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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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YarpLoggerDevice cannot log data at 1kHz #877

Open LoreMoretti opened 3 weeks ago

LoreMoretti commented 3 weeks ago

We have run some data collection campaign using the YarpLoggerDevice to record and save data at different sample rates.

But, we have realized that YarpLoggerDevice was not able to log data at 1 kHz.

Therefore, we have tested YarpLoggerDevice with 4 different sample rates, and we got:

  1. at 1[kHz], max(dt) = 0.0025 [s] (dt should be 0.001 [s] to respect real time)
  2. at 500[Hz], max(dt) = 0.0025 [s] (dt should be 0.002 [s] to respect real time)
  3. at 200[Hz], max(dt) = 0.0056 [s] (dt should be 0.005 [s] to respect real time)
  4. at 100[Hz], max(dt) = 0.0105 [s] (dt should be 0.010 [s] to respect real time)

with dt being the time between one sample and the following one.

It follows also the dt plots for the 4 different datasets:

image

Also, we checked that, within each dataset, the logged vectors (such as joint position, joint velocity, joint acceleration) have the same size (i.e. number of samples).

Lastly, the blf version we have been using is https://github.com/isorrentino/bipedal-locomotion-framework/commit/3d371885c22a1f896c07a0843466a4e34fb9009d.

cc @GiulioRomualdi @isorrentino

GiulioRomualdi commented 3 weeks ago

Hi @LoreMoretti, thank you for posting this :) You are right. According to the plots you show, the fact that when you collect at 1kHz, you get a maximum delta t of 0.0025s, is related to an outlier. I believe this outlier can be removed. Regardless, it seems that when we set a specific frequency, we consistently get a maximum error of 0.0006s (0.6ms). This error is negligible if we collect data at 100Hz, but it becomes significant when collecting data at 1kHz.

A possibility is:

  1. remove the outliner
  2. then Resample the data at the desired frequency
GiulioRomualdi commented 3 weeks ago

cc also @traversaro @S-Dafarra

traversaro commented 3 weeks ago

By the way, more in general if you want to reduce the jitter in the logging time, you need to reduce the scheduling jitter of thread. This can be done by the classical methods used for real time computing, that is:

An introduction to this topics I like a lot is the "Real-time programming with Linux" series of blog posts by Shuhao Wu: https://shuhaowu.com/blogseries.html#rt-linux-programming . The https://github.com/cactusdynamics/cactus-rt repo from the same author is good example of those techniques, even if to use them in our codebase I would prefer to have some kind of abstraction that is portable also to macOS on Windows (even using non-realtime features in those cases).

LoreMoretti commented 2 weeks ago

After reading the resources shared by @traversaro and others (like https://www.youtube.com/watch?v=NrjXEaTSyrw), we could also investigate the benefits brought by changing the current logic of Yarp:os:PeriodicThread.

Now, if I got it right, the thread it is set to sleep for an amount of time given by the difference next_awaken_time - elapsed_time. But the awakening process from the scheduler takes some time, this means that the tread could wake up a bit later than expected.

We could change it to something like sleep for next_awaken_time - (elapsed_time + awakening_time) (where awakening_time has to be determined empirically). The idea is to awake the thread a bit before, and then insert in the run function some while loop that keeps checking if it is time to start the operations of the thread.

The drawback could be that the CPU is kept busied with more not useful operations (i.e. the while loop), but the scheduler jitter of the thread might be less.

Without testing it, I am not sure if this could lead to improvements and also the entity of the improvements, and also how this code change would affect all other software we use.

LoreMoretti commented 2 weeks ago

Another idea that came to my mind (reading for example https://unix.stackexchange.com/questions/326579/how-to-ensure-exclusive-cpu-availability-for-a-running-process) is to try to run the logger on a separate laptop reserving one CPU core just for the YarpLoggerDevice application.

Also here, I guess that it is difficult to determine upfront the entity of the improvements (also compared to the alternative solution of just [increasing](https://manpages.ubuntu.com/manpages/focal/en/man2/nice.2.html#:~:text=nice()%20adds%20inc%20to,are%20clamped%20to%20the%20range.) the priority of the YarpLoggerDevice thread)

LoreMoretti commented 2 weeks ago

I have tried to implement what I explained in this comment through this commit. I have hard-coded some numeric values in the code, but this is just inteded for testing at this stage.

Then, I have run the YarpLoggerDevice to record some data at 1kHz on ergocubSN001 from my laptop with ethernet. It follows the dt of the data:

image

With mean values being:

So the modification seems to improve a bit the YarpLoggerDevice performances.

I could run more tests to check if the statistics are confirmed. Still, perhaps these tiny improvements aren't worth changing that piece of YARP.

S-Dafarra commented 2 weeks ago

The variance seems well reduced anyhow!

FYI the link to the commit appears to be broken

LoreMoretti commented 2 weeks ago

FYI the link to the commit appears to be broken

Thanks for the catch! I should have fixed it

S-Dafarra commented 2 weeks ago

Still, perhaps these tiny improvements aren't worth changing that piece of YARP.

In any way, it is something that can be done inside the run method (subtracting from the user-specified period the awakening time). Also, if the problem is the awakening, then you should avoid the delay in https://github.com/LoreMoretti/yarp/commit/8a44daa286594eda6b7f0df9c5ef6b927d33e14c#diff-d271dd18aa050a91366a7acdb6a223823dcb1771603035cace056e6fc5f337d6R243 because otherwise you end up having the same issue.

LoreMoretti commented 2 weeks ago

In any way, it is something that can be done inside the run method (subtracting from the user-specified period the awakening time)

I have modified the YarpLoggerDevice. Some preliminary code can be found at this commit.

Then to test it, I have run the YarpLoggerDevice to record some data at 1kHz on ergocubSN001 from my laptop with ethernet connection. It follows the dt of the data:

image

With mean values being:

In both cases, I have being using yarp3.9, the only difference is within the YarpLoggerDevice itself.

More tests should be run to confirm the statistics, but the preliminary results seem good.

traversaro commented 1 week ago

Can we have an option to disable busy waiting? There are many context in which you do not want to do busy waiting at all.

Increase the performance of the thread

Ahh, my bad, this sentence was meant to write "increse the priority of the thread". If you did not tried that, I would try, it is a simple linux-specific code you can wrap in a #ifdef block, and I guess it can be really helpful even without a realtime kernel (that we may want to explore the use anyhow if we are interested in this, the early wakeup is the last of the strategies listed in https://shuhaowu.com/blogseries.html#rt-linux-programming, not the first :D ).

traversaro commented 1 week ago

Even without changing the priority, at least changing the scheduler used to use one of the realtime schedulers SCHED_FIFO ?

traversaro commented 1 week ago

Even without changing the priority, at least changing the scheduler used to use one of the realtime schedulers SCHED_FIFO ?

See https://stackoverflow.com/questions/51100861/stdthread-with-pthread-setschedparam-with-c-11 and the last suggestion of https://chatgpt.com/share/9e47ab2c-1302-433f-aa5a-5caa25b296ef .

LoreMoretti commented 1 week ago

See https://stackoverflow.com/questions/51100861/stdthread-with-pthread-setschedparam-with-c-11 and the last suggestion of https://chatgpt.com/share/9e47ab2c-1302-433f-aa5a-5caa25b296ef .

I have implemented it at this commit.

Then to test it, I have run the YarpLoggerDevice to record some data at 1kHz on ergocubSN001 from my laptop with ethernet connection. It follows the dt of the data:

image

Here the thread priority used:

[INFO] [2024-09-02 18:03:10.482] [thread: 70526] [blf] [YarpRobotLoggerDevice::threadInit] Scheduling policy set to SCHED_FIFO with priority 80

A part from something happening at the beginning, it seems that increasing the thread priority and set a FIFO policy, helped to reduce the number of spikes. It could be interesting to combine it with the awakening before strategy of the green curve.

The original and modified are the same curves as the one of this comment.

Note that, the first time I run the YarpLoggerDevice, I was getting this error. Therefore, with the help of @S-Dafarra, we had to sudo a bunch of things (yarp namespace, yarp conf, YARP_ROBOT_NAME, source ~/robotology/robotology-superbuild/build/install/share/robotology-superbuild/setup.sh) and run yarprobotinterface --config launch-yarp-robot-logger.xml with root privileges.

LoreMoretti commented 1 week ago

It could be interesting to combine it with the awakening before strategy of the green curve.

I have implemented the needed code at this commit. Then I did a successful smoke test running the YarpLoggerDevice with a Gazebo simulation. I will test in on the robot to determine the performances.

Regarding:

Note that, the first time I run the YarpLoggerDevice, I was getting this error. Therefore, with the help of @S-Dafarra, we had to sudo a bunch of things (yarp namespace, yarp conf, YARP_ROBOT_NAME, source ~/robotology/robotology-superbuild/build/install/share/robotology-superbuild/setup.sh) and run yarprobotinterface --config launch-yarp-robot-logger.xml with root privileges.

I tried different strategies to avoid to sudo all the things.

  1. set CAP_SYS_NICE capability, thanks @traversaro for the hint.

But, I could not make it work. This is because after I did sudo setcap 'cap_sys_nice=eip' </home/lomoretti/robotology/robotology-superbuild/build/install/bin/yarprobotinterface>, when I run the yarprobotinterface (to start the logger device), I get:

yarprobotinterface: error while loading shared libraries: libYARP_robotinterface.so.3: cannot open shared object file: No such file or directory

But, checking the application rpath, with readelf -d /home/lomoretti/robotology/robotology-superbuild/build/install/bin/yarprobotinterface | grep RPATH, I get:

 0x000000000000000f (RPATH)              Library rpath: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib:$ORIGIN/:$ORIGIN/../lib:$ORIGIN/../]

and libYARP_robotinterface.so.3 should be included in $ORIGIN/../lib, being $ORIGIN the directory where the application (i.e. yarprobotinterface) is located.

Though, if I trace the application with strace yarprobotinterface 2>&1 it seems that $ORIGIN/../lib is not used as search path, as shown in the following terminal log.

strace log ``` execve("/home/lomoretti/robotology/robotology-superbuild/build/install/bin/yarprobotinterface", ["yarprobotinterface"], 0x7ffded454340 /* 150 vars */) = 0 access("/etc/suid-debug", F_OK) = -1 ENOENT (No such file or directory) brk(NULL) = 0x55b482f94000 arch_prctl(0x3001 /* ARCH_??? */, 0x7ffda9db0f60) = -1 EINVAL (Invalid argument) fcntl(0, F_GETFD) = 0 fcntl(1, F_GETFD) = 0 fcntl(2, F_GETFD) = 0 access("/etc/suid-debug", F_OK) = -1 ENOENT (No such file or directory) mmap(NULL, 8192, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) = 0x7faf7c693000 readlink("/proc/self/exe", "/home/lomoretti/robotology/robot"..., 4096) = 85 access("/etc/ld.so.preload", R_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/glibc-hwcaps/x86-64-v4/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/glibc-hwcaps/x86-64-v4", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/glibc-hwcaps/x86-64-v3/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/glibc-hwcaps/x86-64-v3", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/glibc-hwcaps/x86-64-v2/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/glibc-hwcaps/x86-64-v2", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/tls", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib", {st_mode=S_IFDIR|0775, st_size=196608, ...}, 0) = 0 openat(AT_FDCWD, "/etc/ld.so.cache", O_RDONLY|O_CLOEXEC) = 3 newfstatat(3, "", {st_mode=S_IFREG|0644, st_size=168683, ...}, AT_EMPTY_PATH) = 0 mmap(NULL, 168683, PROT_READ, MAP_PRIVATE, 3, 0) = 0x7faf7c669000 close(3) = 0 openat(AT_FDCWD, "/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v4/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v4", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v3/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v3", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v2/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v2", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/tls", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64-linux-gnu", {st_mode=S_IFDIR|0755, st_size=270336, ...}, 0) = 0 openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v4/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v4", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v3/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v3", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v2/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/glibc-hwcaps/x86-64-v2", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/tls", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu", {st_mode=S_IFDIR|0755, st_size=270336, ...}, 0) = 0 openat(AT_FDCWD, "/lib/glibc-hwcaps/x86-64-v4/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/glibc-hwcaps/x86-64-v4", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/glibc-hwcaps/x86-64-v3/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/glibc-hwcaps/x86-64-v3", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/glibc-hwcaps/x86-64-v2/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/glibc-hwcaps/x86-64-v2", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/tls/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/tls/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/tls/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/tls/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/tls/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/tls/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/tls/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/tls/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/tls/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/tls/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/tls/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/tls/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/tls/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/tls/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/tls/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/tls", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/lib", {st_mode=S_IFDIR|0755, st_size=12288, ...}, 0) = 0 openat(AT_FDCWD, "/usr/lib/glibc-hwcaps/x86-64-v4/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/glibc-hwcaps/x86-64-v4", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/glibc-hwcaps/x86-64-v3/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/glibc-hwcaps/x86-64-v3", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/glibc-hwcaps/x86-64-v2/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/glibc-hwcaps/x86-64-v2", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/tls/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/tls/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/tls/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/tls/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/tls/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/tls/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/tls/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/tls/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/tls/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/tls/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/tls/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/tls/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/tls/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/tls/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/tls/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/tls", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/haswell/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/haswell/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/haswell/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/haswell/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/haswell/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/haswell/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/haswell/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/haswell", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/avx512_1/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/avx512_1/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/avx512_1/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/avx512_1", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib/x86_64", 0x7ffda9db0180, 0) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/libYARP_robotinterface.so.3", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) newfstatat(AT_FDCWD, "/usr/lib", {st_mode=S_IFDIR|0755, st_size=12288, ...}, 0) = 0 writev(2, [{iov_base="yarprobotinterface", iov_len=18}, {iov_base=": ", iov_len=2}, {iov_base="error while loading shared libra"..., iov_len=36}, {iov_base=": ", iov_len=2}, {iov_base="libYARP_robotinterface.so.3", iov_len=27}, {iov_base=": ", iov_len=2}, {iov_base="cannot open shared object file", iov_len=30}, {iov_base=": ", iov_len=2}, {iov_base="No such file or directory", iov_len=25}, {iov_base="\n", iov_len=1}], 10yarprobotinterface: error while loading shared libraries: libYARP_robotinterface.so.3: cannot open shared object file: No such file or directory ) = 145 exit_group(127) = ? +++ exited with 127 +++ ```

I am not sure why. I have built the robotology-superbuild from source (with conda dependencies), maybe it works if one installs directly the conda binary packages of the superbuild.

  1. sudo -E /home/lomoretti/robotology/robotology-superbuild/build/install/bin/yarprobotinterface --config launch-yarp-robot-logger.xml. This seems to work fine on my laptop (wihtout "sudo-ing" anything else).
GiulioRomualdi commented 1 week ago

We should understand if the created matfile has the right reading access

LoreMoretti commented 1 week ago

I will test in on the robot to determine the performances.

I have run the YarpLoggerDevice to record some data at 1kHz on ergocubSN001 from my laptop with ethernet connection. It follows the dt of the data:

image

The blue curve refers to the YarpRobotLoggerDevice with the "awake before feature" (as introduced here). The blue curve refers to the YarpRobotLoggerDevice with the same "awake before feature" but also with FIFO policy and increased priority of the thread.

Qualitatively, it seems that the orange curve exhibits less spikes (therefore improving the performances). Of course, I should run more tests to confirm the statics.

Also, at this commit I have added a config parameter called enable_real_time_scheduling which enables (when set to true) both the "awake before feature" as well as the FIFO policy and higher priority. In this way the user can choose to use it or not. If not specified, enable_real_time_scheduling is by default set to false.

I can open a PR to add the changes of the YarpRobotLoggerDevice that allowed to reach these perfomances.

Instead, regarding:

We should understand if the created matfile has the right reading access

I was able to load the created matfile on robot-log-visualizer or on matlab. Checking the file permission, I get:

(robsub_gzsim) lomoretti@IITICUBLAP226:~/Desktop/ExperimentsLorenzo/debug/YarpLoggerTime/modifiedBLF_withFIFOscheduler$ ls -l robot_logger_device_2024_09_04_14_49_01.mat 
-rw-r--r-- 1 root root 361014952 Sep  4 14:49 robot_logger_device_2024_09_04_14_49_01.mat

So it seems that also others from root can read the file.

LoreMoretti commented 5 days ago

I am preparing a PR: #883