libfranka: unable to set realtime scheduling: Operation not permitted

[rhaschke]

Trying to activate any controller, I get the following exception:
libfranka: unable to set realtime scheduling: Operation not permitted

Of course, realtime limits are correctly configured in /etc/security/limits.conf (and yet, I'm member of group nirobots):

@nirobots        -       rtprio          99
@nirobots        -       priority        99
@nirobots        -       memlock         102400

Have these required settings changed (because it worked with version 0.8.x)?

[marcbone]

There shouldn't be any change regarding these settings (I have the same on my machine). Are you running a rt-kernel?
If you think that it is really due to a change in libfranka and have another robot that you didnt update yet you can try to install libfranka 0.8.0 again:

sudo apt remove ros-noetic-libfranka
git clone --recursive https://github.com/frankaemika/libfranka --branch 0.8.0
cd libfranka
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF ..
cmake --build .
cpack -G DEB
sudo dpkg -i libfranka-0.8.0-amd64.deb

If you do that you need to install franka_ros from sources, but I guess you do that anyway.

[rhaschke]

Are you running a rt-kernel?

Argh. That's it! I didn't boot the RT kernel...