #168. Here is what my controllers.yaml looks like:
joint_trajectory_controller:
ros__parameters:
joints:
- fr3_joint1
- fr3_joint2
- fr3_joint3
- fr3_joint4
- fr3_joint5
- fr3_joint6
- fr3_joint7
command_interfaces: - position
state_interfaces: - position
- velocity
constraints:
acceleration: 0.1
velocity: 0.2
My error message is as follows:
[spawner-4] [INFO] [1755780323.518018587] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-5] [INFO] [1755780323.519475995] [spawner_franka_robot_state_broadcaster]: Configured and activated franka_robot_state_broadcaster
[INFO] [spawner-5]: process has finished cleanly [pid 2723]
[INFO] [spawner-4]: process has finished cleanly [pid 2721]
[ros2_control_node-2] [ERROR] [1755780326.462432926] [franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts
[ros2_control_node-2] [ERROR] [1755780326.462517056] [controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster'
[ros2_control_node-2] [INFO] [1755780333.039017539] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-2] [WARN] [1755780333.055888327] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-2] [INFO] [1755780335.994994981] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-2] [INFO] [1755780335.995514121] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-2] [INFO] [1755780335.995573295] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-2] [INFO] [1755780335.995637302] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-2] [INFO] [1755780335.997294225] [joint_trajectory_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-2] [INFO] [1755780336.008879994] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-2] terminate called after throwing an instance of 'franka::ControlException'
[ros2_control_node-2] what(): libfranka: Move command aborted: motion aborted by reflex! ["joint_motion_generator_velocity_discontinuity", "joint_motion_generator_acceleration_discontinuity"]
[ros2_control_node-2] Stack trace (most recent call last) in thread 2802:
[ros2_control_node-2] Port Franka Description Changes from ROS 1 #19 Object "", at 0xffffffffffffffff, in
[ros2_control_node-2] Franka Description Package #18 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25c08e784f, in
[ros2_control_node-2] fix typo in ompl_planning.yaml #17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25c0855ac2, in
[ros2_control_node-2] Question: Configuring Gripper with ROS 2 Control #16 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f25c0ae6252, in
[ros2_control_node-2] franka moveit crushes after the external activation device is pressed down #15 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5637ff0ab08d, in
[ros2_control_node-2] Compatible Library Versions #14 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f25c0f244a4, in controller_manager::ControllerManager::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-2] Add missing dependency to joint_effort_trajectory_controller #13 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f25c06bfc7c, in hardware_interface::ResourceManager::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-2] PlanningScene Requesting initial scene failed #12 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f25c06dd4cf, in hardware_interface::System::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-2] [franka_descrpition] Inconsistent w/ ROS 1 variant - dynamics estimates? #11 Object "/project/franka_ros2_ws/build/franka_hardware/libfranka_hardware.so", at 0x7f25ba160701, in franka_hardware::FrankaHardwareInterface::read(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-2] Humble port #10 Object "/project/franka_ros2_ws/build/franka_hardware/libfranka_hardware.so", at 0x7f25ba18d618, in franka_hardware::Robot::readOnce()
[ros2_control_node-2] joint_effort_trajectory_controller missing control_toolbox depend #9 Object "/project/franka_ros2_ws/build/franka_hardware/libfranka_hardware.so", at 0x7f25ba18ca3f, in franka_hardware::Robot::readOnceActiveControl()
[ros2_control_node-2] Are there any plan to support ROS2 Humble? #8 Object "/project/franka_ros2_ws/install/libfranka/lib/libfranka.so.0.15.0", at 0x7f25ba042a87, in franka::ActiveControl::readOnce()
[ros2_control_node-2] Galactic port #7 Object "/project/franka_ros2_ws/install/libfranka/lib/libfranka.so.0.15.0", at 0x7f25ba03ff02, in franka::Robot::Impl::throwOnMotionError(franka::RobotState const&, unsigned int) [clone .cold]
[ros2_control_node-2] Best practice for ROS2 node subscribing to "/franka_state_controller/franka_states" #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f25c0ab84d7, in __cxa_throw
[ros2_control_node-2]joint_effort_trajectory_controllerspackage is probably obsolete #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f25c0ab8276, in std::terminate()
[ros2_control_node-2] 1 clone existing controller #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f25c0ab820b, in
[ros2_control_node-2] Cloned existing controller and renamed it #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f25c0aacb9d, in
[ros2_control_node-2] Upgrade to ros galactic #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25c07e97f2, in abort
[ros2_control_node-2] Added support for Ignition #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25c0803475, in raise
[ros2_control_node-2] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25c08579fc, in pthread_kill
[ros2_control_node-2] Aborted (Signal sent by tkill() 2717 0)
[ERROR] [ros2_control_node-2]: process has died [pid 2717, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/ --params-file /project/franka_ros2_ws/install/franka_bringup/share/franka_bringup/config/controllers.yaml --params-file /tmp/launch_params_ouzj6ajm --params-file /tmp/launch_params_1019moci -r joint_states:=franka/joint_states'].
[INFO] [launch]: process[ros2_control_node-2] was required: shutting down launched system
[INFO] [joint_state_publisher-3]: sending signal 'SIGINT' to process[joint_state_publisher-3]
[INFO] [robot_state_publisher-1]: sending signal 'SIGINT' to process[robot_state_publisher-1]
[robot_state_publisher-1] [INFO] [1755780344.817970910] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 2715]
[INFO] [joint_state_publisher-3]: process has finished cleanly [pid 2719]
Any help would be greatly appreciated.