RealToSimControlBoard on yarpmotorgui: Velocity is ZERO!

[jgvictores]

RealToSimControlboard on yarpmotorgui: Velocity is ZERO!

Most probably related to contents of https://github.com/roboticslab-uc3m/tools/blob/93d7f44ded29c6573b6e5f6e554684975e007981/libraries/YarpPlugins/RealToSimControlboard/IVelocityControlImpl.cpp

[PeterBowman]

Can you paste the output, especially of those instructions that led to this error?

[jgvictores]

Okay, so in fact there are many issues going on here.

To reproduce

teoSim
yarpdev --device RealToSimControlboard --context RealToSimControlboard --from lacqueyFetch.ini --name /teoSim/leftHand --remotePrefix /teoSim/leftLacqueyFetch
yarpmotorgui --from yarpmotorgui/teoSim.ini # select only leftHand

Screenshot of Velocity is ZERO! on yarpmotorgui

Stuff going on at yarpmotorgui

[DEBUG]Initializing interfaces...
[DEBUG]Opening interfaces...
[INFO]leftHand iencs->getEncoders() ok!
[ERROR]Error while getting position limits, part  leftHand  joint  0 
[ERROR]Error while getting velocity limits, part  leftHand  joint  0 
[ERROR]Error while getting current range, part  leftHand  joint  0 
[WARNING]Unable to update torques
[ERROR]Missing Implementation of getRefTorque() 
[ERROR]iint->getInteractionlMode failed

Stuff going on at RealToSimControlboard

[error] IPositionControlImpl.cpp:51 checkMotionDone(): Not implemented yet.
[error] IPositionControlImpl.cpp:99 getRefSpeed(): Not implemented yet.
[error] IVelocityControlImpl.cpp:37 getRefVelocity(): Not implemented yet.
[error] IPositionControlImpl.cpp:231 getTargetPosition(): Not implemented yet.

PS: Sorry about these issues, that are more kind of reminder-to-self. ^^

[PeterBowman]

Thanks!

PS: Sorry about these issues, that are more kind of reminder-to-self. ^^

No problem, I just think it's nice to have these things minimally documented :).

Most probably related to contents of...

Nope, this is position control mode. The velocity slider is unable to pick a default value because our implementation of setRefSpeed(s) in IPositionControlImpl.cpp is missing.