Unable to obtain feedback information

[xh16166]

I want to use the high level mode to send speed to the robot and simultaneously obtain feedback information on the robot's joint position, speed, and torque. I used the Async method, but my program encountered the following error:
Robot connection successful
[libprotobuf FATAL /home/robot/kortex-XH/api_cpp/examples/kortex_api/include/google/protobuf/repeated_field.h:1522] CHECK failed: (index) < (current_size_):
terminate called after throwing an instance of 'google::protobuf::FatalException'
what(): CHECK failed: (index) < (current_size_):

Process finished with exit code 134 (interrupted by signal 6: SIGABRT)

When sending speed, the robot does indeed move, and the program does not enter the while loop, so joint information is not printed. I want to know how to solve this problem. Here is my program. I hope someone can help me check it. Thank you very much for your reply.

#include "kortex_api/include/common/KortexRobot.h"
#include "iostream"
#include "utilities.h"
#if defined(_MSC_VER)
#include <Windows.h>
#else
#include <unistd.h>
#endif
#include <time.h>

#include //pinocchio

#include
#include <boost/asio.hpp>
#include
#include
#include
#include
#include

int main(int argc, char **argv)
{

KortexRobot robot = KortexRobot("192.168.1.10");


int num = robot.GetNbDof();


if (robot.IsConnected())
{

    std::cout << "Robot connection successful" << std::endl;

    //Subscription notifications
    robot.SubscribeToNotifications();

    // Asynchronous thread sending speed and running for two seconds
    auto async_task = std::async(std::launch::async, [&robot]() {

        std::vector<float> speeds{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 10.0f};
        robot.SetJointSpeeds(speeds);
        std::this_thread::sleep_for(std::chrono::milliseconds(2000));
        //Unsubscribe Notifications
        robot.UnsubscribeToNotifications();
        robot.stop();
    });

    // Main thread refresh feedback
    while (async_task.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
        robot.RefreshFeedback();
        std::vector<float> jointPositions = robot.GetJointPositions();
        std::vector<float> jointVelocities = robot.GetJointVelocities();
        std::vector<float> jointTorques = robot.GetJointTorques();

        cout << "Print joint information " << endl;

        for (int i = 0; i < robot.GetNbDof(); i++)
        {
            std::cout <<"Joint" << i <<"\t Position" << jointPositions[i] <<"\t Velocity" << jointVelocities[i] << "\t Torque" << jointTorques[i] << std::endl;
        }

        std::this_thread::sleep_for(std::chrono::milliseconds(1));

    }


}

std::cout << "End of example" << std::endl;

}

[martinleroux]

Hi @xh16166 ,

I don't have enough information with the code you provided to identify the cause of this issue.
Can you tell me which line is triggering the fault?
I would also need to see the implementation of your KortexRobot class.

In the meantime, you can just make sure that your baseCyclic client is using a router real-time, with UDP transport via port 10001.