Troubleshooting

This page provides solutions to common issues you may encounter when setting up and running TiPToP.

ZED Camera not detected

  • Make sure no other scripts or processes are already using the ZED Camera.

  • Verify the ZED camera is powered and connected

  • Try replugging both ends of the USB cable. On the USB-C connector on the camera side, try plugging it in both directions.

  • Check the camera serial number in tiptop/config/tiptop.yml matches your hardware

  • Run viz-gripper-cam to test the camera feed

Cannot connect to Franka robot

  • Ensure the Bamboo controller is running on the control workstation

  • Verify network connectivity: ping <robot-hostname>

  • Check the robot URL in tiptop/config/tiptop.yml matches your control workstation address

  • Confirm the robot is not in a fault state (check Franka Desk)

Robotiq gripper does not work

  • Verify the gripper server is running on the control workstation with Bamboo

  • Check the user is in the tty and dialout groups (see Installation)

  • Test manually with gripper-open and gripper-close commands

cuTAMP/cuRobo motion planning fails

  • Verify workspace obstacles are correctly defined

  • Check calibration with viz-calibration

  • Ensure objects are within the robot’s reachable workspace

  • Try reducing time_dilation_factor if trajectory execution is too fast

Perception issues

  • Confirm FoundationStereo and M2T2 servers are running

  • Check service URLs in tiptop/config/tiptop.yml

  • Verify the capture pose provides good workspace coverage

  • Test depth estimation quality with viz-scene

libfranka realtime scheduling error

If you encounter libfranka: unable to set realtime scheduling: Operation not permitted, your user needs permission to set realtime priorities.

Check groups and add user to realtime group:

groups  # Check if 'realtime' is listed
sudo usermod -aG realtime $USER

Configure realtime limits:

Edit /etc/security/limits.conf and add the following lines:

@realtime soft rtprio 99
@realtime soft priority 99
@realtime soft memlock 102400
@realtime hard rtprio 99
@realtime hard priority 99
@realtime hard memlock 102400

Log out and back in to apply the changes. Verify with ulimit -r (should show 99).