Error using dsr_api::insert_node()

[DarkGeekMS]

I was trying to insert a new node in G using dsr_api::insert_node() in graspDSR component :

// define object node
Node object = Node();
object.type("mesh");
object.name(objectname);
object.agent_id(17);
object.id(id);

// inject object node into graph
auto id = G->insert_node(object);

However, I always get Cannot connect to idserver. Aborting error.

[pbustos]

I think there might be two causes: - the idserver agent is not running. It provides the new id. - you did not pass the proxy to G's constructor. It has a default parameter and robocompdsl does not initialize it.

…

On Mon, Aug 17, 2020 at 6:25 AM Mohamed Shawky ***@***.***> wrote: I was trying to insert a new node in G using dsr_api::insert_node() <https://github.com/robocomp/robocomp/blob/4629332994dd642b5396c550fa9fb676e7ee43bf/classes/dsr/api/dsr_api.cpp#L147> in graspDSR component : // define object node Node object = Node(); object.type("mesh");object.name(objectname); object.agent_id(17);object.id(id); // inject object node into graphauto id = G->insert_node(object); However, I always get Cannot connect to idserver. Aborting error. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#7>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABOXXF2HYHS2VYJKVKWY6WDSBCWK3ANCNFSM4QBHFBYQ> .

-- Prof. Pablo Bustos García de Castro ROBOLAB http://robolab.unex.es Computer Vision and Robotics Lab INDEHESA http://indehesa.unex.es Institute for SIlvopastoralism Research School of Technology - Universidad de Extremadura, Cáceres 10003, Spain Phone: +34 927 257259 ResearchGate https://www.researchgate.net/profile/Pablo_Bustos ORCID-ID: 0000-0003-3202-2493

[DarkGeekMS]

I think the second one is the problem,
As I'm sure that idserver is running fine and, also, I use the default constructor of G.

[DarkGeekMS]

So, the solution to this issue is to include DSRGetID interface in graspDSR, like so :

import "ObjectPoseEstimationRGBD.idsl";
import "DSRGetID.idsl";

Component graspDSR
{
    Communications
    {
        requires ObjectPoseEstimationRGBD, DSRGetID;
    };
    language Cpp11;
    gui Qt(QMainWindow);
    options dsr;
};

Then, initialize G with DSRGetID proxy, like so :

G = std::make_shared<DSR::DSRGraph>(0, agent_name, agent_id, "", dsrgetid_proxy); // Init nodes

DSRGetID is an interface implemented by idserver agent and responsible for obtaining node ids in the graph.

[orensbruli]

I have changed the robocompdsl code to automatically add the DSRGetID require and import whenever the options dsr is added.
I have also modified the DSRGraph constructor to include the dsrgetid_proxy.
Thank you for your contribution @DarkGeekMS.