yarpWholeBodyInterface does not find yarpWholeBodyInterface.ini though the variable $YARP_ROBOT_NAME is set in the bashrc

[azadm]

When I run the model $CODYCO_SUPERBUILD_DIR/main/WBIToolbox/controllers/tests/COMPoseTesting.mdl with iCub on the Gazebo simulator I get this error in matlab:

Error reported by S-function 'robotState' in 'COMPoseTesting/COMFwdKin /S-Function':
impossible to read from configuration file. Maybe yarpWholeBodyInterface was not installed? or the configuration file is empty.

and this in the terminal that matlab is running:

mdlInitializeSize >> BLOCK TYPE IS: 2
||| did not find yarpWholeBodyInterface.ini
yarp: cannot read from yarpWholeBodyInterface.ini
||| did not find yarpWholeBodyInterface.ini
yarp: cannot read from

This file is in CODYCO_SUPERBUILD_DIR/install/share/codyco/robots/icubGazeboSim and is not empty. I have YARP_DATA_DIRS=${YARP_DATA_DIRS}:${CODYCO_SUPERBUILD_DIR}/install/share/codyco in my .bash_profile and I also have defined $YARP_ROBOT_NAME=icubGazeboSim in that file.

[DanielePucci]

Before launching the simulation, e.g. in your init.m file of the simulink model if you have it, type in the MATLAB command shell

setenv('YARP_ROBOT_NAME', 'icubGazeboSim');

This should work.

[azadm]

Yes, that worked. Thanks @DanielePucci Do you know of any permanent solution for that?

[DanielePucci]

We still don't know any permanent solution. We are working on it.

[traversaro]

Can you paste your complete .bashrc? Enclose it in three tilde (~~~), as in:

this text area

This simplifies reading it.

[azadm]

export Qt5_DIR=/Applications/Qt/5.3/clang_64
export PKG_CONFIG_PATH=/usr/X11/lib/pkgconfig/:$PKG_CONFIG_PATH
export GDK_PIXBUF_MODULEDIR="/usr/local/lib/gdk-pixbuf-2.0/2.10.0/loaders"
export YARP_ROOT=/Users/azadm/Documents/yarp
export YARP_DIR=/Users/azadm/Documents/yarp/build
export PATH=$YARP_DIR/bin/Release:$PATH
export YARP_DATA_DIRS=/Users/azadm/Documents/yarp/build/share/yarp:/Users/azadm/Documents/icub-main/build/share/iCub
export OpenCV_DIR=/usr/local/Cellar/opencv/2.4.9
export IPOPT_DWN_DIR=/Users/azadm/Documents/Ipopt-3.11.9
export IPOPT_DIR=/Users/azadm/Documents/Ipopt-3.11.9/build
export ICUB_ROOT=/Users/azadm/Documents/icub-main
export ICUB_DIR=/Users/azadm/Documents/icub-main/build
export PATH=$ICUB_DIR/bin/Debug:$PATH
export CODYCO_SUPERBUILD_ROOT=/Users/azadm/Documents/codyco-superbuild
export CODYCO_SUPERBUILD_DIR=/Users/azadm/Documents/codyco-superbuild/build
export PATH=$CODYCO_SUPERBUILD_ROOT/build/install/bin:$PATH
export DYLD_LIBRARY_PATH=$CODYCO_SUPERBUILD_ROOT/build/install/lib:$DYLD_LIBRARY_PATH
export YARP_DATA_DIRS=$YARP_DATA_DIRS:$CODYCO_SUPERBUILD_ROOT/build/install/share/codyco
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/Users/azadm/Documents/gazebo-yarp-plugins/build
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:/Users/azadm/Documents/icub-gazebo
export PATH=$PATH:${CODYCO_SUPERBUILD_DIR}/install/bin/
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${CODYCO_SUPERBUILD_DIR}/install/lib
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${CODYCO_SUPERBUILD_DIR}/install/share/codyco
$YARP_ROBOT_NAME=icubGazeboSim

[jeljaik]

The way you set the environmental variable $YARP_ROBOT_NAME=icubGazeboSim is wrong. You should change that last line into: export YARP_ROBOT_NAME="icubGazeboSim"

In conclusion, there's nothing wrong with the WBI-T at this point. That's just how it works and how it's explained in the README.md. You have to set this environmental variable with the name of the robot you wanna use (e.g. icubGazeboSim, iCubGenova01, iCubHeidelberg01, etc). The method @DanielePucci mentioned before about setting it in Matlab is just another way to do so, but it's a local change of the environmental variable, meaning, outside MATLAB's scope, that variable does not exist. For robustness I suggest that you set it in your bashrc and then overwrite it in your particular model (using setenv() ) according to the particular implementation.