Open jimingda opened 1 month ago
I have added the --config icub_all_no_left_arm.xml
configuration in the yarprobotinterface
module of iCubStartup_headV2_6.xml
, as shown below. Now, the error related to the left arm when launching wholeBodyDynamics
has been resolved, but other connection errors still persist.
<module>
<name>yarprobotinterface</name>
<parameters>--config icub_all_no_left_arm.xml</parameters>
<node>icub-head</node>
<workdir>/usr/local/src/robot/robots-configuration/iCubShanghai01</workdir>
</module>
Robot Name 🤖
iCubShanghai01 S/N:049
Request/Failure description
Hi,
I encountered difficulties launching
wholeBodyDynamics
due to a potential board connection problem. However, I'm uncertain whether this issue stems from a genuine hardware malfunction or another underlying cause. Allow me to provide further details below.Thanks in advance.
Detailed context
As the left arm is currently undergoing repairs, I have followed the instructions to launch the iCub. Under the icub-head directory:
/usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01/
, I have commented out the left-arm configuration inicub_all.xml
to createicub_all_no_left_arm.xml
. Subsequently, I modified the content ofyarprobotinterface.ini
fromconfig ./icub_all.xml
toconfig ./icub_all_no_left_arm.xml
. I have attached theicub_all_no_left_arm.xml
for reference. icub_all_no_left_arm.txtFollowing these steps, I restarted the iCub, connecting nodes icubsrv and icub-head on the yarpmanager gui. However, when attempting to launch
log_icub-head_yarprobotinterface_2560.txt
wholeBodyDynamics
of iCubStartup applications, the process failed. The sequence I followed was yarplogger&yarprobotinterface -> wholeBodyDynamics -> gravityCompensator -> iKinCartesianSolver & iKinGazeCtrl. The log onyarplogger
indicated connection problems with theBOARD torso-eb5-j0_2 IP 10.0.1.5
andBOARD right_arm-eb3-j0_3 IP 10.0.1.3
etc. Despite having disabled the left arm, I am still encountering errors related toBOARD left_arm-eb24-j4_7 IP 10.0.1.24
, and I am unsure how to investigate this issue.Additional context
None
How does it affect you?
No response