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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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YarpSensorBridge fails in attaching FT IMU in simulation #807

Closed GiulioRomualdi closed 7 months ago

GiulioRomualdi commented 7 months ago

I'm trying to test https://github.com/icub-tech-iit/ergocub-software/pull/217 with YarpRobotLoggerDevice. To do so I modified the configuration file of the logger as 90894633d38ff366636528fe4b7b944fffc6f3c5

However when I run the device I got

[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::checkAttachedMASSensors] Expecting the same number of MAS sensors attached to the Bridge as many mentioned in the initialization step. Number of MAS sensor in the interface: 0. Number of sensor in initialization: 4.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::attachAndCheckMASSensors] Could not find at least one of the required sensors.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::attachAllInertials] Unable to attach the accelerometer as MAS.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::setDriversList] Failed to attach to one or more device drivers.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpRobotLoggerDevice::attachAll] Could not attach drivers list to sensor bridge.
[ERROR] Device yarp-robot-logger cannot execute attach
[ERROR] Cannot run attach action on device yarp-robot-logger

@G-Cervettini did you ever expirienced the same issue?

GiulioRomualdi commented 7 months ago

I tried to replicate @G-Cervettini setup but the issue is still there

G-Cervettini commented 7 months ago

I'm trying to test icub-tech-iit/ergocub-software#217 with YarpRobotLoggerDevice. To do so I modified the configuration file of the logger as 9089463

However when I run the device I got

[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::checkAttachedMASSensors] Expecting the same number of MAS sensors attached to the Bridge as many mentioned in the initialization step. Number of MAS sensor in the interface: 0. Number of sensor in initialization: 4.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::attachAndCheckMASSensors] Could not find at least one of the required sensors.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::attachAllInertials] Unable to attach the accelerometer as MAS.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::setDriversList] Failed to attach to one or more device drivers.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpRobotLoggerDevice::attachAll] Could not attach drivers list to sensor bridge.
[ERROR] Device yarp-robot-logger cannot execute attach
[ERROR] Cannot run attach action on device yarp-robot-logger

@G-Cervettini did you ever expirienced the same issue?

Looks like the error I had back in time here. Even though my error was mentioning orientation while here it is about accelerometer.

GiulioRomualdi commented 7 months ago

I debugged the issue with @G-Cervettini it turns out to be a typo in the configuration file 😭

https://github.com/ami-iit/bipedal-locomotion-framework/pull/808 adds the logging of the feet IMU in simulation

S-Dafarra commented 7 months ago

cc @rob-mau I don't remember if you were experiencing the same issue the other day

rob-mau commented 7 months ago

Yes, I was experiencing some similar issues (there was a problem with "l_leg_ft", "r_leg_ft" in the yarp-robot-logger.xml configuration file). I solved it by updating the ergocub-software repo.