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.
Runtime Issues
- 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.
WAN Teleoperation
- 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.
Getting Help