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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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Right camera port does not open on iCubGazeboV2_5_visuomanip model #195

Closed davidegorbani closed 1 year ago

davidegorbani commented 1 year ago

While I was doing the assignment https://github.com/vvv-school/assignment_make-it-roll I spawned the iCubGazeboV2_5_visuomanip model in Gazebo and noticed that the port /icubSim/cam/right/rgbImage:o corresponding to the right camera of the robot didn't open while the port /icubSim/cam/left/rgbImage:o the camera corresponding to the left camera opened. I report the output of yarp name list.

registration name /clock ip 10.240.9.59 port 10002 type tcp
registration name /clock/rpc ip 10.240.9.59 port 10003 type tcp
registration name /iCub/left_hand/analog:o ip 10.240.9.59 port 10005 type tcp
registration name /iCub/left_hand/analog:o/rpc:i ip 10.240.9.59 port 10004 type tcp
registration name /iCub/right_hand/analog:o ip 10.240.9.59 port 10007 type tcp
registration name /iCub/right_hand/analog:o/rpc:i ip 10.240.9.59 port 10006 type tcp
registration name /icubSim/cam/left/depthImage:o ip 10.240.9.59 port 10026 type tcp
registration name /icubSim/cam/left/rgbImage:o ip 10.240.9.59 port 10025 type tcp
registration name /icubSim/cam/left/rpc:i ip 10.240.9.59 port 10024 type tcp
registration name /icubSim/cam/right ip 10.240.9.59 port 10028 type tcp
registration name /icubSim/cam/right/rpc ip 10.240.9.59 port 10027 type tcp
registration name /icubSim/head/command:i ip 10.240.9.59 port 10013 type tcp
registration name /icubSim/head/inertials/measures:o ip 10.240.9.59 port 10029 type tcp
registration name /icubSim/head/inertials/rpc:o ip 10.240.9.59 port 10030 type tcp
registration name /icubSim/head/rpc:i ip 10.240.9.59 port 10012 type tcp
registration name /icubSim/head/state:o ip 10.240.9.59 port 10014 type tcp
registration name /icubSim/head/stateExt:o ip 10.240.9.59 port 10015 type tcp
registration name /icubSim/left_arm/command:i ip 10.240.9.59 port 10017 type tcp
registration name /icubSim/left_arm/rpc:i ip 10.240.9.59 port 10016 type tcp
registration name /icubSim/left_arm/state:o ip 10.240.9.59 port 10018 type tcp
registration name /icubSim/left_arm/stateExt:o ip 10.240.9.59 port 10019 type tcp
registration name /icubSim/right_arm/command:i ip 10.240.9.59 port 10021 type tcp
registration name /icubSim/right_arm/rpc:i ip 10.240.9.59 port 10020 type tcp
registration name /icubSim/right_arm/state:o ip 10.240.9.59 port 10022 type tcp
registration name /icubSim/right_arm/stateExt:o ip 10.240.9.59 port 10023 type tcp
registration name /icubSim/torso/command:i ip 10.240.9.59 port 10009 type tcp
registration name /icubSim/torso/rpc:i ip 10.240.9.59 port 10008 type tcp
registration name /icubSim/torso/state:o ip 10.240.9.59 port 10010 type tcp
registration name /icubSim/torso/stateExt:o ip 10.240.9.59 port 10011 type tcp
registration name /root ip 10.240.9.59 port 10000 type tcp
registration name fallback ip 224.2.1.1 port 10000 type mcast
*** end of message
xEnVrE commented 1 year ago

Hi @davidegorbani,

given the necessity to also have a depth camera in simulation, although not present on the real robot, the names of the two cameras are not dual to each other (you can find more details on the reasons in https://github.com/robotology/icub-models/issues/47 and https://github.com/robotology/icub-models/issues/44#issuecomment-664225199).

Therefore, the two ports to be used for the left and right images are:

/icubSim/cam/left/rgbImage:o
/icubSim/cam/right

respectively.

Let me know if this clarifies your doubts. Thanks

xEnVrE commented 1 year ago

I just noticed that the assignment is making the assumption that the port /icubSim/cam/right/rgbImage:o exists as well. Let me open an issue for that.

traversaro commented 1 year ago

I will also open an issue on the fact that the port names for the rgb images between the robot and the simulated robot are different, this is definitely not something expected and even if we do not fix the problem immediatly, we can use that kind as documentation.

traversaro commented 1 year ago

I will also open an issue on the fact that the port names for the rgb images between the robot and the simulated robot are different, this is definitely not something expected and even if we do not fix the problem immediatly, we can use that kind as documentation.

Ah, but we have that: https://github.com/robotology/icub-models/issues/47 .

davidegorbani commented 1 year ago

Hi @xEnVrE,

it is clear now, thank you for your help.

xEnVrE commented 1 year ago

After checking with @pattacini we realized that after the first release of the iCubGazeboV2_5_visuomanip we had a follow-up PR for fixing such discrepancies and we decided to have similar port names, i.e.:

/icubSim/cam/left/rgbImage:o
/icubSim/cam/right/rgbImage:o

This change can be found in https://github.com/robotology/icub-models/pull/45/files#diff-1e5c2f03288ab12a5b18118bc44ed0d0096511a21c7c2e02fe851c185e3de101.

When updating the manual model such that it can support YARP 3.8.0, see https://github.com/robotology/icub-models/pull/188, given that the wrappers and their configuration files used a different format and were created from scratch, this customization was lost. See specifically https://github.com/robotology/icub-models/pull/188/files#diff-e4397ef8e3fdcf273315c11bd778759f2352f511dbf53babc3c7b2b8284fa491.

Hence, I am opening a PR to restore the customization and have harmonized port names, although different from those of the real robot.

cc @traversaro @pattacini