I am using the FRI to control the iiwa. Sometimes during the execution of some trajectory or even when the iiwa is stationary, it will stop and return the following error:
Code
Stopping task task due to the following error:
come.kuk.roboticsAPI.executionModel.CommandInvalidException: Error while executing PositiohHold on device:
CK_COMPOUND_RETURN_ERROR: Wrong FRI session state Monitoring (Wait) in active phase of FRI motion. Possible
connection problem. (ERROR_FRI_CMD_WRONG_STATE_ACTIVE) from compound ..
In my FRIClient app I am doing some work before the app.step() function. My current theory is that I am not consistently calling app.step() at the desired rate (2 milliseconds in my case) which leads to this error (The "Possible connection problem").
If anyone has experience or knows about this error any comment will be welcome. When I find the cause, I will post it here.
I am on a laptop Ubuntu 16.04 machine