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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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GUI Crash when resetting the simulation #206

Open LoreMoretti opened 2 months ago

LoreMoretti commented 2 months ago

When I reset the simulation the GUI crashes as per the video below:

https://github.com/user-attachments/assets/e09f64cb-f557-4253-9afe-f5f1934671e4

It follows the log after the reset is invoked:


[INFO] gz-sim-yarp-clock-system plugin Reset invoked.
[WARNING] No initial configuration found, initializing trajectory generator with current values
[WARNING] No initial configuration found, initializing trajectory generator with current values
[WARNING] No initial configuration found, initializing trajectory generator with current values
[WARNING] No initial configuration found, initializing trajectory generator with current values
[INFO] Initial configuration found, initializing trajectory generator with it
[INFO] Initial configuration found, initializing trajectory generator with it
[INFO] interrupt1 phase starting...
[INFO] interrupt1 phase finished.
[INFO] shutdown phase starting...
[INFO] Entering action level 5 of phase shutdown
[INFO] Executing detach action, level 5 on device lidarWrapY with parameters []
[INFO] All actions for action level 5 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 5 of shutdown phase finished.
[INFO] Entering action level 15 of phase shutdown
[INFO] Executing detach action, level 15 on device left_arm-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device right_arm-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device left_leg-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device right_leg-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device head-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device torso-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device left_leg-FT_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] Executing detach action, level 15 on device right_leg-FT_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] Executing detach action, level 15 on device left_arm-FT_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] Executing detach action, level 15 on device right_arm-FT_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] Executing detach action, level 15 on device head-inertials_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] Executing detach action, level 15 on device waist-inertials_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] Executing detach action, level 15 on device left_foot-IMU_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] Executing detach action, level 15 on device right_foot-IMU_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] Executing detach action, level 15 on device alljoints-inertials_wrapper with parameters []
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[INFO] All actions for action level 15 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 15 of shutdown phase finished.
[INFO] Entering action level 20 of phase shutdown
[INFO] Executing detach action, level 20 on device left_arm-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device right_arm-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device left_leg-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device right_leg-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device head-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device torso-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device left_leg-FT_remapper with parameters []
[INFO] Executing detach action, level 20 on device right_leg-FT_remapper with parameters []
[INFO] Executing detach action, level 20 on device left_foot-IMU_remapper with parameters []
[INFO] Executing detach action, level 20 on device right_foot-IMU_remapper with parameters []
[INFO] Executing detach action, level 20 on device alljoints-inertials_remapper with parameters []
[INFO] All actions for action level 20 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 20 of shutdown phase finished.
[INFO] Closing device lidarWrapY
[INFO] Closing device alljoints-inertials_remapper
[INFO] Closing device alljoints-inertials_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device right_foot-IMU_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device right_foot-IMU_remapper
[INFO] Closing device left_foot-IMU_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device left_foot-IMU_remapper
[INFO] Closing device waist-inertials_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device head-inertials_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device right_arm-FT_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device left_arm-FT_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device right_leg-FT_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device left_leg-FT_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device right_leg-FT_remapper
[INFO] Closing device left_leg-FT_remapper
[INFO] Closing device torso-mc_remapper
[INFO] Closing device head-mc_remapper
[INFO] Closing device right_leg-mc_remapper
[INFO] Closing device left_leg-mc_remapper
[INFO] Closing device right_arm-mc_remapper
[INFO] Closing device left_arm-mc_remapper
[INFO] Closing device torso-mc_nws_yarp
[INFO] Closing device head-mc_nws_yarp
[INFO] Closing device right_leg-mc_nws_yarp
[INFO] Closing device left_leg-mc_nws_yarp
[INFO] Closing device right_arm-mc_nws_yarp
[INFO] Closing device left_arm-mc_nws_yarp
[INFO] shutdown phase finished.
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_waist_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  waist_imu_0  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName torso_1) (sensorName waist_imu_0) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/torso_1/sensor/waist_imu_0") (sensor_name waist_imu_0) (yarpDeviceName waist_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/waist_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  l_arm_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_arm_ft_sensor) (sensorName l_arm_ft) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/joint/l_arm_ft_sensor/sensor/l_arm_ft") (sensor_name l_arm_ft) (yarpDeviceName ergocub_left_arm_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/ergocub_left_arm_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  r_arm_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_arm_ft_sensor) (sensorName r_arm_ft) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/joint/r_arm_ft_sensor/sensor/r_arm_ft") (sensor_name r_arm_ft) (yarpDeviceName ergocub_right_arm_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/ergocub_right_arm_ft
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  l_arm_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_shoulder_3) (sensorName l_arm_ft_imu) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/l_shoulder_3/sensor/l_arm_ft_imu") (sensor_name l_arm_ft_imu) (yarpDeviceName l_arm_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/l_arm_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  r_arm_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_shoulder_3) (sensorName r_arm_ft_imu) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/r_shoulder_3/sensor/r_arm_ft_imu") (sensor_name r_arm_ft_imu) (yarpDeviceName r_arm_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/r_arm_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  l_leg_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_leg_ft_sensor) (sensorName l_leg_ft) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/joint/l_leg_ft_sensor/sensor/l_leg_ft") (sensor_name l_leg_ft) (yarpDeviceName ergocub_left_leg_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/ergocub_left_leg_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  l_foot_front_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_foot_front_ft_sensor) (sensorName l_foot_front_ft) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/joint/l_foot_front_ft_sensor/sensor/l_foot_front_ft") (sensor_name l_foot_front_ft) (yarpDeviceName ergocub_left_foot_front_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/ergocub_left_foot_front_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  l_foot_rear_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_foot_rear_ft_sensor) (sensorName l_foot_rear_ft) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/joint/l_foot_rear_ft_sensor/sensor/l_foot_rear_ft") (sensor_name l_foot_rear_ft) (yarpDeviceName ergocub_left_foot_rear_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/ergocub_left_foot_rear_ft
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  l_foot_front_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_foot_front) (sensorName l_foot_front_ft_imu) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/l_foot_front/sensor/l_foot_front_ft_imu") (sensor_name l_foot_front_ft_imu) (yarpDeviceName l_foot_front_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/l_foot_front_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  l_foot_rear_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_foot_rear) (sensorName l_foot_rear_ft_imu) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/l_foot_rear/sensor/l_foot_rear_ft_imu") (sensor_name l_foot_rear_ft_imu) (yarpDeviceName l_foot_rear_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/l_foot_rear_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  l_leg_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_hip_3) (sensorName l_leg_ft_imu) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/l_hip_3/sensor/l_leg_ft_imu") (sensor_name l_leg_ft_imu) (yarpDeviceName l_leg_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/l_leg_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  r_leg_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_leg_ft_sensor) (sensorName r_leg_ft) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/joint/r_leg_ft_sensor/sensor/r_leg_ft") (sensor_name r_leg_ft) (yarpDeviceName ergocub_right_leg_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/ergocub_right_leg_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  r_foot_front_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_foot_front_ft_sensor) (sensorName r_foot_front_ft) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/joint/r_foot_front_ft_sensor/sensor/r_foot_front_ft") (sensor_name r_foot_front_ft) (yarpDeviceName ergocub_right_foot_front_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/ergocub_right_foot_front_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  r_foot_rear_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_foot_rear_ft_sensor) (sensorName r_foot_rear_ft) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/joint/r_foot_rear_ft_sensor/sensor/r_foot_rear_ft") (sensor_name r_foot_rear_ft) (yarpDeviceName ergocub_right_foot_rear_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/ergocub_right_foot_rear_ft
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  r_foot_front_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_foot_front) (sensorName r_foot_front_ft_imu) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/r_foot_front/sensor/r_foot_front_ft_imu") (sensor_name r_foot_front_ft_imu) (yarpDeviceName r_foot_front_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/r_foot_front_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  r_foot_rear_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_foot_rear) (sensorName r_foot_rear_ft_imu) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/r_foot_rear/sensor/r_foot_rear_ft_imu") (sensor_name r_foot_rear_ft_imu) (yarpDeviceName r_foot_rear_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/r_foot_rear_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  r_leg_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_hip_3) (sensorName r_leg_ft_imu) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/r_hip_3/sensor/r_leg_ft_imu") (sensor_name r_leg_ft_imu) (yarpDeviceName r_leg_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/r_leg_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  head_imu_0  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName head) (sensorName head_imu_0) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/head/sensor/head_imu_0") (sensor_name head_imu_0) (yarpDeviceName head_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/head_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  realsense_imu_0  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName realsense) (sensorName realsense_imu_0) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/realsense/sensor/realsense_imu_0") (sensor_name realsense_imu_0) (yarpDeviceName realsense_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/realsense_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini
[INFO] gz-sim-yarp-laser-system: configuration of sensor  lasersensor_head  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_laser| Parameters are (SENSOR (max_distance 5.0) (min_distance 0.200000000000000011102) (max_angle 360) (min_angle 0) (resolution 0.5) (allow_infinity 1)) (device gazebo_laser) (disableImplicitNetworkWrapper) (parentLinkName head) (period 10) (sensorName lasersensor_head) (sensorScopedName "world/tutorial_controlboard/model/ergoCub/link/head/sensor/lasersensor_head") (sensor_name lasersensor_head) (yarpDeviceName las360)
[INFO] |yarp.devices.Lidar2DDeviceBase| Using the following parameters:
[INFO] |yarp.devices.Lidar2DDeviceBase| max_dist: 5  min_dist: 0.2
[INFO] |yarp.devices.Lidar2DDeviceBase| max_angle: 360  min_angle: 0
[INFO] |yarp.devices.Lidar2DDeviceBase| resolution: 0.5
[INFO] |yarp.devices.Lidar2DDeviceBase| sensors: 720
[INFO] |yarp.devices.Lidar2DDeviceBase| allow_infinity: true
[INFO] |yarp.dev.PolyDriver|gazebo_laser| Created device <gazebo_laser>. See C++ class LaserDriver for documentation.
[INFO] Registered YARP device with instance name: world/tutorial_controlboard/model/ergoCub/las360
[INFO] File is a URI:  model://ergoCub/conf/ergocub_gz_sim.xml
[DEBUG] Reading file /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/ergocub_gz_sim.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/ergocub_gz_sim.xml
[INFO] Yarprobotinterface was started using the following enable_tags: 
[INFO] Yarprobotinterface was started using the following disable_tags: 
[DEBUG] List of all enable attributes found in the include tags: 
[DEBUG] List of all disable attributes found in the include tags: 
[DEBUG] Preprocessor complete in:  0.000509739 s
[INFO] startup phase starting...
[INFO] Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/left_arm"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_arm-mc_nws_yarp) (name "/ergocubSim/left_arm") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/left_arm/rpc:i| Port /ergocubSim/left_arm/rpc:i active at tcp://10.240.78.247:10003/
[INFO] |yarp.os.Port|/ergocubSim/left_arm/command:i| Port /ergocubSim/left_arm/command:i active at tcp://10.240.78.247:10004/
[INFO] |yarp.os.Port|/ergocubSim/left_arm/state:o| Port /ergocubSim/left_arm/state:o active at tcp://10.240.78.247:10005/
[INFO] |yarp.os.Port|/ergocubSim/left_arm/stateExt:o| Port /ergocubSim/left_arm/stateExt:o active at tcp://10.240.78.247:10006/
[INFO] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device right_arm-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/right_arm"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/ergocubSim/right_arm") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/right_arm/rpc:i| Port /ergocubSim/right_arm/rpc:i active at tcp://10.240.78.247:10007/
[INFO] |yarp.os.Port|/ergocubSim/right_arm/command:i| Port /ergocubSim/right_arm/command:i active at tcp://10.240.78.247:10008/
[INFO] |yarp.os.Port|/ergocubSim/right_arm/state:o| Port /ergocubSim/right_arm/state:o active at tcp://10.240.78.247:10009/
[INFO] |yarp.os.Port|/ergocubSim/right_arm/stateExt:o| Port /ergocubSim/right_arm/stateExt:o active at tcp://10.240.78.247:10010/
[INFO] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device left_leg-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/left_leg"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_leg-mc_nws_yarp) (name "/ergocubSim/left_leg") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/left_leg/rpc:i| Port /ergocubSim/left_leg/rpc:i active at tcp://10.240.78.247:10011/
[INFO] |yarp.os.Port|/ergocubSim/left_leg/command:i| Port /ergocubSim/left_leg/command:i active at tcp://10.240.78.247:10012/
[INFO] |yarp.os.Port|/ergocubSim/left_leg/state:o| Port /ergocubSim/left_leg/state:o active at tcp://10.240.78.247:10013/
[INFO] |yarp.os.Port|/ergocubSim/left_leg/stateExt:o| Port /ergocubSim/left_leg/stateExt:o active at tcp://10.240.78.247:10014/
[INFO] |yarp.dev.PolyDriver|left_leg-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device right_leg-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/right_leg"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_leg-mc_nws_yarp) (name "/ergocubSim/right_leg") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/right_leg/rpc:i| Port /ergocubSim/right_leg/rpc:i active at tcp://10.240.78.247:10015/
[INFO] |yarp.os.Port|/ergocubSim/right_leg/command:i| Port /ergocubSim/right_leg/command:i active at tcp://10.240.78.247:10016/
[INFO] |yarp.os.Port|/ergocubSim/right_leg/state:o| Port /ergocubSim/right_leg/state:o active at tcp://10.240.78.247:10017/
[INFO] |yarp.os.Port|/ergocubSim/right_leg/stateExt:o| Port /ergocubSim/right_leg/stateExt:o active at tcp://10.240.78.247:10018/
[INFO] |yarp.dev.PolyDriver|right_leg-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device head-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/head")]
[DEBUG] |yarp.dev.PolyDriver|head-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/ergocubSim/head") (robotName "/ergocubSim")
[DEBUG] |yarp.devices.controlBoard_nws_yarp| 'period' parameter missing, using default thread period = 0.02s
[INFO] |yarp.os.Port|/ergocubSim/head/rpc:i| Port /ergocubSim/head/rpc:i active at tcp://10.240.78.247:10019/
[INFO] |yarp.os.Port|/ergocubSim/head/command:i| Port /ergocubSim/head/command:i active at tcp://10.240.78.247:10020/
[INFO] |yarp.os.Port|/ergocubSim/head/state:o| Port /ergocubSim/head/state:o active at tcp://10.240.78.247:10021/
[INFO] |yarp.os.Port|/ergocubSim/head/stateExt:o| Port /ergocubSim/head/stateExt:o active at tcp://10.240.78.247:10022/
[INFO] |yarp.dev.PolyDriver|head-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device torso-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/torso"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/ergocubSim/torso") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/torso/rpc:i| Port /ergocubSim/torso/rpc:i active at tcp://10.240.78.247:10023/
[INFO] |yarp.os.Port|/ergocubSim/torso/command:i| Port /ergocubSim/torso/command:i active at tcp://10.240.78.247:10024/
[INFO] |yarp.os.Port|/ergocubSim/torso/state:o| Port /ergocubSim/torso/state:o active at tcp://10.240.78.247:10025/
[INFO] |yarp.os.Port|/ergocubSim/torso/stateExt:o| Port /ergocubSim/torso/stateExt:o active at tcp://10.240.78.247:10026/
[INFO] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device left_arm-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(left_arm_joints1)"), ("left_arm_joints1" = "( 0 6 0 6 )"), ("joints" = "7")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-mc_remapper| Parameters are (device controlboardremapper) (id left_arm-mc_remapper) (joints 7) (left_arm_joints1 (0 6 0 6)) (networks (left_arm_joints1)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|left_arm-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device right_arm-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(right_arm_joints1)"), ("right_arm_joints1" = "( 0 6 0 6 )"), ("joints" = "7")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-mc_remapper| Parameters are (device controlboardremapper) (id right_arm-mc_remapper) (joints 7) (networks (right_arm_joints1)) (right_arm_joints1 (0 6 0 6)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|right_arm-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device left_leg-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(left_leg_joints1)"), ("left_leg_joints1" = "( 0 5 0 5 )"), ("joints" = "6")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-mc_remapper| Parameters are (device controlboardremapper) (id left_leg-mc_remapper) (joints 6) (left_leg_joints1 (0 5 0 5)) (networks (left_leg_joints1)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|left_leg-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device right_leg-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(right_leg_joints1)"), ("right_leg_joints1" = "( 0 5 0 5 )"), ("joints" = "6")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-mc_remapper| Parameters are (device controlboardremapper) (id right_leg-mc_remapper) (joints 6) (networks (right_leg_joints1)) (right_leg_joints1 (0 5 0 5)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|right_leg-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device head-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(head_joints1)"), ("head_joints1" = "( 0 3 0 3 )"), ("joints" = "4")]
[DEBUG] |yarp.dev.PolyDriver|head-mc_remapper| Parameters are (device controlboardremapper) (head_joints1 (0 3 0 3)) (id head-mc_remapper) (joints 4) (networks (head_joints1)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|head-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device torso-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(torso_joints)"), ("torso_joints" = "( 0 2 0 2 )"), ("joints" = "3")]
[DEBUG] |yarp.dev.PolyDriver|torso-mc_remapper| Parameters are (device controlboardremapper) (id torso-mc_remapper) (joints 3) (networks (torso_joints)) (robotName "/ergocubSim") (torso_joints (0 2 0 2))
[INFO] |yarp.dev.PolyDriver|torso-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device left_leg-FT_remapper with parameters [("robotName" = "/ergocubSim"), ("SixAxisForceTorqueSensorsNames" = "(l_leg_ft l_foot_rear_ft l_foot_front_ft)"), ("TemperatureSensorsNames" = "(l_leg_ft l_foot_rear_ft l_foot_front_ft)")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (l_leg_ft l_foot_rear_ft l_foot_front_ft)) (TemperatureSensorsNames (l_leg_ft l_foot_rear_ft l_foot_front_ft)) (device multipleanalogsensorsremapper) (id left_leg-FT_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|left_leg-FT_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device right_leg-FT_remapper with parameters [("robotName" = "/ergocubSim"), ("SixAxisForceTorqueSensorsNames" = "(r_leg_ft r_foot_rear_ft r_foot_front_ft)"), ("TemperatureSensorsNames" = "(r_leg_ft r_foot_rear_ft r_foot_front_ft)")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (r_leg_ft r_foot_rear_ft r_foot_front_ft)) (TemperatureSensorsNames (r_leg_ft r_foot_rear_ft r_foot_front_ft)) (device multipleanalogsensorsremapper) (id right_leg-FT_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|right_leg-FT_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device left_leg-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_leg/FT")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_leg-FT_wrapper) (name "/ergocubSim/left_leg/FT") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_leg-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_leg-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_leg/FT")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_leg-FT_wrapper) (name "/ergocubSim/right_leg/FT") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_leg-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device left_arm-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_arm/FT")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/ergocubSim/left_arm/FT") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_arm-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_arm/FT")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_arm-FT_wrapper) (name "/ergocubSim/right_arm/FT") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device head-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/head/inertials")]
[DEBUG] |yarp.dev.PolyDriver|head-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/ergocubSim/head/inertials") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|head-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device waist-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/waist/inertials")]
[DEBUG] |yarp.dev.PolyDriver|waist-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id waist-inertials_wrapper) (name "/ergocubSim/waist/inertials") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|waist-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device left_foot-IMU_remapper with parameters [("robotName" = "/ergocubSim"), ("ThreeAxisGyroscopesNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("ThreeAxisLinearAccelerometersNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("ThreeAxisMagnetometersNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("OrientationSensorsNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)")]
[DEBUG] |yarp.dev.PolyDriver|left_foot-IMU_remapper| Parameters are (OrientationSensorsNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisGyroscopesNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisLinearAccelerometersNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisMagnetometersNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id left_foot-IMU_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|left_foot-IMU_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device left_foot-IMU_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_foot_heel_tiptoe/imu")]
[DEBUG] |yarp.dev.PolyDriver|left_foot-IMU_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_foot-IMU_wrapper) (name "/ergocubSim/left_foot_heel_tiptoe/imu") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_foot-IMU_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_foot-IMU_remapper with parameters [("robotName" = "/ergocubSim"), ("ThreeAxisGyroscopesNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("ThreeAxisLinearAccelerometersNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("ThreeAxisMagnetometersNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("OrientationSensorsNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)")]
[DEBUG] |yarp.dev.PolyDriver|right_foot-IMU_remapper| Parameters are (OrientationSensorsNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisGyroscopesNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisLinearAccelerometersNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisMagnetometersNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id right_foot-IMU_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|right_foot-IMU_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device right_foot-IMU_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_foot_heel_tiptoe/imu")]
[DEBUG] |yarp.dev.PolyDriver|right_foot-IMU_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_foot-IMU_wrapper) (name "/ergocubSim/right_foot_heel_tiptoe/imu") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_foot-IMU_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device alljoints-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/alljoints/inertials")]
[DEBUG] |yarp.dev.PolyDriver|alljoints-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id alljoints-inertials_wrapper) (name "/ergocubSim/alljoints/inertials") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|alljoints-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device alljoints-inertials_remapper with parameters [("robotName" = "/ergocubSim"), ("OrientationSensorsNames" = "(head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_front_ft_imu l_foot_rear_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_front_ft_imu r_foot_rear_ft_imu)")]
[DEBUG] |yarp.dev.PolyDriver|alljoints-inertials_remapper| Parameters are (OrientationSensorsNames (head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_front_ft_imu l_foot_rear_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_front_ft_imu r_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id alljoints-inertials_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|alljoints-inertials_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device lidarWrapY with parameters [("robotName" = "/ergocubSim"), ("period" = "0.01"), ("name" = "/ergocubSim/laser:o")]
[DEBUG] |yarp.dev.PolyDriver|lidarWrapY| Parameters are (device rangefinder2D_nws_yarp) (id lidarWrapY) (name "/ergocubSim/laser:o") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/laser:o| Port /ergocubSim/laser:o active at tcp://10.240.78.247:10027/
[INFO] |yarp.os.Port|/ergocubSim/laser:o/rpc:i| Port /ergocubSim/laser:o/rpc:i active at tcp://10.240.78.247:10028/
[INFO] |yarp.dev.PolyDriver|lidarWrapY| Created wrapper <rangefinder2D_nws_yarp>. See C++ class Rangefinder2D_nws_yarp for documentation.
[INFO] Entering action level 5 of phase startup
[INFO] Executing attach action, level 5 on device left_arm-mc_remapper with parameters [("networks" = "(left_arm_joints1)"), ("left_arm_joints1" = "left_arm_hardware_device")]
[ERROR] Target device left_arm_hardware_device (network = left_arm_joints1 ) does not exist.
[ERROR] Cannot run attach action on device left_arm-mc_remapper
[INFO] Executing attach action, level 5 on device right_arm-mc_remapper with parameters [("networks" = "(right_arm_joints1)"), ("right_arm_joints1" = "right_arm_hardware_device")]
[ERROR] Target device right_arm_hardware_device (network = right_arm_joints1 ) does not exist.
[ERROR] Cannot run attach action on device right_arm-mc_remapper
[INFO] Executing attach action, level 5 on device left_leg-mc_remapper with parameters [("networks" = "(left_leg_joints1)"), ("left_leg_joints1" = "left_leg_hardware_device")]
[ERROR] Target device left_leg_hardware_device (network = left_leg_joints1 ) does not exist.
[ERROR] Cannot run attach action on device left_leg-mc_remapper
[INFO] Executing attach action, level 5 on device right_leg-mc_remapper with parameters [("networks" = "(right_leg_joints1)"), ("right_leg_joints1" = "right_leg_hardware_device")]
[ERROR] Target device right_leg_hardware_device (network = right_leg_joints1 ) does not exist.
[ERROR] Cannot run attach action on device right_leg-mc_remapper
[INFO] Executing attach action, level 5 on device head-mc_remapper with parameters [("networks" = "(head_joints1)"), ("head_joints1" = "head_hardware_device")]
[ERROR] Target device head_hardware_device (network = head_joints1 ) does not exist.
[ERROR] Cannot run attach action on device head-mc_remapper
[INFO] Executing attach action, level 5 on device torso-mc_remapper with parameters [("networks" = "(torso_joints)"), ("torso_joints" = "torso_hardware_device")]
[ERROR] Target device torso_hardware_device (network = torso_joints ) does not exist.
[ERROR] Cannot run attach action on device torso-mc_remapper
[INFO] Executing attach action, level 5 on device left_leg-FT_remapper with parameters [("networks" = "(left_leg_ft left_foot_rear_ft left_foot_front_ft)"), ("left_leg_ft" = "ergocub_left_leg_ft"), ("left_foot_rear_ft" = "ergocub_left_foot_rear_ft"), ("left_foot_front_ft" = "ergocub_left_foot_front_ft")]
[INFO] Executing attach action, level 5 on device right_leg-FT_remapper with parameters [("networks" = "(right_leg_ft right_foot_rear_ft right_foot_front_ft)"), ("right_leg_ft" = "ergocub_right_leg_ft"), ("right_foot_rear_ft" = "ergocub_right_foot_rear_ft"), ("right_foot_front_ft" = "ergocub_right_foot_front_ft")]
[INFO] Executing attach action, level 5 on device left_foot-IMU_remapper with parameters [("networks" = "(FirstIMU SecondIMU)"), ("FirstIMU" = "l_foot_front_ft_sensor_inertial_hardware_device"), ("SecondIMU" = "l_foot_rear_ft_sensor_inertial_hardware_device")]
[INFO] Executing attach action, level 5 on device right_foot-IMU_remapper with parameters [("networks" = "(FirstIMU SecondIMU)"), ("FirstIMU" = "r_foot_front_ft_sensor_inertial_hardware_device"), ("SecondIMU" = "r_foot_rear_ft_sensor_inertial_hardware_device")]
[INFO] Executing attach action, level 5 on device alljoints-inertials_remapper with parameters [("networks" = "(head_imu left_arm_imu left_leg_imu left_foot_front_imu left_foot_rear_imu right_arm_imu right_leg_imu right_foot_front_imu right_foot_rear_imu)"), ("head_imu" = "head_inertial_hardware_device"), ("left_arm_imu" = "l_arm_ft_sensor_inertial_hardware_device"), ("left_leg_imu" = "l_leg_ft_sensor_inertial_hardware_device"), ("left_foot_front_imu" = "l_foot_front_ft_sensor_inertial_hardware_device"), ("left_foot_rear_imu" = "l_foot_rear_ft_sensor_inertial_hardware_device"), ("right_arm_imu" = "r_arm_ft_sensor_inertial_hardware_device"), ("right_leg_imu" = "r_leg_ft_sensor_inertial_hardware_device"), ("right_foot_front_imu" = "r_foot_front_ft_sensor_inertial_hardware_device"), ("right_foot_rear_imu" = "r_foot_rear_ft_sensor_inertial_hardware_device")]
[INFO] Executing attach action, level 5 on device lidarWrapY with parameters [("networks" = "(the_device)"), ("the_device" = "las360")]
[INFO] All actions for action level 5 of startup phase started. Waiting for unfinished actions.
[INFO] All actions for action level 5 of startup phase finished.
[INFO] Entering action level 10 of phase startup
[INFO] Executing attach action, level 10 on device left_arm-mc_nws_yarp with parameters [("device" = "left_arm-mc_remapper")]
[INFO] Executing attach action, level 10 on device right_arm-mc_nws_yarp with parameters [("device" = "right_arm-mc_remapper")]

As world, I am using the following one:

<?xml version="1.0"?>

<sdf version="1.11">
    <world name="tutorial_controlboard">
        <physics name="1ms" type="ignored">
            <max_step_size>0.001</max_step_size>
            <real_time_factor>1.0</real_time_factor>
        </physics>
        <plugin
            filename="gz-sim-physics-system"
            name="gz::sim::systems::Physics">
        </plugin>
        <plugin
            filename="gz-sim-user-commands-system"
            name="gz::sim::systems::UserCommands">
        </plugin>
        <plugin
            filename="gz-sim-sensors-system"
            name="gz::sim::systems::Sensors">
        </plugin>
        <plugin
            filename="gz-sim-scene-broadcaster-system"
            name="gz::sim::systems::SceneBroadcaster">
        </plugin>
        <plugin
            filename="gz-sim-contact-system"
            name="gz::sim::systems::Contact">
        </plugin>

        <!-- YARP CLOCK -->
        <plugin
            filename="gz-sim-yarp-clock-system"
            name="gzyarp::Clock">
        </plugin>

        <light type="directional" name="sun">
            <cast_shadows>true</cast_shadows>
            <pose>0 0 10 0 0 0</pose>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <attenuation>
                <range>1000</range>
                <constant>0.9</constant>
                <linear>0.01</linear>
                <quadratic>0.001</quadratic>
            </attenuation>
            <direction>-0.5 0.1 -0.9</direction>
        </light>

        <model name="ground_plane">
            <static>true</static>
            <link name="link">
                <collision name="collision">
                    <geometry>
                        <plane>
                            <normal>0 0 1</normal>
                            <size>100 100</size>
                        </plane>
                    </geometry>
                </collision>
                <visual name="visual">
                    <geometry>
                        <plane>
                            <normal>0 0 1</normal>
                            <size>100 100</size>
                        </plane>
                    </geometry>
                    <material>
                        <ambient>0.8 0.8 0.8 1</ambient>
                        <diffuse>0.8 0.8 0.8 1</diffuse>
                        <specular>0.8 0.8 0.8 1</specular>
                    </material>
                </visual>
            </link>
        </model>

        <include>
            <uri>model://ergoCub/robots/ergoCubGazeboV1_1</uri>
        </include>

    </world>
</sdf>
xela-95 commented 2 months ago

Thanks @LoreMoretti for reporting this. The reset of the plugins has not been addressed fully up to now, but we can use this use case to improve it and make it work correctly.