I was trying to run the demo after installing the apptainer image, however I’m running into this error when trying to run.
Seems needs root to run it?
Worked! Thought I had tried that, apparently I did it wrong the first time. 
The errors indicate that you are trying to run in real-time mode without corresponding permissions. You can either
- follow the “System Configuration” instructions in the documentation to allow users in the “realtime” group to run real-time processes (recommended), or
- simply run with sudo (not recommended, as everything will run with root permissions in that case), or
- for everything that does not involve the real robot (e.g. when using only simulation), you can alternatively use the Apptainer image “trifinger_user” (instead of “trifinger_robot”), which will not use real-time processes and thus doesn’t need special permissions.