Communications Constraint Violations

[akhilrkurup]

Hi, thank you for releasing such a useful package.
I'm trying to run a Franka FR3 using CRISP on Ubuntu 22.04 RT kernel. It works well about half of the time, but sometimes the docker container closes within a couple seconds after launch due to communications constraint violations. Even if it doesn't happen immediately, it happens within a couple minutes. I haven't faced this issue when using other libraries on the same machine. Any suggestions on what to try to remedy this?

[danielsanjosepro]

Hey @akhilrkurup,
Thank you for trying it out :)
The issue you are describing is a well known on going issues with the FR3s and ROS2: frankarobotics/franka_ros2#108 but it should have been solved with the FCI version 5.9.0 and adding the enable_overrun option to the controllers.yaml:
https://github.com/danielsanjosepro/pixi_franka_ros2/blob/813516d426d48e5f0e184c301ce4583fe46a0284/config/controllers.yaml#L31-L36

You could also try to use the pixi to build and run franka_ros2 with the controllers instead of the docker containers: https://github.com/danielsanjosepro/pixi_franka_ros2 it is the one that we are using right now and it is much easier to make changes and a bit more development friendly than using the container (if that is fine for your usecase)

Leet me know if that helped! :)