issues with the wholeBodyDynamics and yarplogger modules

[itsjjaavii]

hi, I currently having trouble with some modules of the yarpmanager. For a start, the only way I can run the yarplogger is through two ways: if I write in a terminal yarplogger --start --no_stop or if I run the icubsrv node through the terminal, writing yarp run --server /icubsrv. I cannot execute the yarplogger directly in the yarpmanager. On the other hand, I also cannot run the wholeBodyDynamics and gravityCompensator modules. When I try to, the yarplogger return this:

And if I try to run the wholeBodyDynamics module through the terminal, it return this:

Since I can't run the wholeBodyDynamics module, the gravityCompensator module won't run either.
I already saw the discussion #661 , however, the robot does have the inertial device enabled (the robot that we have here is iCubValparaiso01).

I appreciate any help :)

[Nicogene]

Hi @itsjjaavii,

I cannot execute the yarplogger directly in the yarpmanager.

And other GUIs such as yarpview runs fine via yarpmanager?

On the other hand, I also cannot run the wholeBodyDynamics and gravityCompensator modules.

From the log seems that the multipleanalogsensorsserver that publishes the FT data of the robot is not running. Is the yarprobotinterface running? Can you post the yarp name list output?

[Nicogene]

Looking at the error you are getting seems that the left arm FT is not exposed, but if you are using this version of icub_all.xml for running yarprobotinterface you should have it:

• https://github.com/robotology/robots-configuration/blob/master/iCubValparaiso01/icub_all.xml

[justdiandes]

Hi @Nicogene ! I'm Diego. I'm currently trying to set the back up laptop. The problems that we are facing right know appears to be related to the WholeBodyDynamics port that need to be initialized in the /icubsrv and the /icub-head. All the modules are working correctly in the main laptop so the problem does not appear to be in the icub-head but in the backup laptop itself, and also we took a look in the icub_all.xml configuration for the yarprobotinterface and it's all in order. When we trried to turn on the wholeBody module the only ports available that are related to this are the following:

And then the module shuts down, because it can't connect the other yarp ports.

Our hypothesis now is around the possibility that the module in the laptop is not compatible with the icub-head version so we wanted to know what version of icub-head is know working or if we need to update the version in the iCub. We currently have a robotology version from 2021.
I also wanted to know if you have any recommendation in order to track this issue or if you need extra information on the outputs to take a look for a possible error, because I don't understand if there is any problem with the IP configuration in all the initialized ports that can cause the problem of not finding the correct configurations for all the connections needed to initialized the WholeBody.

Please let me know if you need any additional information and I really thank you in advance!

[Nicogene]

if there is any problem with the IP configuration in all the initialized ports that can cause the problem of not finding the correct configurations for all the connections needed to initialized the WholeBody.

I would exclude this because the other modules seems able to communicate between icub-head and icubsrv.

Our hypothesis now is around the possibility that the module in the laptop is not compatible with the icub-head version so we wanted to know what version of icub-head is know working or if we need to update the version in the iCub. We currently have a robotology version from 2021.

Some time ago we implemented some breaking changes in some icub-main modules, but it may be that different versions between the head and the laptop can give problems, but since iKinGazeCtrl seems to run fine I don't think it is the case.

Have you tried to run wholeBodyDynamics with --dummy_ft?

If the error you are facing is the same you posted earlier, please do this check after running yarprobotinterface:

yarp name list | grep /icub/left_arm/FT/measures:o

If the output is empty the problem is that the FT is not working/exposed, at that point you can:

• run wholeBodyDynamics with --dummy_ft
  or
• try to fix the FT

[justdiandes]

I checked on the yarp name list output to make sure if there's something but it doesn't appear any info so I tried to execute the module with --dumy_ft and it worked.

Now I wanted to know if this info is useful in some way 'cause now I wanted to know how to track this issue in order to setup this laptop. For context in this problem, the main laptop used for the iCub is working correctly so we believe that if there's any problem with the FT sensor itself, this could lead to an error in both laptops, but it only appear to fail in the backup one, so there's probably some configuration problem rather than a FT sensor problem.

[Nicogene]

The yarprobotinterface and the FT sensors devices runs on icub-head, the fact that with yarp name list you are not seeing the FT sensors ports means that something is not working on yarprobotinterface side.

Could you post the log of the yarprobotinterface from the yarplogger?