ami-iit/yarp-openmct

Upgrade the used simulation model to iCubGazebo_V3

Closed this issue · 5 comments

nunoguedelha commented

Since the telexistence team is using iCubGenova09 (iCub V3) for the experiements, we should use iCubGazeboV3 in simulation instead of iCubGazeboV2_5.

nunoguedelha commented

Setup

Reproduce the setup steps 1 to 6 from https://github.com/ami-iit/yarp-openmct#prior-testing-the-visualization-tool-on-gazebo, except that YARP_ROBOT_NAME is set to iCubGazeboV3 instead of iCubGazeboV2_5.

  • Steps 1 to 5 were successful.

  • Step 6 fails with the console output:

    [ERROR] Unable to connect the ports  /walking-coordinator/logger/data:o and /yarp-robot-logger/exogenous_signals/walking:i
[INFO] |yarp.os.RFModule| RFModule failed to open.
Illegal instruction: 4
    Full log 
    [INFO] |yarp.os.Port| Port /iiticublap199/WalkingModule/82509/clock:i active at tcp://192.168.1.70:10158/
[INFO] |yarp.os.Network| Success: port-to-port persistent connection added.
[INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ...
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /clock to /iiticublap199/WalkingModule/82509/clock:i using tcp
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/torso/rpc:o active at tcp://192.168.1.70:10102/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/torso/command:o active at tcp://192.168.1.70:10103/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/torso/stateExt:i active at tcp://192.168.1.70:10104/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/torso/rpc:o to /icubSim/torso/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/torso/command:o to /icubSim/torso/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/torso/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/torso/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/left_arm/rpc:o active at tcp://192.168.1.70:10105/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/left_arm/command:o active at tcp://192.168.1.70:10106/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/left_arm/stateExt:i active at tcp://192.168.1.70:10107/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/left_arm/rpc:o to /icubSim/left_arm/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/left_arm/command:o to /icubSim/left_arm/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/left_arm/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/left_arm/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/right_arm/rpc:o active at tcp://192.168.1.70:10108/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/right_arm/command:o active at tcp://192.168.1.70:10109/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/right_arm/stateExt:i active at tcp://192.168.1.70:10110/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/right_arm/rpc:o to /icubSim/right_arm/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/right_arm/command:o to /icubSim/right_arm/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/right_arm/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/right_arm/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/left_leg/rpc:o active at tcp://192.168.1.70:10111/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/left_leg/command:o active at tcp://192.168.1.70:10112/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/left_leg/stateExt:i active at tcp://192.168.1.70:10113/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/left_leg/rpc:o to /icubSim/left_leg/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/left_leg/command:o to /icubSim/left_leg/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/left_leg/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/left_leg/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/right_leg/rpc:o active at tcp://192.168.1.70:10114/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/right_leg/command:o active at tcp://192.168.1.70:10115/
[INFO] |yarp.os.Port| Port /walking-coordinator/remoteControlBoard/icubSim/right_leg/stateExt:i active at tcp://192.168.1.70:10116/
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/right_leg/rpc:o to /icubSim/right_leg/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /walking-coordinator/remoteControlBoard/icubSim/right_leg/command:o to /icubSim/right_leg/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /icubSim/right_leg/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/right_leg/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <remotecontrolboardremapper>. See C++ class RemoteControlBoardRemapper for documentation.
[INFO] |yarp.os.Port| Port /walking-coordinator/left_foot_front/cartesianEndEffectorWrench:i active at tcp://192.168.1.70:10159/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o to /walking-coordinator/left_foot_front/cartesianEndEffectorWrench:i using tcp
[INFO] |yarp.os.Port| Port /walking-coordinator/left_foot_rear/cartesianEndEffectorWrench:i active at tcp://192.168.1.70:10160/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o to /walking-coordinator/left_foot_rear/cartesianEndEffectorWrench:i using tcp
[INFO] |yarp.os.Port| Port /walking-coordinator/right_foot_front/cartesianEndEffectorWrench:i active at tcp://192.168.1.70:10161/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o to /walking-coordinator/right_foot_front/cartesianEndEffectorWrench:i using tcp
[INFO] |yarp.os.Port| Port /walking-coordinator/right_foot_rear/cartesianEndEffectorWrench:i active at tcp://192.168.1.70:10162/
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o to /walking-coordinator/right_foot_rear/cartesianEndEffectorWrench:i using tcp
[INFO] [WalkingModule::setRobotModel] The model is found in:  /Users/nunoguedelha/dev/superbuild-soft-eng/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV3/model.urdf
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
[INFO] |yarp.os.Port| Port /walking-coordinator/rpc active at tcp://192.168.1.70:10119/
[INFO] |yarp.os.Port| Port /walking-coordinator/goal:i active at tcp://192.168.1.70:10120/
[INFO] |yarp.os.Port| Port /walking-coordinator/freeSpaceEllipse:in active at tcp://192.168.1.70:10121/
[INFO] Loading custom PIDs
[INFO] Parsing DEFAULT PID group.
[INFO] DEFAULT PID successfully loaded
[INFO] |yarp.os.Port| Port /walking-coordinator/logger/data:o active at tcp://192.168.1.70:10122/
[ERROR] Unable to connect the ports  /walking-coordinator/logger/data:o and /yarp-robot-logger/exogenous_signals/walking:i
[INFO] |yarp.os.RFModule| RFModule failed to open.
Illegal instruction: 4
nunoguedelha commented
  • Step 6 fails with the console output:

this was due to iCbGazeboV3 configuration issues in my local setup.

nunoguedelha commented

this was due to iCbGazeboV3 configuration issues in my local setup.

Actually, either there is a bug in the logger module, either something is missing in the documentation https://github.com/robotology/walking-controllers#how-to-dump-data.

I opened the issue robotology/walking-controllers#109.

Meanwhile, I edited directly the installed configuration file for iCubGazeboV3.

nunoguedelha commented

Apart from the issue mentioned above, everything is working as expected.
image

We can consider this action completed.

DanielePucci commented

Super cool @nunoguedelha !

  • 👍1