We ran the yarprobotinterface multiple times, and every time, the hip yaws did not calibrate.
We temporarily fixed it by calibrating the joints with the yarpmotorgui.
It is full of these errors, not sure if it's related
5678,469567 <ERROR> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 684m 102u : SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 0
5678,479504 <WARNING> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 684m 222u : SYS: the RX phase of the control loop has last more than wanted. RX execution time 505[usec]. Latest previous execution times[usec] (..., Tx=507);(RX=504, DO=218, TX=507);
5678,479525 <WARNING> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 684m 342u : SYS: the TX phase of the control loop has last more than wanted. TX execution time 507[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=507); (Rx=505, DO=219, ...). Num of CAN frames[CAN1,CAN2]=[1 5]
5678,479533 <WARNING> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 672m 335u : SYS: the TX phase of the control loop has last more than wanted. TX execution time 436[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=437); (Rx=434, DO=147, ...). Num of CAN frames[CAN1,CAN2]=[1 5]
5678,479540 <ERROR> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 675m 102u : SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 0
5678,479546 <WARNING> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 675m 222u : SYS: the RX phase of the control loop has last more than wanted. RX execution time 433[usec]. Latest previous execution times[usec] (..., Tx=437);(RX=434, DO=147, TX=436);
5678,479555 <ERROR> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 687m 102u : SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 0
5678,479567 <WARNING> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 687m 222u : SYS: the RX phase of the control loop has last more than wanted. RX execution time 504[usec]. Latest previous execution times[usec] (..., Tx=507);(RX=505, DO=219, TX=507);
5678,479581 <WARNING> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 687m 342u : SYS: the TX phase of the control loop has last more than wanted. TX execution time 507[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=507); (Rx=504, DO=218, ...). Num of CAN frames[CAN1,CAN2]=[1 5]
5678,479593 <WARNING> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 675m 336u : SYS: the TX phase of the control loop has last more than wanted. TX execution time 437[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=436); (Rx=433, DO=147, ...). Num of CAN frames[CAN1,CAN2]=[1 5]
5678,479599 <ERROR> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 678m 102u : SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 0
Robot Name 🤖
iCubGenova09 (iRonCub3) S/N:000
Request/Failure description
We ran the
yarprobotinterfacemultiple times, and every time, the hip yaws did not calibrate. We temporarily fixed it by calibrating the joints with the yarpmotorgui.Detailed context
Here is the log
log_icub-head_yarprobotinterface[robotinterface]_76900.txt
It is full of these errors, not sure if it's related
Additional context
No response
How does it affect you?
No response