iCubGenova03 S/N:020 – Unable to detect firmware version after updating pc104 OS

MissingSignal commented 4 months ago

Robot Name 🤖

iCubGenova03 S/N:020

Request/Failure description

Dear support,

we updated the OS (USB-live) of our iCub head from debian Stretch to Buster. We then installed (on the head) the latest version of superbuild running yarp 3.9. When starting the robot through yarprobotinterface we face an error related to CAN firmware. Apparently the old firmware is no more compatible and needs an upgrade. We kindly ask your support to upgrade the firmware properly. So far from the FirmwareUpdater tool we are not able to detect the current firmware.

Detailed context

We attach the screenshots of the error when running yarp robot interface screen1

Additional context

No response

How does it affect you?

No response

sgiraz commented 4 months ago

Hi @MissingSignal,

Can you describe the way you have built the robotology-superbuild?

Can you post here the output of the following commands from the icub-head ( pc104 board ):

df -h command
ls -lah /usr/local/src/robot
git status within the /usr/local/src/robot/robotology-superbuild/build-pc104

[!Note] The build-pc104 folder should have been created (manually) during the robotology-superbuild installation and should contain the built files from icub-head.

MissingSignal commented 4 months ago

Dear @sgiraz , I built the robotology-superbuild following this guide. In particular I compiled with the following flags:

ROBOTOLOGY_USES_CFW2CAN ON ROBOTOLOGY_ENABLE_ICUB_HEAD ON ROBOTOLOGY_USES_GAZEBO OFF

Here I attach the output of the commands:

df -h

udev            969M     0  969M   0% /dev
tmpfs           199M  3.1M  196M   2% /run
/dev/sda1       1.5G  1.2G  276M  81% /run/live/persistence/sda1
/dev/loop0      818M  818M     0 100% /run/live/rootfs/filesystem.squashfs
tmpfs           993M     0  993M   0% /run/live/overlay
/dev/sda2        13G  1.4G   11G  11% /run/live/persistence/sda2
overlay          13G  1.4G   11G  11% /
tmpfs           993M     0  993M   0% /dev/shm
tmpfs           5.0M  4.0K  5.0M   1% /run/lock
tmpfs           993M     0  993M   0% /sys/fs/cgroup
tmpfs           993M     0  993M   0% /tmp
tmpfs           199M     0  199M   0% /run/user/1000

ls -lah /usr/local/src/robot

drwxrwxrwx  1 root root 4.0K Feb  9 11:24 .
drwxr-xr-x  1 root root 4.0K Apr 21  2021 ..
drwxrwxrwx 13 root root 4.0K Feb  9 11:29 robotology-superbuild

git status

On branch master Your branch is up to date with 'origin/master'.

Changes not staged for commit: (use "git add ..." to update what will be committed) (use "git checkout -- ..." to discard changes in working directory)

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MissingSignal commented 4 months ago

I think i found the error: we were not sourcing correctly the .bashrc_iCub file containing export CFW2CANAPI_DIR=${DRIVER_ROOT}/cfw002/

I tried to recompile and now i get this error for CAN bus 1,2,3,4:

[INFO] using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG] class 0 set
[DEBUG] class 1 set
[DEBUG] class 2 set
[DEBUG] class 3 set
[DEBUG] Can read/write buffers created, buffer size: 500
[INFO] CanBusResources::initialized correctly
[ERROR] recv buffer overrun ( 500 >=  500)
[ERROR] run()-pushReadMsg() failed on CAN bus 1
...
Registering new thread 0 out of 500

sgiraz commented 4 months ago

Hi @MissingSignal,

See the comment in https://github.com/robotology/icub-tech-support/issues/1674#issuecomment-1970628402

sgiraz commented 4 months ago

After the today's intervention,iCubGenova03 now:

runs debian Buster OS
use modern robotology-superbuild v2024.02.00 instead of the old separate repositories installation
has the robotology-superbuild installed inside the (16GB) USB live stick instead of mounting it from a dedicated desktop/laptop.

After discussing w/ @MissingSignal the pros and cons of having the robotology-superbuild installed within the (16GB) USB live stick, We agreed that on iCubGenova03, We try to go on w/ this desired configuration (similar to iCubHalfie01).

Following up the activity reported in https://github.com/robotology/icub-tech-support/issues/1674#issuecomment-1979567657, I will add further support details in the next comments below.

cc @AntonioConsilvio @Fabrizio69

pattacini commented 3 months ago

Relative PR:

https://github.com/robotology/robots-configuration/pull/625

sgiraz commented 3 months ago

Hi @pattacini,

I re-opened this issue because they probably need further support for this issue.

cc @AntonioConsilvio

MissingSignal commented 3 months ago

Dear @sgiraz and @AntonioConsilvio I think my last PR already solved the "wrong general calibration order of the robot's joints" you mentioned in #1647. For this reason I think we can close this issue 👍

Here I attach a video of the new calibration order.

https://github.com/robotology/icub-tech-support/assets/36140565/eea39066-056d-43b7-8674-efa07ea174b8

sgiraz commented 3 months ago

Dear @sgiraz and @AntonioConsilvio I think my last PR already solved the "wrong general calibration order of the robot's joints" you mentioned in #1647. For this reason I think we can close this issue 👍

Hi @MissingSignal,

I didn't catch it this fix! Thank you for your effort! 🙏🏻

Closing then.

cc @AntonioConsilvio

robotology / icub-tech-support