search

roboticslab-uc3m / asibot-main

ASIBOT assistive robot: super/meta repository.
http://roboticslab.uc3m.es/roboticslab/robot/asibot
GNU Lesser General Public License v2.1
4 stars 0 forks source link

CartesianServer fails when starting, due to controlboard and controlboardwrapper2 issues #4

Closed iagson closed 9 years ago

iagson commented 9 years ago

Hi jgvictores

I encountered another issue while running the cartesianServer instance. I did a fresh install of Ubuntu 14.10 on my computer (I previously had it on a Virtual Machine) and now I can't run the instance. OpenRAVE is the one that seems to fail, but I reinstalled it a couple times (without uninstalling first) even with the cmake videorecording-option Off. I also reinstalled yarp and the asibot-main repository.

I leave the log, when running cartesianServer:

iagson@iagsons-MagicBox:~$ cartesianServer ||| clearing context ||| adding context [cartesianServer/conf] ||| configuring ||| policy set to ASIBOT_ROOT ||| ASIBOT_ROOT: /home/iagson/asibot-main ||| loading policy from /home/iagson/asibot-main/ASIBOT_ROOT.ini yarp: cannot read from /home/iagson/asibot-main/ASIBOT_ROOT.ini ||| loading policy from /home/iagson/.yarp/ASIBOT_ROOT.ini yarp: cannot read from /home/iagson/.yarp/ASIBOT_ROOT.ini ||| loading policy from /etc/yarp/policies/ASIBOT_ROOT.ini yarp: cannot read from /etc/yarp/policies/ASIBOT_ROOT.ini ||| loading policy from /etc/ASIBOT_ROOT.ini yarp: cannot read from /etc/ASIBOT_ROOT.ini ||| loading policy from /usr/local/etc/ASIBOT_ROOT.ini yarp: cannot read from /usr/local/etc/ASIBOT_ROOT.ini ||| failed to load policy from /home/iagson/asibot-main/ASIBOT_ROOT.ini /home/iagson/.yarp/ASIBOT_ROOT.ini /etc/yarp/policies/ASIBOT_ROOT.ini /etc/ASIBOT_ROOT.ini /usr/local/etc/ASIBOT_ROOT.ini ||| default config file specified as cartesianServer.ini ||| checking /home/iagson/cartesianServer.ini ||| checking [/home/iagson/.config/yarp/robots/default](robot YARP_CONFIG_HOME) ||| checking [/home/iagson/.local/share/yarp/robots/default](robot YARP_DATA_HOME) ||| checking [/etc/xdg/xdg-ubuntu/yarp/robots/default](robot YARP_CONFIG_DIRS) ||| checking [/usr/share/upstart/xdg/yarp/robots/default](robot YARP_CONFIG_DIRS) ||| checking [/etc/xdg/yarp/robots/default](robot YARP_CONFIG_DIRS) ||| checking [/usr/share/ubuntu/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/usr/share/gnome/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/usr/local/share/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/usr/share/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/usr/share/ubuntu/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/usr/share/gnome/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/share/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/usr/share/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking /home/iagson/asibot-main/app/cartesianServer/conf/cartesianServer.ini ||| found /home/iagson/asibot-main/app/cartesianServer/conf/cartesianServer.ini Run "cartesianServer --help" for options.

cartesianServer checking for yarp network... [ok]

CartesianServer using controller: cartesianbot, prefix: /ravebot.

CartesianServer using movjLocal: /ravebot/movjCartesianServer, movjRemote: /ravebot.

CartesianBot using A0: 0.300000, A1: 0.400000, A2: 0.400000, A3: 0.300000. CartesianBot using cmcMs: 30.000000, duration: 20.000000, maxAcc: 0.200000, maxVel: 7.500000. CartesianBot using robotDevice: controlboard, robotSubDevice: ravebot, robotName: /ravebot. CartesianBot using robotLocal: N/A, robotRemote: N/A.

[INFO]ControlBoard subdevice is ravebot

RaveBot using numMotors: 5, env: asibot_kitchen.env.xml, externObj: none, extraRobot: none. RaveBot using genInitPos: 0.000000, genJointTol: 0.250000, genMaxLimit: 360.000000, genMinLimit: -360.000000. RaveBot using genRefSpeed: 7.500000, genEncRawExposed: 0.017453, genVelRawExposed: 0.017453. RaveBot using jmcMs: 20.000000, jmcMsAcc: 1.000000, modePosVel: 0, physics: none, viewer: 1. RaveBot not using individual initPoss, defaulting to genInitPos. RaveBot not using individual jointTols, defaulting to genJointTol. RaveBot not using individual maxLimits, defaulting to genMaxLimit. RaveBot not using individual minLimits, defaulting to genMinLimit. RaveBot not using individual refSpeeds, defaulting to genRefSpeed. RaveBot not using individual encRawExposeds, defaulting to genEncRawExposed.

RaveBot not using individual velRawExposeds, defaulting to genVelRawExposed.

[plugindatabase.h:577 Create] Failed to create name viewerrecorder, interface module [environment-core.h:800 SetPhysicsEngine] setting ode physics engine [odephysics.h:255 InitEnvironment] ode params: erp=1.000000e-02 (2.000000e-01), cfm=1.000000e-05 (1.000000e-10), itrs=20 (20) [success] RaveBot loaded environment. RaveBot using robot 0 (asibot) as main robot. Sensors found on robot 0 (asibot): 0. yarp: Port /ravebot/world active at tcp://192.168.1.34:10002 [success] ravebot threadInit() [INFO]created device . See C++ class RaveBot for documentation. yarp: Port /ravebot/rpc:i active at tcp://192.168.1.34:10003 yarp: Port /ravebot/command:i active at tcp://192.168.1.34:10004 yarp: Port /ravebot/state:o active at tcp://192.168.1.34:10005 [RaveBot] getAxes reporting 5 axes are present [RaveBot] getAxes reporting 5 axes are present [RaveBot] getAxes reporting 5 axes are present [INFO]Server control board starting [INFO]created wrapper . See C++ class yarp::dev::ServerControlBoard for documentation. [CartesianBot] success: Acquired robot interfaces. [CartesianBot] success: threadInit() started 30.000000 ms ratethread [INFO]created device . See C++ class CartesianBot for documentation. [CartesianServer] success: Acquired cartesian interface. yarp: Port /ravebot/movjCartesianServer/rpc:o active at tcp://192.168.1.34:10006 yarp: Port /ravebot/movjCartesianServer/command:o active at tcp://192.168.1.34:10007 yarp: Port /ravebot/movjCartesianServer/state:i active at tcp://192.168.1.34:10008 yarp: Port /ravebot/movjCartesianServer/stateExt:i active at tcp://192.168.1.34:10009 yarp: Receiving input from /ravebot/movjCartesianServer/rpc:o to /ravebot/rpc:i using tcp yarp: Sending output from /ravebot/movjCartesianServer/rpc:o to /ravebot/rpc:i using tcp yarp: Receiving input from /ravebot/movjCartesianServer/command:o to /ravebot/command:i using udp yarp: Sending output from /ravebot/movjCartesianServer/command:o to /ravebot/command:i using udp yarp: Receiving input from /ravebot/state:o to /ravebot/movjCartesianServer/state:i using udp yarp: Sending output from /ravebot/state:o to /ravebot/movjCartesianServer/state:i using udp * Extended port /ravebot/stateExt:o was not found on the controlBoardWrapper I'm connecting to. Falling back to compatibility beaviour Updating to newer yarp and the usage of controlBoardWrapper2 is suggested* received an unknown request after a VOCAB_GET: prot [ERROR]expecting protocol 1 1 0, but remotecontrolboard returned protocol version 0 0 0 [ERROR] please update YARP or the remotecontrolboard implementation yarpdev: _ERROR_ driver was found but could not open yarp: Removing input from /ravebot/state:o to /ravebot/movjCartesianServer/state:i yarp: Removing output from /ravebot/state:o to /ravebot/movjCartesianServer/state:i yarp: Removing input from /ravebot/movjCartesianServer/command:o to /ravebot/command:i yarp: Removing output from /ravebot/movjCartesianServer/command:o to /ravebot/command:i yarp: Removing output from /ravebot/movjCartesianServer/rpc:o to /ravebot/rpc:i yarp: Removing input from /ravebot/movjCartesianServer/rpc:o to /ravebot/rpc:i [error] Class instantiation not worked.

[error] movjRemote not valid, has a remotely accessible device been open?

Module failed to open [INFO]Server control board stopping RaveBot::close() Closing ports... [WorldRpcResponder] Got [WorldRpcResponder] Got [qtcoinviewer.cpp:3041 UpdateFromModel] auto-setting camera location RaveBot::close() Ports closed. Closing environment... [environment-core.h:221 Destroy] destroy module [environment-core.h:237 Destroy] quitting viewer qtcoin [qtcoinviewer.cpp:375 ~QtCoinViewer] destroying qtcoinviewer RaveBot: close() joining... Segmentation fault (core dumped)

AND HERE I leave the execution of openrave:

iagson@iagsons-MagicBox:~$ openrave [textserver.h:403 main] text server listening on port 4765 [plugindatabase.h:577 Create] Failed to create name viewerrecorder, interface module

jgvictores commented 9 years ago

I'd try to fix: [ERROR]expecting protocol 1 1 0, but remotecontrolboard returned protocol version 0 0 0 This can happen if different parts of a program are compiled with different versions of YARP. Try the following:

iagson commented 9 years ago

Hello jgvictores,

I tried what you suggested with no luck, even formatting the OS, but the cartesianServer keeps failing. This time the error message that you prompted last time has changed to:

[ERROR]expecting protocol 1 2 0, but remotecontrolboard returned protocol version 0 0 0

and here is the rest of the log, although it's very similar to the previous one:

iagson@iagson-ControlMachine:~$ cartesianServer ||| clearing context ||| adding context [cartesianServer/conf] ||| configuring ||| policy set to ASIBOT_ROOT ||| ASIBOT_ROOT: /home/iagson/asibot ||| loading policy from /home/iagson/asibot/ASIBOT_ROOT.ini yarp: cannot read from /home/iagson/asibot/ASIBOT_ROOT.ini ||| loading policy from /home/iagson/.yarp/ASIBOT_ROOT.ini yarp: cannot read from /home/iagson/.yarp/ASIBOT_ROOT.ini ||| loading policy from /etc/yarp/policies/ASIBOT_ROOT.ini yarp: cannot read from /etc/yarp/policies/ASIBOT_ROOT.ini ||| loading policy from /etc/ASIBOT_ROOT.ini yarp: cannot read from /etc/ASIBOT_ROOT.ini ||| loading policy from /usr/local/etc/ASIBOT_ROOT.ini yarp: cannot read from /usr/local/etc/ASIBOT_ROOT.ini ||| failed to load policy from /home/iagson/asibot/ASIBOT_ROOT.ini /home/iagson/.yarp/ASIBOT_ROOT.ini /etc/yarp/policies/ASIBOT_ROOT.ini /etc/ASIBOT_ROOT.ini /usr/local/etc/ASIBOT_ROOT.ini ||| default config file specified as cartesianServer.ini ||| checking /home/iagson/cartesianServer.ini ||| checking [/home/iagson/.config/yarp/robots/default](robot YARP_CONFIG_HOME) ||| checking [/home/iagson/.local/share/yarp/robots/default](robot YARP_DATA_HOME) ||| checking [/etc/xdg/xdg-ubuntu/yarp/robots/default](robot YARP_CONFIG_DIRS) ||| checking [/usr/share/upstart/xdg/yarp/robots/default](robot YARP_CONFIG_DIRS) ||| checking [/etc/xdg/yarp/robots/default](robot YARP_CONFIG_DIRS) ||| checking [/usr/share/ubuntu/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/usr/share/gnome/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/usr/local/share/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/usr/share/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/usr/share/ubuntu/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/usr/share/gnome/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/share/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/usr/share/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking /home/iagson/asibot/app/cartesianServer/conf/cartesianServer.ini ||| found /home/iagson/asibot/app/cartesianServer/conf/cartesianServer.ini Run "cartesianServer --help" for options.

cartesianServer checking for yarp network... [ok]

CartesianServer using controller: cartesianbot, prefix: /ravebot.

CartesianServer using movjLocal: /ravebot/movjCartesianServer, movjRemote: /ravebot.

CartesianBot using A0: 0.300000, A1: 0.400000, A2: 0.400000, A3: 0.300000. CartesianBot using cmcMs: 30.000000, duration: 20.000000, maxAcc: 0.200000, maxVel: 7.500000. CartesianBot using robotDevice: controlboard, robotSubDevice: ravebot, robotName: /ravebot. CartesianBot using robotLocal: N/A, robotRemote: N/A.

[INFO]ControlBoard subdevice is ravebot

RaveBot using numMotors: 5, env: asibot_kitchen.env.xml, externObj: none, extraRobot: none. RaveBot using genInitPos: 0.000000, genJointTol: 0.250000, genMaxLimit: 360.000000, genMinLimit: -360.000000. RaveBot using genRefSpeed: 7.500000, genEncRawExposed: 0.017453, genVelRawExposed: 0.017453. RaveBot using jmcMs: 20.000000, jmcMsAcc: 1.000000, modePosVel: 0, physics: none, viewer: 1. RaveBot not using individual initPoss, defaulting to genInitPos. RaveBot not using individual jointTols, defaulting to genJointTol. RaveBot not using individual maxLimits, defaulting to genMaxLimit. RaveBot not using individual minLimits, defaulting to genMinLimit. RaveBot not using individual refSpeeds, defaulting to genRefSpeed. RaveBot not using individual encRawExposeds, defaulting to genEncRawExposed.

RaveBot not using individual velRawExposeds, defaulting to genVelRawExposed.

[plugindatabase.h:577 Create] Failed to create name viewerrecorder, interface module [environment-core.h:800 SetPhysicsEngine] setting ode physics engine [odephysics.h:255 InitEnvironment] ode params: erp=1.000000e-02 (2.000000e-01), cfm=1.000000e-05 (1.000000e-10), itrs=20 (20) [success] RaveBot loaded environment. RaveBot using robot 0 (asibot) as main robot. Sensors found on robot 0 (asibot): 0. yarp: Port /ravebot/world active at tcp://192.168.1.34:10002 [success] ravebot threadInit() [INFO]created device . See C++ class RaveBot for documentation. yarp: Port /ravebot/rpc:i active at tcp://192.168.1.34:10003 yarp: Port /ravebot/command:i active at tcp://192.168.1.34:10004 yarp: Port /ravebot/state:o active at tcp://192.168.1.34:10005 [RaveBot] getAxes reporting 5 axes are present [RaveBot] getAxes reporting 5 axes are present [RaveBot] getAxes reporting 5 axes are present [INFO]Server control board starting [INFO]created wrapper . See C++ class yarp::dev::ServerControlBoard for documentation. [CartesianBot] success: Acquired robot interfaces. [CartesianBot] success: threadInit() started 30.000000 ms ratethread [INFO]created device . See C++ class CartesianBot for documentation. [CartesianServer] success: Acquired cartesian interface. yarp: Port /ravebot/movjCartesianServer/rpc:o active at tcp://192.168.1.34:10006 yarp: Port /ravebot/movjCartesianServer/command:o active at tcp://192.168.1.34:10007 yarp: Port /ravebot/movjCartesianServer/state:i active at tcp://192.168.1.34:10008 yarp: Port /ravebot/movjCartesianServer/stateExt:i active at tcp://192.168.1.34:10009 yarp: Receiving input from /ravebot/movjCartesianServer/rpc:o to /ravebot/rpc:i using tcp yarp: Sending output from /ravebot/movjCartesianServer/rpc:o to /ravebot/rpc:i using tcp yarp: Receiving input from /ravebot/movjCartesianServer/command:o to /ravebot/command:i using udp yarp: Sending output from /ravebot/movjCartesianServer/command:o to /ravebot/command:i using udp yarp: Receiving input from /ravebot/state:o to /ravebot/movjCartesianServer/state:i using udp yarp: Sending output from /ravebot/state:o to /ravebot/movjCartesianServer/state:i using udp * Extended port /ravebot/stateExt:o was not found on the controlBoardWrapper I'm connecting to. Falling back to compatibility beaviour Updating to newer yarp and the usage of controlBoardWrapper2 is suggested* received an unknown request after a VOCAB_GET: prot [ERROR]expecting protocol 1 2 0, but remotecontrolboard returned protocol version 0 0 0 [ERROR] please update YARP or the remotecontrolboard implementation checkProtocolVersion failed yarp: Removing output from /ravebot/movjCartesianServer/rpc:o to /ravebot/rpc:i yarp: Removing input from /ravebot/movjCartesianServer/rpc:o to /ravebot/rpc:i yarp: Removing input from /ravebot/movjCartesianServer/command:o to /ravebot/command:i yarp: Removing output from /ravebot/movjCartesianServer/command:o to /ravebot/command:i yarp: Removing input from /ravebot/state:o to /ravebot/movjCartesianServer/state:i yarp: Removing output from /ravebot/state:o to /ravebot/movjCartesianServer/state:i yarpdev: _ERROR_ driver was found but could not open [error] Class instantiation not worked.

[error] movjRemote not valid, has a remotely accessible device been open?

Module failed to open [INFO]Server control board stopping RaveBot::close() Closing ports... [WorldRpcResponder] Got [WorldRpcResponder] Got [qtcoinviewer.cpp:3041 UpdateFromModel] auto-setting camera location RaveBot::close() Ports closed. Closing environment... [environment-core.h:221 Destroy] destroy module [environment-core.h:237 Destroy] quitting viewer qtcoin [qtcoinviewer.cpp:375 ~QtCoinViewer] destroying qtcoinviewer RaveBot: close() joining... Segmentation fault (core dumped) iagson@iagson-ControlMachine:~$

jgvictores commented 9 years ago

Should be fixed at fc26336c24434f6c0ecbdd283ec1ebb9b51793f8 by updating from controlboard to controlboardwrapper2, will now clean up and merge with master.