Closed xEnVrE closed 7 months ago
Hi @xEnVrE,
Could you post here the result of FirmwareUpdater after the discovery of ETH
board, pls?
I suppose that the board eb31 does not start in eApplication,
but it is stuck in eUpdater.
In that case, it should be enough click on Set Default Boot Application button
cc @AntonioConsilvio
cc @PasMarra
Hi @sgiraz, Nicola is not working in IIT anymore, so when we will use the robot we will look at the FW updater if the issue persists.
Hi @SimoneMic, I removed the forearm cover and I found a damaged CAN cable (31N1) that connect AMCBLDC (31B1) to AMC (EB31).
The damaged cable caused the inability to find the AMCBLD board and therefore the closure of the yarprobotinterface
.
I fixed It and the robot is working properly now! However, feel free to reopen the issue if the problem happens again.
cc @sgiraz
Hello,
Yesterday we used the robot and during a restart of the yarprobotinterface
we encountered again the mentioned issue.
After restarting the motors the problem disappeared and wasn't re-encountered.
Here's the log, the CAN board is still the same BOARD 10.0.1.31
- left_arm-eb31-j4_6
[DEBUG] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8723s 768m 216u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8723s 768m 294u : CFG: CANdiscovery started the search for 3 eobrd_amcbldc boards on (can1map, can2map) = (0x000e, 0x0000) with target can protocol ver 2.0 and application ver 2.0.4.
[ERROR] theNVmanager::Impl::wait() had a timeout for BOARD left_arm-eb31-j4_6 IP 10.0.1.31 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult
[ERROR] theNVmanager::Impl::command() fails a wait() from IP 10.0.1.31 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult
[DEBUG] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8724s 269m 114u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8724s 269m 199u : CFG: CANdiscovery has detected eobrd_amcbldc board in CAN1 addr 1 with can protocol ver 2.0 and application ver 2.0.4 Search time was 0 ms
[INFO] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8724s 269m 270u : CFG: CANdiscovery has detected eobrd_amcbldc board in CAN1 addr 2 with can protocol ver 2.0 and application ver 2.0.4 Search time was 0 ms
[ERROR] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8724s 269m 345u : CFG: CANdiscovery cannot find 1 missing eobrd_amcbldc boards for 500 ms in CAN1:1 of 1: missing eobrd_amcbldc BOARD 10.0.1.31:CAN1:3
[ERROR] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8724s 269m 433u : CFG: EOtheMotionController cannot be configured. CANdiscovery of 2foc boards fails. see CANdiscovery messages for more details
[INFO] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8724s 269m 581u : CFG: CANdiscovery started the search for 3 eobrd_amcbldc boards on (can1map, can2map) = (0x000e, 0x0000) with target can protocol ver 2.0 and application ver 2.0.4.`
Unfortunately I cannot re-open the issue
cc @PasMarra cc @AntonioConsilvio
Ok guys, this is the most important information:
[ERROR] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=8724s 269m 345u : CFG: CANdiscovery cannot find 1 missing eobrd_amcbldc boards for 500 ms in CAN1:1 of 1: missing eobrd_amcbldc BOARD 10.0.1.31:CAN1:3
Actually, on this robot, the eb31 CAN1:3 is dedicated to the amc2c
(2nd core of the amc
board). I would double-check the CAN wiring. If the wiring is ok, we'll have to investigate the problem internally.
[!Note] Consider that the
amc2c
has been released recently and it is frequently under development. Hence I suggest you update the FW of bothamc2c
andamcbldc
boards to the latest versions (https://github.com/robotology/icub-firmware-build/tree/devel)
cc @AntonioConsilvio
Hi guys, is the problem still occurring?
I know that the FW of the boards has been updated. Maybe the SW as well...
cc @AntonioConsilvio @SimoneMic
Hello @sgiraz
This issue is still occurring consistently, once we stop the yarprobotinterface
and restart it afterwards, the error reappears (without turning off the motors).
Hi @SimoneMic,
Since the porta a porta
demo and after https://github.com/robotology/icub-firmware/pull/458 and https://github.com/robotology/icub-firmware/pull/459, the problem didn't happen anymore.
Moreover many tests have been conducted during the last days e none experienced this problem anymore.
If you are agree, I would proceed to close this issue.
cc @AntonioConsilvio @PasMarra
Yes we can close this
Ok, thanks for your feeedback!
Closing!
Robot Name 🤖
ergoCub 1.1 S/N:001
Request/Failure description
We were testing things on the robot and we had to restart it at some point to run using a different configuration file (that was in addition adding support for publishing joints on ROS 2).
At some point the robot stopped starting for reasons that are not really very clear. See the "Detailed context" for more information.
Detailed context
The robot was started from the
ergocug-torso
machine usingyarprobotinterface --config ergocub_all.xml
, where the configuration file is the one inside theAntonio/devel
branch - as this is the one that I found.I run from the CLI directly and this is the dumped log from the
yarprobotinterface
: log.txtI checked it already together with @AntonioConsilvio and the guess is that this line
is probably indicating a possible issue.
Additional context
No response
How does it affect you?
No response