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Debugging Odd Errors
Below are miscellaneous errors or issues I had during the installation process (on any of the machines I used) and what I did to either fix or get past the error.
When doing catkin build for the moveit packages, got:
Errors << moveit_ros_planning_interface:make /home/rachelholladay/Documents/researchCode/panda/base-ws/logs/moveit_ros_planning_interface/build.make.000.log
/usr/bin/ld: /usr/local/lib/libpython2.7.a(abstract.o): relocation R_X86_64_32S against `_Py_NotImplementedStruct' can not be used when making a shared object; recompile with -fPIC
/usr/local/lib/libpython2.7.a: error adding symbols: Bad value
This issue stemmed from the fact that for python, I use virtual environments that are apparently not compiled with -fPIC. The internet offered a few suggestions, most of which involved reinstalling python and my virtual environments. Since I didn't want to do this and I don't intend to use MoveIt, I instead catkin ignored any packages that seemed to have this error. For me that was moveit/moveit_ros/planning_interface, moveit_tutorials, moveit/moveit_ros/visualization, moveit_setup_assistant
franka_ros_interface requires the python package numpy-quaternion (which itself suggests the use of numba). On one machine I was able to easily install both via: pip install numpy-quaternion numba. However, on one machine when I simply did $ pip install numpy-quaternion it would install version numpy_quaternion-2019.12.11.22.25.52 which would segfault when imported. So I tried an older version via: pip install numpy-quaternion==2018.12.24.11.8.55 for some reason this instead installed the most recent version, numpy-quaternion-2019.12.28.19.58.50. This allowed me to import properly.
Many of the existing packages in the Panda setup require MoveIt. So for now, we will install it, even though we do not intend to use it as a our primary planner or simulator. We hope to remove the dependency eventually. As quick note, on a computer I had previous used for development I found it necessary to completely remove any previous FCL, Octomap and MoveIt installations in order for a catkin build on my MoveIt Installation to work.
Please follow their build from source installation instructions. Clone the following packages in your catkin environment:
$ git clone https://github.com/ros-planning/panda_moveit_config.git
$ cd panda_moveit_config
$ git checkout kinetic-devel
As mentioned on the Franka Emika website, realtime kernels are not compatible with Nvida drivers. You can check your Nvida driver version via:
$ nvidia-smi
While I investigated options for patching the realtime kernel or editing my Nvida drivers, these efforts didn't really pan out. Since we weren't using any particular Nvida capabilities on the computer for the Panda, I opted to remove them. In particular you can list all Nvida packages via:
$ dpkg -l | grep -i nvidia
And remove all of them via:
$ sudo apt-get purge nvidia*
Through the kernel installation process (and debugging) I found to helpful to list (and sometimes remove) kernels. In particular, I found the "Remove Old Kernels via DPKG" of this page useful.
If the password to to Franka desk has been lost or forgotten for whatever reason, you can reset the admin password using this instructions on the Franka community forum.