Troubleshooting¶

Build Issues¶

CMake cannot find Flexiv TDK: Ensure -DCMAKE_PREFIX_PATH=~/tdk_install points to the install prefix.
Missing dependencies: Re-run thirdparty/build_and_install_dependencies.sh and ensure the install directory exists.

Shared library not found: Set LD_LIBRARY_PATH=~/tdk_install/lib before running binaries.
Permission issues with real-time priorities: Add your user to /etc/security/limits.conf for rtprio and nice.

High latency / unstable motion: Verify network stability and re-check time synchronization.
Time sync inaccurate: Use chronyc tracking and consider re-running chronyc burst and chronyc makestep.

Check the inertial parameter calibration of the leader robot tool and confirm that the configured tool is indeed the current one.
Check that the TCP position of the leader robot is set at the actual position where the human hand grips it
When starting TDK examples, whether to calibrate the sensor is determined based on the actual input parameters. If choose to calibrate the sensor on initialization, the calibration will last for a period of time, so do not touch the device during that process.