Hi @alaurenzi,

I tried to run the routine test after installing CartesianInterface on 2.0-devel branch. This is the output:

Test project /home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface Start 1: TestTask 1/7 Test #1: TestTask ......................... Passed 0.11 sec Start 2: TestCartesian 2/7 Test #2: TestCartesian .................... Passed 0.08 sec Start 3: TestApi 3/7 Test #3: TestApi .......................... Passed 0.21 sec Start 4: TestOpensot 4/7 Test #4: TestOpensot ......................***Failed 0.07 sec [==========] Running 3 tests from 1 test case. [----------] Global test environment set-up. [----------] 3 tests from TestOpensot [ RUN ] TestOpensot.checkInitialReference TestOpensot using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/ [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins [info] [success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so" [success] MODEL INTERFACE so library found! [ WARN] [1590751163.498522115]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[success] Solver options node found [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_2 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_4 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_3 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_1 [success] Successfully added Cartesian task with BASE LINK: pelvis DISTAL LINK: arm1_8 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: arm2_8 [success] Successfully added task 'ComXY' with type 'Subtask' [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: com [success] Successfully added postural task 'Postural' [success] Successfully added task 'ComZ' with type 'Subtask' [success] Successfully added task 'JointLimits' with type 'JointLimits' [success] Successfully added task 'VelocityLimits' with type 'VelocityLimits' Created variable 'Com_active' (20 blocks, 10000 elem each) Created variable 'Com_pos' (20 blocks, 10000 elem each) Created variable 'Com_pos_otg' (20 blocks, 10000 elem each) Created variable 'Com_vel' (20 blocks, 10000 elem each) Created variable 'Com_rot' (20 blocks, 10000 elem each) Created variable 'Com_rot_otg' (20 blocks, 10000 elem each) Created variable 'Com_state' (20 blocks, 10000 elem each) Created variable 'ComXY_active' (20 blocks, 10000 elem each) Created variable 'ComZ_active' (20 blocks, 10000 elem each) Created variable 'JointLimits_active' (20 blocks, 10000 elem each) Created variable 'Postural_active' (20 blocks, 10000 elem each) Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each) Created variable 'arm1_8_active' (20 blocks, 10000 elem each) Created variable 'arm1_8_pos' (20 blocks, 10000 elem each) Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each) Created variable 'arm1_8_vel' (20 blocks, 10000 elem each) Created variable 'arm1_8_rot' (20 blocks, 10000 elem each) Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each) Created variable 'arm1_8_state' (20 blocks, 10000 elem each) Created variable 'arm2_8_active' (20 blocks, 10000 elem each) Created variable 'arm2_8_pos' (20 blocks, 10000 elem each) Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each) Created variable 'arm2_8_vel' (20 blocks, 10000 elem each) Created variable 'arm2_8_rot' (20 blocks, 10000 elem each) Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each) Created variable 'arm2_8_state' (20 blocks, 10000 elem each) Created variable 'wheel_1_active' (20 blocks, 10000 elem each) Created variable 'wheel_1_pos' (20 blocks, 10000 elem each) Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_1_vel' (20 blocks, 10000 elem each) Created variable 'wheel_1_rot' (20 blocks, 10000 elem each) Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_1_state' (20 blocks, 10000 elem each) Created variable 'wheel_2_active' (20 blocks, 10000 elem each) Created variable 'wheel_2_pos' (20 blocks, 10000 elem each) Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_2_vel' (20 blocks, 10000 elem each) Created variable 'wheel_2_rot' (20 blocks, 10000 elem each) Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_2_state' (20 blocks, 10000 elem each) Created variable 'wheel_3_active' (20 blocks, 10000 elem each) Created variable 'wheel_3_pos' (20 blocks, 10000 elem each) Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_3_vel' (20 blocks, 10000 elem each) Created variable 'wheel_3_rot' (20 blocks, 10000 elem each) Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_3_state' (20 blocks, 10000 elem each) Created variable 'wheel_4_active' (20 blocks, 10000 elem each) Created variable 'wheel_4_pos' (20 blocks, 10000 elem each) Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_4_vel' (20 blocks, 10000 elem each) Created variable 'wheel_4_rot' (20 blocks, 10000 elem each) Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_4_state' (20 blocks, 10000 elem each) Created variable 'ci_time' (20 blocks, 10000 elem each) 10 0 0 10 10 [info] PilerHelper: expanding to 6 x 48 [info] PilerHelper: expanding to 6 x 1 [info] PilerHelper: expanding to 12 x 48 [info] PilerHelper: expanding to 12 x 1 [info] PilerHelper: expanding to 18 x 48 [info] PilerHelper: expanding to 18 x 1 [info] PilerHelper: expanding to 24 x 48 [info] PilerHelper: expanding to 24 x 1 [info] PilerHelper: expanding to 6 x 48 [info] PilerHelper: expanding to 6 x 1 [info] PilerHelper: expanding to 12 x 48 [info] PilerHelper: expanding to 12 x 1 [info] PilerHelper: expanding to 14 x 48 [info] PilerHelper: expanding to 14 x 1 [info] PilerHelper: expanding to 48 x 48 [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 49 x 48 [info] PilerHelper: expanding to 49 x 1 [info] OpenSot: using back-end 'osqp' [info] OpenSot: regularization value is 1.0e+09 [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 48 x 1 [info] #USING BACK-END @LEVEL 0: OSQP [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 48 x 1 [info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins [info] [error] File libOpenSotBackEndOSQP.so NOT found [success] Cleanly exiting from CartesI/O Flushed all data for file '/tmp/cartesio_logger2020_05_2913_19_23.mat' unknown file: Failure C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in the test fixture's constructor. [ FAILED ] TestOpensot.checkInitialReference (18 ms) [ RUN ] TestOpensot.checkNoInitialMotion TestOpensot using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/ [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins [info] [success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so" [success] MODEL INTERFACE so library found! [ WARN] [1590751163.515535690]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[success] Solver options node found [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_2 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_4 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_3 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_1 [success] Successfully added Cartesian task with BASE LINK: pelvis DISTAL LINK: arm1_8 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: arm2_8 [success] Successfully added task 'ComXY' with type 'Subtask' [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: com [success] Successfully added postural task 'Postural' [success] Successfully added task 'ComZ' with type 'Subtask' [success] Successfully added task 'JointLimits' with type 'JointLimits' [success] Successfully added task 'VelocityLimits' with type 'VelocityLimits' Created variable 'Com_active' (20 blocks, 10000 elem each) Created variable 'Com_pos' (20 blocks, 10000 elem each) Created variable 'Com_pos_otg' (20 blocks, 10000 elem each) Created variable 'Com_vel' (20 blocks, 10000 elem each) Created variable 'Com_rot' (20 blocks, 10000 elem each) Created variable 'Com_rot_otg' (20 blocks, 10000 elem each) Created variable 'Com_state' (20 blocks, 10000 elem each) Created variable 'ComXY_active' (20 blocks, 10000 elem each) Created variable 'ComZ_active' (20 blocks, 10000 elem each) Created variable 'JointLimits_active' (20 blocks, 10000 elem each) Created variable 'Postural_active' (20 blocks, 10000 elem each) Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each) Created variable 'arm1_8_active' (20 blocks, 10000 elem each) Created variable 'arm1_8_pos' (20 blocks, 10000 elem each) Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each) Created variable 'arm1_8_vel' (20 blocks, 10000 elem each) Created variable 'arm1_8_rot' (20 blocks, 10000 elem each) Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each) Created variable 'arm1_8_state' (20 blocks, 10000 elem each) Created variable 'arm2_8_active' (20 blocks, 10000 elem each) Created variable 'arm2_8_pos' (20 blocks, 10000 elem each) Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each) Created variable 'arm2_8_vel' (20 blocks, 10000 elem each) Created variable 'arm2_8_rot' (20 blocks, 10000 elem each) Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each) Created variable 'arm2_8_state' (20 blocks, 10000 elem each) Created variable 'wheel_1_active' (20 blocks, 10000 elem each) Created variable 'wheel_1_pos' (20 blocks, 10000 elem each) Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_1_vel' (20 blocks, 10000 elem each) Created variable 'wheel_1_rot' (20 blocks, 10000 elem each) Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_1_state' (20 blocks, 10000 elem each) Created variable 'wheel_2_active' (20 blocks, 10000 elem each) Created variable 'wheel_2_pos' (20 blocks, 10000 elem each) Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_2_vel' (20 blocks, 10000 elem each) Created variable 'wheel_2_rot' (20 blocks, 10000 elem each) Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_2_state' (20 blocks, 10000 elem each) Created variable 'wheel_3_active' (20 blocks, 10000 elem each) Created variable 'wheel_3_pos' (20 blocks, 10000 elem each) Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_3_vel' (20 blocks, 10000 elem each) Created variable 'wheel_3_rot' (20 blocks, 10000 elem each) Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_3_state' (20 blocks, 10000 elem each) Created variable 'wheel_4_active' (20 blocks, 10000 elem each) Created variable 'wheel_4_pos' (20 blocks, 10000 elem each) Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_4_vel' (20 blocks, 10000 elem each) Created variable 'wheel_4_rot' (20 blocks, 10000 elem each) Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_4_state' (20 blocks, 10000 elem each) Created variable 'ci_time' (20 blocks, 10000 elem each) 10 0 0 10 10 [info] PilerHelper: expanding to 6 x 48 [info] PilerHelper: expanding to 6 x 1 [info] PilerHelper: expanding to 12 x 48 [info] PilerHelper: expanding to 12 x 1 [info] PilerHelper: expanding to 18 x 48 [info] PilerHelper: expanding to 18 x 1 [info] PilerHelper: expanding to 24 x 48 [info] PilerHelper: expanding to 24 x 1 [info] PilerHelper: expanding to 6 x 48 [info] PilerHelper: expanding to 6 x 1 [info] PilerHelper: expanding to 12 x 48 [info] PilerHelper: expanding to 12 x 1 [info] PilerHelper: expanding to 14 x 48 [info] PilerHelper: expanding to 14 x 1 [info] PilerHelper: expanding to 48 x 48 [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 49 x 48 [info] PilerHelper: expanding to 49 x 1 [info] OpenSot: using back-end 'osqp' [info] OpenSot: regularization value is 1.0e+09 [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 48 x 1 [info] #USING BACK-END @LEVEL 0: OSQP [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 48 x 1 [info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins [info] [error] File libOpenSotBackEndOSQP.so NOT found [success] Cleanly exiting from CartesI/O Flushed all data for file '/tmp/cartesio_logger2020_05_2913_19_23.mat' unknown file: Failure C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in the test fixture's constructor. [ FAILED ] TestOpensot.checkNoInitialMotion (14 ms) [ RUN ] TestOpensot.checkMotion TestOpensot using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/ [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins [info] [success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so" [success] MODEL INTERFACE so library found! [ WARN] [1590751163.529604440]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[----------] Global test environment tear-down [==========] 3 tests from 1 test case ran. (46 ms total) [ PASSED ] 0 tests. [ FAILED ] 3 tests, listed below: [ FAILED ] TestOpensot.checkInitialReference [ FAILED ] TestOpensot.checkNoInitialMotion [ FAILED ] TestOpensot.checkMotion

3 FAILED TESTS ~LoggerClass

Start 5: TestRosClient

5/7 Test #5: TestRosClient ....................***Failed 38.23 sec [==========] Running 3 tests from 1 test case. [----------] Global test environment set-up. [----------] 3 tests from TestRos [ RUN ] TestRos.checkClient [ERROR] [1590751163.566435955]: [registerPublisher] Failed to contact master at [localhost:11322]. Retrying... WARNING: disk usage in log directory [/home/luca/.ros/log] is over 1GB. It's recommended that you use the 'rosclean' command. [ERROR] [1590751164.020496953]: [setParam] Failed to contact master at [localhost:11322]. Retrying... [info] Configuring from ROS parameter server [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [success] RobotInterface so library found! [success] MODEL INTERFACE so library found! [ WARN] [1590751164.141069420]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[ WARN] [1590751164.148492962]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Constructing ROS implementation of RobotInterface.. ~RobotInterface() [warning] Unable to communicate with robot (exception thrown: 'Unable to connect to XBotCore'), running in visual mode [info] Running in visual mode: no commands sent to robot [success] MODEL INTERFACE so library found! [ WARN] [1590751165.167749799]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

started roslaunch server http://ADVR2001D1:37563/ ros_comm version 1.12.14

SUMMARY

PARAMETERS

/rosdistro: kinetic
/rosversion: 1.12.14

NODES

auto-starting new master process[master]: started with pid [30982] ROS_MASTER_URI=http://ADVR2001D1:11322/

setting /run_id to 3fdb8c72-a19e-11ea-bf9d-04d9f5cb1a67 process[rosout-1]: started with pid [31000] started core service [/rosout] [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done Killed process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' with signal 2 Child process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' exited with status 134 Killed process 'roscore' with signal 2 Child process 'roscore' exited with status 0 [ FAILED ] TestRos.checkClient (12701 ms) [ RUN ] TestRos.checkCartesian WARNING: disk usage in log directory [/home/luca/.ros/log] is over 1GB. It's recommended that you use the 'rosclean' command. [info] Configuring from ROS parameter server [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [success] RobotInterface so library found! [success] MODEL INTERFACE so library found! [ WARN] [1590751176.842270737]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[ WARN] [1590751176.849718438]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Constructing ROS implementation of RobotInterface.. ~RobotInterface() [warning] Unable to communicate with robot (exception thrown: 'Unable to connect to XBotCore'), running in visual mode [info] Running in visual mode: no commands sent to robot [success] MODEL INTERFACE so library found! [ WARN] [1590751177.869085925]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

started roslaunch server http://ADVR2001D1:35833/ ros_comm version 1.12.14

SUMMARY

PARAMETERS

/rosdistro: kinetic
/rosversion: 1.12.14

NODES

auto-starting new master process[master]: started with pid [31268] ROS_MASTER_URI=http://ADVR2001D1:11322/

setting /run_id to 476d9016-a19e-11ea-bf9d-04d9f5cb1a67 process[rosout-1]: started with pid [31286] started core service [/rosout] [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done Killed process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' with signal 2 Child process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' exited with status 134 Killed process 'roscore' with signal 2 Child process 'roscore' exited with status 0 [ FAILED ] TestRos.checkCartesian (12705 ms) [ RUN ] TestRos.checkPostural WARNING: disk usage in log directory [/home/luca/.ros/log] is over 1GB. It's recommended that you use the 'rosclean' command. [info] Configuring from ROS parameter server [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [success] RobotInterface so library found! [success] MODEL INTERFACE so library found! [ WARN] [1590751189.480024828]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[ WARN] [1590751189.487417325]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Constructing ROS implementation of RobotInterface.. ~RobotInterface() [warning] Unable to communicate with robot (exception thrown: 'Unable to connect to XBotCore'), running in visual mode [info] Running in visual mode: no commands sent to robot [success] MODEL INTERFACE so library found! [ WARN] [1590751190.506861100]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

started roslaunch server http://ADVR2001D1:43147/ ros_comm version 1.12.14

SUMMARY

PARAMETERS

/rosdistro: kinetic
/rosversion: 1.12.14

NODES

auto-starting new master process[master]: started with pid [31547] ROS_MASTER_URI=http://ADVR2001D1:11322/

setting /run_id to 4f003ab8-a19e-11ea-bf9d-04d9f5cb1a67 process[rosout-1]: started with pid [31569] started core service [/rosout] [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done Killed process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' with signal 2 Child process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' exited with status 134 Killed process 'roscore' with signal 2 Child process 'roscore' exited with status 0 [ FAILED ] TestRos.checkPostural (12798 ms) [----------] 3 tests from TestRos (38204 ms total)

[----------] Global test environment tear-down [==========] 3 tests from 1 test case ran. (38204 ms total) [ PASSED ] 0 tests. [ FAILED ] 3 tests, listed below: [ FAILED ] TestRos.checkClient [ FAILED ] TestRos.checkCartesian [ FAILED ] TestRos.checkPostural

3 FAILED TESTS ~LoggerClass

Start 6: TestRt

6/7 Test #6: TestRt ...........................***Failed 0.06 sec [==========] Running 2 tests from 1 test case. [----------] Global test environment set-up. [----------] 2 tests from TestRt [ RUN ] TestRt.checkTaskList SetUp using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/ [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins [info] [success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so" [success] MODEL INTERFACE so library found! [ WARN] [1590751201.806502389]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[success] Solver options node found [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_2 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_4 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_3 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_1 [success] Successfully added Cartesian task with BASE LINK: pelvis DISTAL LINK: arm1_8 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: arm2_8 [success] Successfully added task 'ComXY' with type 'Subtask' [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: com [success] Successfully added postural task 'Postural' [success] Successfully added task 'ComZ' with type 'Subtask' [success] Successfully added task 'JointLimits' with type 'JointLimits' [success] Successfully added task 'VelocityLimits' with type 'VelocityLimits' Created variable 'Com_active' (20 blocks, 10000 elem each) Created variable 'Com_pos' (20 blocks, 10000 elem each) Created variable 'Com_pos_otg' (20 blocks, 10000 elem each) Created variable 'Com_vel' (20 blocks, 10000 elem each) Created variable 'Com_rot' (20 blocks, 10000 elem each) Created variable 'Com_rot_otg' (20 blocks, 10000 elem each) Created variable 'Com_state' (20 blocks, 10000 elem each) Created variable 'ComXY_active' (20 blocks, 10000 elem each) Created variable 'ComZ_active' (20 blocks, 10000 elem each) Created variable 'JointLimits_active' (20 blocks, 10000 elem each) Created variable 'Postural_active' (20 blocks, 10000 elem each) Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each) Created variable 'arm1_8_active' (20 blocks, 10000 elem each) Created variable 'arm1_8_pos' (20 blocks, 10000 elem each) Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each) Created variable 'arm1_8_vel' (20 blocks, 10000 elem each) Created variable 'arm1_8_rot' (20 blocks, 10000 elem each) Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each) Created variable 'arm1_8_state' (20 blocks, 10000 elem each) Created variable 'arm2_8_active' (20 blocks, 10000 elem each) Created variable 'arm2_8_pos' (20 blocks, 10000 elem each) Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each) Created variable 'arm2_8_vel' (20 blocks, 10000 elem each) Created variable 'arm2_8_rot' (20 blocks, 10000 elem each) Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each) Created variable 'arm2_8_state' (20 blocks, 10000 elem each) Created variable 'wheel_1_active' (20 blocks, 10000 elem each) Created variable 'wheel_1_pos' (20 blocks, 10000 elem each) Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_1_vel' (20 blocks, 10000 elem each) Created variable 'wheel_1_rot' (20 blocks, 10000 elem each) Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_1_state' (20 blocks, 10000 elem each) Created variable 'wheel_2_active' (20 blocks, 10000 elem each) Created variable 'wheel_2_pos' (20 blocks, 10000 elem each) Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_2_vel' (20 blocks, 10000 elem each) Created variable 'wheel_2_rot' (20 blocks, 10000 elem each) Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_2_state' (20 blocks, 10000 elem each) Created variable 'wheel_3_active' (20 blocks, 10000 elem each) Created variable 'wheel_3_pos' (20 blocks, 10000 elem each) Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_3_vel' (20 blocks, 10000 elem each) Created variable 'wheel_3_rot' (20 blocks, 10000 elem each) Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_3_state' (20 blocks, 10000 elem each) Created variable 'wheel_4_active' (20 blocks, 10000 elem each) Created variable 'wheel_4_pos' (20 blocks, 10000 elem each) Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_4_vel' (20 blocks, 10000 elem each) Created variable 'wheel_4_rot' (20 blocks, 10000 elem each) Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_4_state' (20 blocks, 10000 elem each) Created variable 'ci_time' (20 blocks, 10000 elem each) 10 0 0 10 10 [info] PilerHelper: expanding to 6 x 48 [info] PilerHelper: expanding to 6 x 1 [info] PilerHelper: expanding to 12 x 48 [info] PilerHelper: expanding to 12 x 1 [info] PilerHelper: expanding to 18 x 48 [info] PilerHelper: expanding to 18 x 1 [info] PilerHelper: expanding to 24 x 48 [info] PilerHelper: expanding to 24 x 1 [info] PilerHelper: expanding to 6 x 48 [info] PilerHelper: expanding to 6 x 1 [info] PilerHelper: expanding to 12 x 48 [info] PilerHelper: expanding to 12 x 1 [info] PilerHelper: expanding to 14 x 48 [info] PilerHelper: expanding to 14 x 1 [info] PilerHelper: expanding to 48 x 48 [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 49 x 48 [info] PilerHelper: expanding to 49 x 1 [info] OpenSot: using back-end 'osqp' [info] OpenSot: regularization value is 1.0e+09 [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 48 x 1 [info] #USING BACK-END @LEVEL 0: OSQP [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 48 x 1 [info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins [info] [error] File libOpenSotBackEndOSQP.so NOT found [success] Cleanly exiting from CartesI/O Flushed all data for file '/tmp/cartesio_logger2020_05_2913_20_01.mat' unknown file: Failure C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in SetUp(). [ FAILED ] TestRt.checkTaskList (19 ms) [ RUN ] TestRt.checkUsage SetUp using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/ [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins [info] [success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so" [success] MODEL INTERFACE so library found! [ WARN] [1590751201.823486290]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[----------] Global test environment tear-down [==========] 2 tests from 1 test case ran. (33 ms total) [ PASSED ] 0 tests. [ FAILED ] 2 tests, listed below: [ FAILED ] TestRt.checkTaskList [ FAILED ] TestRt.checkUsage

2 FAILED TESTS ~LoggerClass

Start 7: TestRos

7/7 Test #7: TestRos ..........................***Failed 0.05 sec [==========] Running 1 test from 1 test case. [----------] Global test environment set-up. [----------] 1 test from TestRos [ RUN ] TestRos.check1 [info] Generated joint id map as: joint_map: 1: ankle_pitch_1 2: ankle_pitch_2 3: ankle_pitch_3 4: ankle_pitch_4 5: ankle_yaw_1 6: ankle_yaw_2 7: ankle_yaw_3 8: ankle_yaw_4 9: hip_pitch_1 10: hip_pitch_2 11: hip_pitch_3 12: hip_pitch_4 13: hip_yaw_1 14: hip_yaw_2 15: hip_yaw_3 16: hip_yaw_4 17: j_arm1_1 18: j_arm1_2 19: j_arm1_3 20: j_arm1_4 21: j_arm1_5 22: j_arm1_6 23: j_arm1_7 24: j_arm2_1 25: j_arm2_2 26: j_arm2_3 27: j_arm2_4 28: j_arm2_5 29: j_arm2_6 30: j_arm2_7 31: j_wheel_1 32: j_wheel_2 33: j_wheel_3 34: j_wheel_4 35: knee_pitch_1 36: knee_pitch_2 37: knee_pitch_3 38: knee_pitch_4 39: neck_pitch 40: neck_velodyne 41: neck_yaw 42: torso_yaw 43: j_ft_1 44: j_ft_2 45: imu_joint [success] MODEL INTERFACE so library found! [ WARN] [1590751201.868008205]: Converting unknown joint type of joint 'reference' into a fixed joint [info] Found FT ft_arm1 on chain left_arm [info] Found FT ft_arm2 on chain right_arm [info] Found IMU imu_link on chain torso [info] Found IMU imu_link on chain front_left_leg [info] Found IMU imu_link on chain front_right_leg [info] Found IMU imu_link on chain rear_right_leg [info] Found IMU imu_link on chain rear_left_leg [info] Floating base model: TRUE [info] Floating base link name: pelvis [info] Joint name: hip_yaw_1 RBDL ID: 6 [info] Joint name: hip_pitch_1 RBDL ID: 7 [info] Joint name: knee_pitch_1 RBDL ID: 8 [info] Joint name: ankle_pitch_1 RBDL ID: 9 [info] Joint name: ankle_yaw_1 RBDL ID: 10 [info] Joint name: j_wheel_1 RBDL ID: 11 [info] Joint name: hip_yaw_2 RBDL ID: 12 [info] Joint name: hip_pitch_2 RBDL ID: 13 [info] Joint name: knee_pitch_2 RBDL ID: 14 [info] Joint name: ankle_pitch_2 RBDL ID: 15 [info] Joint name: ankle_yaw_2 RBDL ID: 16 [info] Joint name: j_wheel_2 RBDL ID: 17 [info] Joint name: hip_yaw_3 RBDL ID: 18 [info] Joint name: hip_pitch_3 RBDL ID: 19 [info] Joint name: knee_pitch_3 RBDL ID: 20 [info] Joint name: ankle_pitch_3 RBDL ID: 21 [info] Joint name: ankle_yaw_3 RBDL ID: 22 [info] Joint name: j_wheel_3 RBDL ID: 23 [info] Joint name: hip_yaw_4 RBDL ID: 24 [info] Joint name: hip_pitch_4 RBDL ID: 25 [info] Joint name: knee_pitch_4 RBDL ID: 26 [info] Joint name: ankle_pitch_4 RBDL ID: 27 [info] Joint name: ankle_yaw_4 RBDL ID: 28 [info] Joint name: j_wheel_4 RBDL ID: 29 [info] Joint name: torso_yaw RBDL ID: 30 [info] Joint name: j_arm1_1 RBDL ID: 31 [info] Joint name: j_arm1_2 RBDL ID: 32 [info] Joint name: j_arm1_3 RBDL ID: 33 [info] Joint name: j_arm1_4 RBDL ID: 34 [info] Joint name: j_arm1_5 RBDL ID: 35 [info] Joint name: j_arm1_6 RBDL ID: 36 [info] Joint name: j_arm1_7 RBDL ID: 37 [info] Joint name: j_arm2_1 RBDL ID: 38 [info] Joint name: j_arm2_2 RBDL ID: 39 [info] Joint name: j_arm2_3 RBDL ID: 40 [info] Joint name: j_arm2_4 RBDL ID: 41 [info] Joint name: j_arm2_5 RBDL ID: 42 [info] Joint name: j_arm2_6 RBDL ID: 43 [info] Joint name: j_arm2_7 RBDL ID: 44 [info] Joint name: neck_velodyne RBDL ID: 45 [info] Joint name: neck_yaw RBDL ID: 46 [info] Joint name: neck_pitch RBDL ID: 47 [info] Floating base origin offset: 0 0 0.93445 [success] ModelInterfaceRBDL initialized successfully! [info] Model ordered chains: virtual_chain front_left_leg front_right_leg rear_left_leg rear_right_leg torso left_arm right_arm velodyne neck

[success] Solver options node found [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_2 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_4 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_3 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: wheel_1 [success] Successfully added Cartesian task with BASE LINK: pelvis DISTAL LINK: arm1_8 [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: arm2_8 [success] Successfully added task 'ComXY' with type 'Subtask' [success] Successfully added Cartesian task with BASE LINK: world DISTAL LINK: com [success] Successfully added postural task 'Postural' [success] Successfully added task 'ComZ' with type 'Subtask' [success] Successfully added task 'JointLimits' with type 'JointLimits' [success] Successfully added task 'VelocityLimits' with type 'VelocityLimits' Created variable 'Com_active' (20 blocks, 10000 elem each) Created variable 'Com_pos' (20 blocks, 10000 elem each) Created variable 'Com_pos_otg' (20 blocks, 10000 elem each) Created variable 'Com_vel' (20 blocks, 10000 elem each) Created variable 'Com_rot' (20 blocks, 10000 elem each) Created variable 'Com_rot_otg' (20 blocks, 10000 elem each) Created variable 'Com_state' (20 blocks, 10000 elem each) Created variable 'ComXY_active' (20 blocks, 10000 elem each) Created variable 'ComZ_active' (20 blocks, 10000 elem each) Created variable 'JointLimits_active' (20 blocks, 10000 elem each) Created variable 'Postural_active' (20 blocks, 10000 elem each) Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each) Created variable 'arm1_8_active' (20 blocks, 10000 elem each) Created variable 'arm1_8_pos' (20 blocks, 10000 elem each) Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each) Created variable 'arm1_8_vel' (20 blocks, 10000 elem each) Created variable 'arm1_8_rot' (20 blocks, 10000 elem each) Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each) Created variable 'arm1_8_state' (20 blocks, 10000 elem each) Created variable 'arm2_8_active' (20 blocks, 10000 elem each) Created variable 'arm2_8_pos' (20 blocks, 10000 elem each) Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each) Created variable 'arm2_8_vel' (20 blocks, 10000 elem each) Created variable 'arm2_8_rot' (20 blocks, 10000 elem each) Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each) Created variable 'arm2_8_state' (20 blocks, 10000 elem each) Created variable 'wheel_1_active' (20 blocks, 10000 elem each) Created variable 'wheel_1_pos' (20 blocks, 10000 elem each) Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_1_vel' (20 blocks, 10000 elem each) Created variable 'wheel_1_rot' (20 blocks, 10000 elem each) Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_1_state' (20 blocks, 10000 elem each) Created variable 'wheel_2_active' (20 blocks, 10000 elem each) Created variable 'wheel_2_pos' (20 blocks, 10000 elem each) Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_2_vel' (20 blocks, 10000 elem each) Created variable 'wheel_2_rot' (20 blocks, 10000 elem each) Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_2_state' (20 blocks, 10000 elem each) Created variable 'wheel_3_active' (20 blocks, 10000 elem each) Created variable 'wheel_3_pos' (20 blocks, 10000 elem each) Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_3_vel' (20 blocks, 10000 elem each) Created variable 'wheel_3_rot' (20 blocks, 10000 elem each) Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_3_state' (20 blocks, 10000 elem each) Created variable 'wheel_4_active' (20 blocks, 10000 elem each) Created variable 'wheel_4_pos' (20 blocks, 10000 elem each) Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each) Created variable 'wheel_4_vel' (20 blocks, 10000 elem each) Created variable 'wheel_4_rot' (20 blocks, 10000 elem each) Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each) Created variable 'wheel_4_state' (20 blocks, 10000 elem each) Created variable 'ci_time' (20 blocks, 10000 elem each) 10 0 0 10 10 [info] PilerHelper: expanding to 6 x 48 [info] PilerHelper: expanding to 6 x 1 [info] PilerHelper: expanding to 12 x 48 [info] PilerHelper: expanding to 12 x 1 [info] PilerHelper: expanding to 18 x 48 [info] PilerHelper: expanding to 18 x 1 [info] PilerHelper: expanding to 24 x 48 [info] PilerHelper: expanding to 24 x 1 [info] PilerHelper: expanding to 6 x 48 [info] PilerHelper: expanding to 6 x 1 [info] PilerHelper: expanding to 12 x 48 [info] PilerHelper: expanding to 12 x 1 [info] PilerHelper: expanding to 14 x 48 [info] PilerHelper: expanding to 14 x 1 [info] PilerHelper: expanding to 48 x 48 [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 49 x 48 [info] PilerHelper: expanding to 49 x 1 [info] OpenSot: using back-end 'osqp' [info] OpenSot: regularization value is 1.0e+09 [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 48 x 1 [info] #USING BACK-END @LEVEL 0: OSQP [info] PilerHelper: expanding to 48 x 1 [info] PilerHelper: expanding to 48 x 1 [error] File libOpenSotBackEndOSQP.so NOT found [success] Cleanly exiting from CartesI/O Flushed all data for file '/tmp/cartesio_logger2020_05_2913_20_01.mat' unknown file: Failure C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in SetUp(). Traceback (most recent call last): File "/opt/ros/kinetic/bin/roscore", line 36, in from rosmaster.master_api import NUM_WORKERS File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/init.py", line 35, in from .main import rosmaster_main File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/main.py", line 43, in import rosmaster.master File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master.py", line 45, in import rosgraph.xmlrpc File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/init.py", line 36, in from . masterapi import Master, MasterFailure, MasterError, MasterException File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/masterapi.py", line 41, in from xmlrpc.client import ServerProxy # Python 3.x File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/xmlrpc.py", line 67, in import rosgraph.network File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/network.py", line 48, in import platform File "/usr/lib/python2.7/platform.py", line 1340, in r'([\w.+]+)\s*' # "version" File "/usr/lib/python2.7/re.py", line 194, in compile return _compile(pattern, flags) File "/usr/lib/python2.7/re.py", line 249, in _compile p = sre_compile.compile(pattern, flags) File "/usr/lib/python2.7/sre_compile.py", line 576, in compile code = _code(p, flags) File "/usr/lib/python2.7/sre_compile.py", line 561, in _code _compile(code, p.data, flags) File "/usr/lib/python2.7/sre_compile.py", line 132, in _compile _compile(code, av[2], flags) File "/usr/lib/python2.7/sre_compile.py", line 107, in _compile _compile_charset(av, flags, code, fixup, fixes) File "/usr/lib/python2.7/sre_compile.py", line 232, in _compile_charset flags & SRE_FLAG_UNICODE): File "/usr/lib/python2.7/sre_compile.py", line 261, in _optimize_charset for op, av in charset: KeyboardInterrupt Killed process 'roscore' with signal 2 Child process 'roscore' exited with status 256 [ FAILED ] TestRos.check1 (21 ms) [----------] 1 test from TestRos (21 ms total)

[----------] Global test environment tear-down [==========] 1 test from 1 test case ran. (21 ms total) [ PASSED ] 0 tests. [ FAILED ] 1 test, listed below: [ FAILED ] TestRos.check1

1 FAILED TEST ~LoggerClass

43% tests passed, 4 tests failed out of 7

Total Test time (real) = 38.82 sec

The following tests FAILED: 4 - TestOpensot (Failed) 5 - TestRosClient (Failed) 6 - TestRt (Failed) 7 - TestRos (Failed) Errors while running CTest

ADVRHumanoids / CartesianInterface

test failed #50

SUMMARY

SUMMARY

SUMMARY