Segmentation Fault

[sesem738]

Hello,

I am trying to install deoxys, but I ran into a segmentation fault. I am using a Dell laptop running Ubuntu 20 as my NUC with a 5.15 real-time kernel.

Before building make -j build_franka=1, I had to add

target_link_libraries(shared_protobuf INTERFACE ${Protobuf_LIBRARIES}) cmake

to the cmake. ROS seemed to create issues with the library so I had to not source it in the bash. Afterwards, I had to export the LD_LIBRARY_PATH=$LD_LIBRARY_PATH:XXX.so for the library to be discovered. After it finished building, when I ran bin/franka-interface I get a segmentation fault (core dumped) error.

Do you know what might be causing it?

[sesem738]

It looks like there were multiple versions of protobuf on my system which was causing this issue. I solve it, but now, I am running into another issue.

When I run bin/franka-interface config/charmander.yml, I get: State Publisher: 100Hz, Policy: 20Hz, Traj Interpolation 500Hz, ZMQ noblock receving true
[info - arm_logger] Deoxys starting
terminate called without an active exception
Aborted (core dumped)

I change the config to reflect the ips of the desktop and nuc. What maybe the issue?

[hesic73]

I'm experiencing the same problem. My suspicion is that I didn't properly set up the RT kernel on Ubuntu 22.04. Did you find a solution?

In my case, it's cased by this error of libfranka:

libfranka: Move command aborted: motion aborted by reflex! ["joint_motion_generator_velocity_discontinuity", "joint_motion_generator_acceleration_discontinuity"]