robotology-legacy/wysiwyd

babbling module causes errors in yarprobotinterface

Closed this issue · 5 comments

Tobias-Fischer commented

Hi @martz21,
Some recent changes in yarprobotinterface cause the babbling module to produce hundreds of errors. The babbling however is working fine. I guess somewhere the change of control mode is missing or something like this. The errors look as follows:

450691      2134.435622     ERROR       setPositionRaw: skipping command because    joint  2 is not in VOCAB_CM_POSITION_DIRECT mode 
450693      2134.435637     ERROR       velocityMoveRaw: skipping command because    joint  3 is not in VOCAB_CM_VELOCITY mode

It would be great if you have a look in a free minute.

Thanks,
Tobi
PS: Maybe @pattacini knows more about this?

Tobias-Fischer commented

I had a quick look and it seems like you have to use VOCAB_CM_POSITION_DIRECT mode instead of VOCAB_CM_POSITION mode. But again @pattacini probably knows better.

pattacini commented

yep, @Tobias-Fischer is right.
Also, it seems it must be happening the same for controlling in velocity.

Since something like two years ago, we drastically changed the way motors can be controlled. The corresponding mode must be enabled explicitly before calling the relative driving routines.

Tobias-Fischer commented

So just changing VOCAB_CM_POSITION into VOCAB_CM_POSITION_DIRECT will do the job? I know that @martz21 already explicitly sets the control mode, maybe just not the proper one ..

pattacini commented

One thing is certainly to set the correct mode; another thing is also to set it at the right time, that is when it's needed. It may happen that the mode is changed several times (even by other modules) and the user code is not always aware of those changes.

Tobias-Fischer commented

Will close this as a wontfix.