libfranka:Move command abord motion aborted by reflex ["communication_constraints_violation"]

[git183nuozhe]

hi, nice see you.
when i use libfranka 0.9.1 "communication_test"only, it is ok. but when run the py script as follows at the same time, the error: terminate called after throwing an instance of 'franka::ControlException' what(): libfranka:Move command aborted:motion aborted by reflex!["communication_constraints_violation"] is comming up. it is not cpu hz problem. what should i do?

the hardware situationa： master computer 192.168.1.10, a franka arm192.168.1.6, a realsense slaver computer192.168.1.13，which all in switch network.

py script
the py script is running at realsense slaver computer.the "communication_test"is running at master computer .
the py script is used to read letters from a txt file and determine whether to save the realsense image data in the ROS topic as a video based on the letters

#!/usr/bin/env python3
import rospy
import cv2, re, glob
from sensor_msgs.msg import Image
#from sensor_msgs.msg import JointState
from cv_bridge import CvBridge
#import os
from pathlib import Path
#import time

bridge = CvBridge()
frame_count = 0
video_writer = None
video_file = None
is_recording = False

save_dir = None
video_savefile = None

flag_num_q = 1

def increment_path(path, exist_ok=False, sep='', mkdir=False):
# Increment file or directory path, i.e. save_dir/RGB_video/video, video2, video3, ... etc.
path = Path(path) # os-agnostic
n2 = ''
if path.exists() and not exist_ok:
suffix = path.suffix
path = path.with_suffix('')
dirs = glob.glob(f"{path}{sep}*") # similar paths
matches = [re.search(rf"%s{sep}(\d+)" % path.stem, d) for d in dirs]
i = [int(m.groups()[0]) for m in matches if m] # indices
n2 = max(i) + 1 if i else 2 # increment number
path = Path(f"{path}{sep}{n2}{suffix}") # update path
dir = path if path.suffix == '' else path.parent # directory
if not dir.exists() and mkdir:
dir.mkdir(parents=True, exist_ok=True) # make directory
if len(str(n2)) == 0:
n2 = 1
return path, str(n2)

def image_callback(msg):
global frame_count, video_writer, video_file, is_recording, video_savefile, flag_num_q

try:
    cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
except Exception as e:
    rospy.logerr(f"Image conversion failed: {e}")
    return

ros_time = msg.header.stamp
time_text = f"ROS Time: {ros_time.secs}.{ros_time.nsecs:09d}"

font = cv2.FONT_HERSHEY_SIMPLEX
font_scale = 1
font_color = (255, 255, 255)  
thickness = 2
position = (10, 30)  
cv_image = cv2.putText(cv_image, time_text, position, font, font_scale, font_color, thickness, cv2.LINE_AA)

# cv2.imshow('Frame', cv_image)
#key = cv2.waitKey(1) & 0xFF  
key_file = Path("key.txt")
if key_file.exists():
    with open(key_file,'r') as f:
        key = f.read().strip()
else:
    #print(key)
    rospy.logerr("Error:No key data")
print(key)
#if key != 's':
    #if key != 'q':
        #if key != 'p':
            #if key != 'a':
                #print(key)
                #rospy.loginfo("Alert:key value is not right")
if key == 's':
    #rospy.loginfo(f"Now time111: {time.time()}\n")
    if not is_recording:
        is_recording = True
        rospy.loginfo('Recording started...')

        video_dirname, order_name = 'save_dir/RGB_video', '' 
        exist_ok = False
        save_dir, order_num = increment_path(Path(video_dirname) / order_name, exist_ok=exist_ok)
        save_dir = str(save_dir)
        print(order_num)
    
        order_num = int(order_num) if order_num.isnumeric() else ''
        Path(save_dir).mkdir(parents=True, exist_ok=True)

        for char in save_dir:
            if char in str(order_num):
                save_dir=save_dir.replace(char,'')
        #print(save_dir)

        video_savefile = Path(save_dir) / f'video_{order_num}.mp4c'
        #joint_rosdata_file = Path(save_dir) / f'joint_rosdata_{order_num}.txt'

        height, width, _ = cv_image.shape
        print(height)
        print(width)
        rospy.loginfo(f"Image dimensions: {width}x{height}")
        fourcc = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')
        #fourcc = cv2.VideoWriter_fourcc(*'mp4v')  
        video_writer = cv2.VideoWriter(str(video_savefile), fourcc, 30, (width, height))
    else:
        rospy.loginfo('Already Recording...')
if key == 'q':
    if flag_num_q == 0:
        flag_num_q = 1
        print('...video data logging done...')
        print(f'，if save video，the data in：{str(video_savefile)}')
        frame_count = 0

        is_recording = False

if key == 'p':
    if is_recording and video_writer:
        video_writer.release()
    rospy.loginfo('Recording stopped and exiting...')
    cv2.destroyAllWindows()
    rospy.signal_shutdown('Video saved and exiting...')

if is_recording:
    #rospy.loginfo(f"Now time222: {time.time()}\n")
    if video_savefile is not None:

        
        video_writer.write(cv_image)
        # xieru joint data
        #record_ros_data(str(joint_rosdata_file))

        frame_count += 1
        rospy.loginfo(f"Frame {frame_count} with timestamp saved to {video_savefile}")
        flag_num_q = 0
    else:
        rospy.loginfo("Recording was not started. video_savefile is not None.")

def main():
rospy.init_node('realsense_image_saver_with_timestamp', anonymous=True)
rospy.Subscriber("/camera/color/image_raw", Image, image_callback, queue_size=1)

try:
    rospy.spin()
except KeyboardInterrupt:
    rospy.loginfo("Shutting down...")
finally:
    if video_writer:
        video_writer.release()
        rospy.loginfo("Video writer released.")
    cv2.destroyAllWindows()

if name == 'main':
main()

[AndreasKuhner]

Hi @git183nuozhe ,
it sounds a bit like that your image processing is blocking the communication with the robot. One iteration for the FCI cycle can only take around 500 us (aka receiving data via libfranka, processing it and sending a new command). If something else blocks or delays that, you will see the communcation violation error.

Maybe you can make sure that the image processing is not blocking/delaying or using the same resource than your communication with the robot via libfranka 😃

Cheers,
Andreas