franka_arm_controllers and gripper_manager Failures

[vishvapatel-eli]

We are setting up SpaceMouse-based teleoperation on a Franka Research 3 robot to collect real-world operational data. SpaceMouse input and FCI communication are working correctly, but the franka_arm_controllers and gripper_manager fail to load or transition into the active state.

Component	Version
Robot	Franka Research 3
Firmware	5.8.2
libfranka	0.15.0
ROS 2	Humble )
Packages Used	franka_spacemouse, franka_ros2, franka_ros2_controllers

Working

• SpaceMouse inputs successfully published via franka_spacemouse
• FCI communication initializes without errors
• Robot responds via FCI connection correctly

Not Working

• franka_arm_controllers fails to load/activate
• gripper_manager fails to load/activate
• Controllers do not transition to active despite successful FCI initialization
• Runtime errors appear during controller startup

gripper_client.log
ros2 launch gripper_manager franka_gripper_client.launch.py [config_file:=example_fr3_config.yaml] [INFO] [launch]: All log files can be found below /root/.ros/log/2025-12-03-21-41-29-278989-smartfactory-HP-EliteBook-840-G6-18911 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [franka_gripper_client-1]: process started with pid [18916] [franka_gripper_client-1] [INFO] [1764798089.727635345] [sf.franka_gripper_client]: Initializing gripper client... [franka_gripper_client-1] [INFO] [1764798089.728219141] [sf.franka_gripper_client]: Starting gripper homing... [franka_gripper_client-1] [INFO] [1764798089.739833716] [sf.franka_gripper_client]: Waiting for homing action server /sf/franka_gripper/homing... [franka_gripper_client-1] Traceback (most recent call last): [franka_gripper_client-1] File "/workspace/install/gripper_manager/lib/gripper_manager/franka_gripper_client", line 33, in <module> [franka_gripper_client-1] sys.exit(load_entry_point('gripper-manager==0.2.0', 'console_scripts', 'franka_gripper_client')()) [franka_gripper_client-1] File "/workspace/install/gripper_manager/lib/python3.10/site-packages/gripper_manager/franka_gripper_client.py", line 168, in main [franka_gripper_client-1] gripper_client = GripperClient() [franka_gripper_client-1] File "/workspace/install/gripper_manager/lib/python3.10/site-packages/gripper_manager/franka_gripper_client.py", line 66, in __init__ [franka_gripper_client-1] self._home_gripper(homing_action_topic) [franka_gripper_client-1] File "/workspace/install/gripper_manager/lib/python3.10/site-packages/gripper_manager/franka_gripper_client.py", line 89, in _home_gripper [franka_gripper_client-1] raise RuntimeError( [franka_gripper_client-1] RuntimeError: Homing action server not available after 10.0 seconds!

joint_impedance_controller.log
os2 launch franka_arm_controllers joint_impedance_ik_controller.launch.py [robot_config_file:=example_fr3_config.yaml] [INFO] [launch]: All log files can be found below /root/.ros/log/2025-12-03-21-27-54-632315-smartfactory-HP-EliteBook-840-G6-16261 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [16278] [INFO] [ros2_control_node-2]: process started with pid [16280] [INFO] [joint_state_publisher-3]: process started with pid [16282] [INFO] [spawner-4]: process started with pid [16284] [INFO] [spawner-5]: process started with pid [16286] [INFO] [franka_gripper_node-6]: process started with pid [16288] [INFO] [spawner-7]: process started with pid [16290] [ros2_control_node-2] [WARN] [1764797275.311051968] [sf.controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-2] text not specified in the prefix tag [ros2_control_node-2] text not specified in the arm_prefix tag [ros2_control_node-2] [INFO] [1764797275.311851493] [resource_manager]: Loading hardware 'FrankaHardwareInterface' [franka_gripper_node-6] [INFO] [1764797275.321097752] [sf.franka_gripper]: Trying to establish a connection with the gripper [franka_gripper_node-6] [INFO] [1764797275.323333527] [sf.franka_gripper]: Connected to gripper [ros2_control_node-2] [INFO] [1764797275.333953494] [resource_manager]: Initialize hardware 'FrankaHardwareInterface' [ros2_control_node-2] [INFO] [1764797275.334787957] [FrankaHardwareInterface]: Parsed Franka ros2_control interface version: 0.1.0 [ros2_control_node-2] [INFO] [1764797275.335341332] [FrankaHardwareInterface]: Connecting to robot at "192.168.1.11" ... [ros2_control_node-2] [INFO] [1764797275.351028493] [FrankaHardwareInterface]: Successfully connected to robot [robot_state_publisher-1] [INFO] [1764797275.369976302] [sf.robot_state_publisher]: got segment base [robot_state_publisher-1] [INFO] [1764797275.371636259] [sf.robot_state_publisher]: got segment fr3v2_hand [robot_state_publisher-1] [INFO] [1764797275.372348635] [sf.robot_state_publisher]: got segment fr3v2_hand_tcp [robot_state_publisher-1] [INFO] [1764797275.372934477] [sf.robot_state_publisher]: got segment fr3v2_leftfinger [robot_state_publisher-1] [INFO] [1764797275.373508475] [sf.robot_state_publisher]: got segment fr3v2_link0 [robot_state_publisher-1] [INFO] [1764797275.374138803] [sf.robot_state_publisher]: got segment fr3v2_link0_accelerometer_bottom [robot_state_publisher-1] [INFO] [1764797275.374725542] [sf.robot_state_publisher]: got segment fr3v2_link0_accelerometer_top [robot_state_publisher-1] [INFO] [1764797275.375316602] [sf.robot_state_publisher]: got segment fr3v2_link1 [robot_state_publisher-1] [INFO] [1764797275.375872810] [sf.robot_state_publisher]: got segment fr3v2_link1_accelerometer_bottom [robot_state_publisher-1] [INFO] [1764797275.376417225] [sf.robot_state_publisher]: got segment fr3v2_link1_accelerometer_top [robot_state_publisher-1] [INFO] [1764797275.376969702] [sf.robot_state_publisher]: got segment fr3v2_link2 [robot_state_publisher-1] [INFO] [1764797275.377549365] [sf.robot_state_publisher]: got segment fr3v2_link2_accelerometer_bottom [robot_state_publisher-1] [INFO] [1764797275.378137573] [sf.robot_state_publisher]: got segment fr3v2_link2_accelerometer_top [robot_state_publisher-1] [INFO] [1764797275.378723507] [sf.robot_state_publisher]: got segment fr3v2_link3 [robot_state_publisher-1] [INFO] [1764797275.379994019] [sf.robot_state_publisher]: got segment fr3v2_link3_accelerometer_bottom [robot_state_publisher-1] [INFO] [1764797275.380587935] [sf.robot_state_publisher]: got segment fr3v2_link3_accelerometer_top [robot_state_publisher-1] [INFO] [1764797275.381148269] [sf.robot_state_publisher]: got segment fr3v2_link4 [robot_state_publisher-1] [INFO] [1764797275.381168973] [sf.robot_state_publisher]: got segment fr3v2_link4_accelerometer_bottom [robot_state_publisher-1] [INFO] [1764797275.381181950] [sf.robot_state_publisher]: got segment fr3v2_link4_accelerometer_top [robot_state_publisher-1] [INFO] [1764797275.381193072] [sf.robot_state_publisher]: got segment fr3v2_link5 [robot_state_publisher-1] [INFO] [1764797275.381203698] [sf.robot_state_publisher]: got segment fr3v2_link5_accelerometer_bottom [robot_state_publisher-1] [INFO] [1764797275.381214371] [sf.robot_state_publisher]: got segment fr3v2_link5_accelerometer_top [robot_state_publisher-1] [INFO] [1764797275.381224939] [sf.robot_state_publisher]: got segment fr3v2_link6 [robot_state_publisher-1] [INFO] [1764797275.382768735] [sf.robot_state_publisher]: got segment fr3v2_link7 [robot_state_publisher-1] [INFO] [1764797275.382795192] [sf.robot_state_publisher]: got segment fr3v2_link8 [robot_state_publisher-1] [INFO] [1764797275.382807967] [sf.robot_state_publisher]: got segment fr3v2_rightfinger [ros2_control_node-2] [INFO] [1764797275.402229481] [sf.service_server]: Service started [ros2_control_node-2] [INFO] [1764797275.537116992] [sf.action_server]: Action server started [ros2_control_node-2] [INFO] [1764797275.538328220] [resource_manager]: Successful initialization of hardware 'FrankaHardwareInterface' [ros2_control_node-2] [INFO] [1764797275.540000685] [FrankaHardwareInterface]: Register joint-based command interfaces [ros2_control_node-2] [INFO] [1764797275.541524095] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint1 for command interface position with index 0 [ros2_control_node-2] [INFO] [1764797275.542670042] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint1 for command interface velocity with index 0 [ros2_control_node-2] [INFO] [1764797275.544068455] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint1 for command interface effort with index 0 [ros2_control_node-2] [INFO] [1764797275.544826296] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint2 for command interface position with index 1 [ros2_control_node-2] [INFO] [1764797275.545528361] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint2 for command interface velocity with index 1 [ros2_control_node-2] [INFO] [1764797275.546144983] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint2 for command interface effort with index 1 [ros2_control_node-2] [INFO] [1764797275.547160497] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint3 for command interface position with index 2 [ros2_control_node-2] [INFO] [1764797275.547880839] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint3 for command interface velocity with index 2 [ros2_control_node-2] [INFO] [1764797275.548942214] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint3 for command interface effort with index 2 [ros2_control_node-2] [INFO] [1764797275.550354297] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint4 for command interface position with index 3 [ros2_control_node-2] [INFO] [1764797275.551260915] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint4 for command interface velocity with index 3 [ros2_control_node-2] [INFO] [1764797275.552476691] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint4 for command interface effort with index 3 [ros2_control_node-2] [INFO] [1764797275.553429653] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint5 for command interface position with index 4 [ros2_control_node-2] [INFO] [1764797275.554957901] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint5 for command interface velocity with index 4 [ros2_control_node-2] [INFO] [1764797275.554976022] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint5 for command interface effort with index 4 [ros2_control_node-2] [INFO] [1764797275.554984078] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint6 for command interface position with index 5 [ros2_control_node-2] [INFO] [1764797275.554990082] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint6 for command interface velocity with index 5 [ros2_control_node-2] [INFO] [1764797275.554997851] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint6 for command interface effort with index 5 [ros2_control_node-2] [INFO] [1764797275.555004946] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint7 for command interface position with index 6 [ros2_control_node-2] [INFO] [1764797275.555012910] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint7 for command interface velocity with index 6 [ros2_control_node-2] [INFO] [1764797275.555021500] [FrankaHardwareInterface]: Registering command interface: fr3v2_joint7 for command interface effort with index 6 [ros2_control_node-2] [INFO] [1764797275.555076449] [FrankaHardwareInterface]: Register general purpose command interfaces [ros2_control_node-2] [INFO] [1764797275.555093576] [FrankaHardwareInterface]: Registering command interface: vx for command interface cartesian_velocity with index 0 [ros2_control_node-2] [INFO] [1764797275.555102677] [FrankaHardwareInterface]: Registering command interface: vy for command interface cartesian_velocity with index 1 [ros2_control_node-2] [INFO] [1764797275.555109957] [FrankaHardwareInterface]: Registering command interface: vz for command interface cartesian_velocity with index 2 [ros2_control_node-2] [INFO] [1764797275.555116971] [FrankaHardwareInterface]: Registering command interface: wx for command interface cartesian_velocity with index 3 [ros2_control_node-2] [INFO] [1764797275.555124139] [FrankaHardwareInterface]: Registering command interface: wy for command interface cartesian_velocity with index 4 [ros2_control_node-2] [INFO] [1764797275.555130650] [FrankaHardwareInterface]: Registering command interface: wz for command interface cartesian_velocity with index 5 [ros2_control_node-2] [INFO] [1764797275.555137551] [FrankaHardwareInterface]: Registering command interface: 0 for command interface cartesian_pose_command with index 0 [ros2_control_node-2] [INFO] [1764797275.555153282] [FrankaHardwareInterface]: Registering command interface: 1 for command interface cartesian_pose_command with index 1 [ros2_control_node-2] [INFO] [1764797275.555160865] [FrankaHardwareInterface]: Registering command interface: 2 for command interface cartesian_pose_command with index 2 [ros2_control_node-2] [INFO] [1764797275.561840619] [FrankaHardwareInterface]: Registering command interface: 3 for command interface cartesian_pose_command with index 3 [ros2_control_node-2] [INFO] [1764797275.561877934] [FrankaHardwareInterface]: Registering command interface: 4 for command interface cartesian_pose_command with index 4 [ros2_control_node-2] [INFO] [1764797275.561885834] [FrankaHardwareInterface]: Registering command interface: 5 for command interface cartesian_pose_command with index 5 [ros2_control_node-2] [INFO] [1764797275.561892922] [FrankaHardwareInterface]: Registering command interface: 6 for command interface cartesian_pose_command with index 6 [ros2_control_node-2] [INFO] [1764797275.561899032] [FrankaHardwareInterface]: Registering command interface: 7 for command interface cartesian_pose_command with index 7 [ros2_control_node-2] [INFO] [1764797275.561905375] [FrankaHardwareInterface]: Registering command interface: 8 for command interface cartesian_pose_command with index 8 [ros2_control_node-2] [INFO] [1764797275.561911594] [FrankaHardwareInterface]: Registering command interface: 9 for command interface cartesian_pose_command with index 9 [ros2_control_node-2] [INFO] [1764797275.561917720] [FrankaHardwareInterface]: Registering command interface: 10 for command interface cartesian_pose_command with index 10 [ros2_control_node-2] [INFO] [1764797275.561925293] [FrankaHardwareInterface]: Registering command interface: 11 for command interface cartesian_pose_command with index 11 [ros2_control_node-2] [INFO] [1764797275.561932608] [FrankaHardwareInterface]: Registering command interface: 12 for command interface cartesian_pose_command with index 12 [ros2_control_node-2] [INFO] [1764797275.561939829] [FrankaHardwareInterface]: Registering command interface: 13 for command interface cartesian_pose_command with index 13 [ros2_control_node-2] [INFO] [1764797275.561946908] [FrankaHardwareInterface]: Registering command interface: 14 for command interface cartesian_pose_command with index 14 [ros2_control_node-2] [INFO] [1764797275.561954020] [FrankaHardwareInterface]: Registering command interface: 15 for command interface cartesian_pose_command with index 15 [ros2_control_node-2] [INFO] [1764797275.561961842] [FrankaHardwareInterface]: Registering command interface: joint_3_position for command interface elbow_command with index 0 [ros2_control_node-2] [INFO] [1764797275.561969365] [FrankaHardwareInterface]: Registering command interface: joint_4_sign for command interface elbow_command with index 1 [ros2_control_node-2] [INFO] [1764797275.563806774] [resource_manager]: 'configure' hardware 'FrankaHardwareInterface' [ros2_control_node-2] [INFO] [1764797275.563836908] [resource_manager]: Successful 'configure' of hardware 'FrankaHardwareInterface' [ros2_control_node-2] [INFO] [1764797275.563876767] [resource_manager]: 'activate' hardware 'FrankaHardwareInterface' [ros2_control_node-2] [INFO] [1764797275.580689631] [FrankaHardwareInterface]: Started [ros2_control_node-2] [INFO] [1764797275.580726964] [resource_manager]: Successful 'activate' of hardware 'FrankaHardwareInterface' [ros2_control_node-2] [INFO] [1764797275.617579917] [sf.controller_manager]: update rate is 1000 Hz [ros2_control_node-2] [INFO] [1764797275.622302599] [sf.controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 [ros2_control_node-2] [INFO] [1764797275.635578417] [sf.controller_manager]: Successful set up FIFO RT scheduling policy with priority 50. [ros2_control_node-2] [INFO] [1764797275.866295647] [sf.controller_manager]: Loading controller 'joint_impedance_ik_controller' [joint_state_publisher-3] [INFO] [1764797275.940966148] [sf.joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [spawner-7] [INFO] [1764797276.008934845] [sf.spawner_joint_impedance_ik_controller]: Loaded joint_impedance_ik_controller [ros2_control_node-2] [INFO] [1764797276.013397795] [sf.controller_manager]: Configuring controller 'joint_impedance_ik_controller' [ros2_control_node-2] [INFO] [1764797276.033325049] [sf.joint_impedance_ik_controller]: Default collision behavior set. [ros2_control_node-2] [INFO] [1764797276.049500852] [sf.joint_impedance_ik_controller]: Extracted Robot Name: fr3v2 [ros2_control_node-2] [INFO] [1764797276.054973749] [sf.joint_impedance_ik_controller]: Subscribed to franka_controller/target_cartesian_velocity_percent. [spawner-4] [INFO] [1764797276.101701689] [sf.spawner_joint_state_broadcaster]: waiting for service /sf/controller_manager/list_controllers to become available... [spawner-5] [INFO] [1764797276.107222852] [sf.spawner_franka_robot_state_broadcaster]: waiting for service /sf/controller_manager/list_controllers to become available... [ros2_control_node-2] [FATAL] [1764797276.137287504] [sf.joint_impedance_ik_controller]: Failed to extract KDL chain. [ros2_control_node-2] [ERROR] [1764797276.137948220] [sf.controller_manager]: After configuring, controller 'joint_impedance_ik_controller' is in state 'unconfigured' , expected inactive. [spawner-7] [ERROR] [1764797276.141044650] [sf.spawner_joint_impedance_ik_controller]: Failed to configure controller [ros2_control_node-2] [INFO] [1764797276.364633114] [sf.controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-4] [INFO] [1764797276.412780332] [sf.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-2] [INFO] [1764797276.417829992] [sf.controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-2] [INFO] [1764797276.418200437] [sf.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-4] [INFO] [1764797276.442189720] [sf.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [ERROR] [spawner-7]: process has died [pid 16290, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_impedance_ik_controller --controller-manager-timeout 30 --ros-args -r __ns:=/sf --params-file /workspace/install/franka_arm_controllers/share/franka_arm_controllers/config/controllers.yaml']. [INFO] [spawner-4]: process has finished cleanly [pid 16284] [ros2_control_node-2] [INFO] [1764797278.930584633] [sf.controller_manager]: Loading controller 'franka_robot_state_broadcaster' [spawner-5] [INFO] [1764797278.964527131] [sf.spawner_franka_robot_state_broadcaster]: Loaded franka_robot_state_broadcaster [ros2_control_node-2] [INFO] [1764797278.971311822] [sf.controller_manager]: Configuring controller 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.035994849] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.036222689] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [spawner-5] [INFO] [1764797279.036762436] [sf.spawner_franka_robot_state_broadcaster]: Configured and activated franka_robot_state_broadcaster [ros2_control_node-2] [ERROR] [1764797279.047956313] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.048103408] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.060959209] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.061058361] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.065839352] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.065930738] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.068988287] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.069117035] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.070968707] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.071044255] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.073811773] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.073937269] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.075971487] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.076079229] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.077881143] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.077957425] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.080877249] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.081082279] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.083292264] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.083490797] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.083805068] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts [ros2_control_node-2] [ERROR] [1764797279.083830869] [sf.controller_manager]: The update call of the following controller returned an error: 'franka_robot_state_broadcaster' [ros2_control_node-2] [ERROR] [1764797279.084807107] [sf.franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts

Troubleshooting Done So Far

1. Verified SpaceMouse input pipeline (works)

2. Tested multiple libfranka versions (0.15.0 and 0.18.0)

3. Confirmed launch files and YAML configs are correct

4. Verified FCI connectivity is stable (using the communication_test script)

5. Opened a support ticket with Franka

[ignacio-pm]

Hi @vishvapatel-eli,
thanks for taking the time to write the issue. We discovered a bug on our side that we are hard-coding the robot type in this line of code. Since you change the urdf_file argument in the config file to the fr3v2, then the error is thrown.
We will fix it after the next release of franka_ros2 interface, which should happen this month. The release includes a breaking change in the parameter structure of the config files, that would affect the bugfix.

In the meanwhile, you can use two possible workarounds to get already your code working:

• First option would be to adapt the line of code that I mentioned before to your robot type: https://github.com/frankarobotics/franka_spacemouse/blob/main/src/franka_arm_controllers/src/joint_impedance_ik_controller.cpp#L224 : std::string tcp_name = namespace_prefix_ + "fr3v2_hand_tcp";
• Second option is to adapt the configuration file to use the fr3 robot type instead of the fr3v2, both in the arm_id (arm_id: "fr3") and urdf_file (urdf_file: "fr3/fr3.urdf.xacro").

Let me know if any of these options fixed your problem.