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roboticslab-uc3m / yarp-devices

A place for YARP devices
https://robots.uc3m.es/yarp-devices/
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launchCanBus [ERROR] |yarp.devices.controlBoard_nws_yarp|controlBoard_nws_yarp| Encoder timestamps are not consistent! Data will not be published. #273

Closed jgvictores closed 3 months ago

jgvictores commented 3 months ago

Upon launching launchCanBus, loop of: [ERROR] |yarp.devices.controlBoard_nws_yarp|controlBoard_nws_yarp| Encoder timestamps are not consistent! Data will not be published.

Consequence: Programs such as yarpmotorgui --from yarpmotorgui/teo.ini or bodyExecution --robot /teo cannot be run, e.g. the first gets stuck in [ERROR] leftArm iencs->getEncoders() failed, retrying... loop in this specific case.

jgvictores commented 3 months ago

Ugly hack:

$ diff manipulation-noHead-demo.ini manipulation-jj.ini 

< socket-leftArm ("id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "fake-AxialLeftWrist" "id26-ipos" "fake-AxialNeck")
< socket-rightArm ("fake-FrontalNeck" "id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "fake-AxialRightWrist" "fake-FrontalRightWrist")
---
> socket-leftArm ("id21-ipos" "id22-ipos" "id23-ipos" "fake-FrontalLeftElbow" "id25-ipos" "id26-ipos" "fake-AxialNeck")
> socket-rightArm ("fake-FrontalNeck" "id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos")

And then run launchCanBus --from manipulation-jj.ini.

The specific change is:

< "id26-ipos"
---
> "fake-FrontalLeftElbow"

Because id26 was giving problems. bodyExecution --robot /teo was the one indicating it specifically required FrontalLeftElbow, thus the fake-FrontalLeftElbow naming (after a bogus fake-whatever attempt).

PeterBowman commented 3 months ago

There is something fishy in your last diff, id26 can't be the left elbow. Anyway, absolute encoders are known to cause initialization issues. Whenever such error shows up, please scroll up and find the root cause. Should it be a faulty encoder (most commonly a timeout occurring during its initialization), please disconnect it physically and comment out the externalEncoder line in the corresponding .ini file of the affected iPOS driver (e.g. id26-ipos.ini).

jgvictores commented 3 months ago

Yes, you're completely right. I'm not really sure if the process you mention is described elsewhere, so having it here is a good thing, thanks!

PS: Correct, FrontalLeftElbow does not look like a good match for id26. Note taken that actual name<->id correspondences are documented at https://robots.uc3m.es/teo-developer-manual/diagrams.html and https://robots.uc3m.es/teo-developer-manual/tables.html.

PeterBowman commented 3 months ago

ID26 is FrontalLeftWrist per https://robots.uc3m.es/teo-developer-manual/tables.html#motores-motores and https://github.com/roboticslab-uc3m/teo-configuration-files/blob/3f8a52b116311d7530ab16d6cbb60bdafa9f0d7e/share/robots/teo/nodes/id26-ipos.ini#L4 (the latter is actually parsed by launchCanBus).

PeterBowman commented 3 months ago

The preliminary checks and the launching of any TEO demo are described in a few places:

jgvictores commented 3 months ago

Okay! https://robots.uc3m.es/teo-developer-manual/driver-check-procedure.html#troubleshooting is where commenting out (with //) the externalEncoder line in the corresponding idxx-ipos.ini file is documented. Imho we now have an extra goody: Some specific warning/error messages that can appear during launchCanBus runtime now link to that solution via this issue. 🎉