Hello, I’m getting the following error messages upon launching the ur_robot_driver ur5_bringup.launch.
“Unsuccessful in setting produce thread realtime priority. Error code: 1”
“Producer thread: Scheduling is NOT SCHED_FIFO!”
I have followed the README on the ur_robot_driver repository for building the packages and installing a real-time kernel (4.14.137-rt65-rc1). I’ve also read the troubleshooting portion regarding running the realtime kernel with an NVIDIA graphics card. I am running: an Intel 4th Gen Core Processor Integrated Graphics Controller & NVIDIA GK106GLM [Quadro K2100M]. But I’m not sure if this is the issue.
I’m attempting to rule out the causes for jitter when sending a trajectory to the UR5 (i realize the jitter may possibly be an entirely separate issue, so i will not focus on that in this thread). I’m wondering if perhaps this is the root cause. Any advice would be appreciated. Thank you.!
are you sure, that you
mauch, thanks for your reply. i’ve confirmed those three items. see below:
$ uname -r outputs: 4.14.137-rt65-rc1
$ uname -v | cut -d" " -f1-4 outputs: #1 SMP PREEMPT RT
$ cat /etc/security/limits.conf output includes:
@realtime soft rtprio 99
@realtime soft priority 99
@realtime soft memlock 102400
@realtime hard rtprio 99
@realtime hard priority 99
@realtime hard memlock 102400
I'm operating on Ubuntu 16.04LTS along with ROS Kinetic. Thank you.
And your user is also in the
realtime group? (
groups) will tell.
$ groups [myuserid] outputs:
[myuserid]: [myuserid] adm tty dialout cdrom sudo dip plugdev lpadmin sambashare realtime
phew, then that covers most of my knowledge about realtime linux…
i appreciate your help.
do you have any guesses on what the physical manifestations of those errors may be when controlling the UR5?
my issue is that when i send a trajectory through the ur_robot_driver (the trajectory is sent as 300 joint angles, which results in the end effector moving in a straight line), the UR5 stutters. when i run the exact same trajectory through ur_modern_driver, the movement is very smooth. i’m attempting to rule out these error messages as a source of error before moving on with my search.