[franka_control-2] has died!

谦逊好学

于 2024-10-07 14:14:16 发布

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文章标签： ubuntu

本文链接：https://blog.csdn.net/yhnb0308/article/details/142732333

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错误：

REQUIRED process [franka_control-2] has died!
process has died [pid 7589, exit code -6, cmd /home/abc/catkin_franka/devel/lib/franka_control/franka_control_node __name:=franka_control __log:=/home/abc/.ros/log/0907c870-83e2-11ef-aead-7324b1ce9a33/franka_control-2.log].
log file: /home/abc/.ros/log/0907c870-83e2-11ef-aead-7324b1ce9a33/franka_control-2*.log
Initiating shutdown!

问题所在：实时内核没有权限

解决方法：

// 1.添加实时组许可
sudo addgroup realtime
sudo usermod -a -G realtime $(whoami)
// 2.将限制添加到实时组
sudo gedit /etc/security/limits.conf

把以下限制内容添加到打开的文件里

@realtime soft rtprio 99
@realtime soft priority 99
@realtime soft memlock 102400
@realtime hard rtprio 99
@realtime hard priority 99
@realtime hard memlock 102400

重启实时内核

参考文章：Franka环境配置——安装实时内核_usermod -a -g realtime $(whoami)-CSDN博客