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Fail left and right arm calibration. iCubNottingham01 #407

Closed pedrombmachado closed 7 years ago

pedrombmachado commented 7 years ago

iCub iCubNottingham01

Description of the failure

Every time that I run the yarprobotinterface I get the following errors: [ERROR]Right_Arm_Calibrator : checkGoneToZeroThreshold: joint 0 Timeout while going to zero! [[DEBUGERROR]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.038 des: 0.060 -> delta: 0.022 threshold: 2.000 output: 246.000 mode: pos [ERROR]Right_Arm_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes

[ERROR]Right_Arm_Calibrator : joint 0 is idle, skipping park [ERROR]Right_Arm_Calibrator : joint 1 is idle, skipping park [ERROR]Right_Arm_Calibrator : joint 2 is idle, skipping park [ERROR]Right_Arm_Calibrator : joint 3 is idle, skipping park ERROR

[ERROR]Left_Arm_Calibrator : joint 1 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 2 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 3 is idle, skipping park

Could you please help me to diagnose and solve the above errors? Many thanks, Pedro NTU

Detailed conditions and logs of the failure

iCub LIVE image for PC104 version 6.0-16.04.05 Based on jessie amd64 Build on 05-Apr-2016 icub@pc104's password:

The programs included with the Debian GNU/Linux system are free software; the exact distribution terms for each program are described in the individual files in /usr/share/doc/*/copyright.

Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent permitted by applicable law. Last login: Wed Feb 22 14:37:22 2017 from 10.0.0.1 Setting up yarp and iCub env vars icub@pc104:~$ cat .bashrc_iCub | grep Nottin export YARP_ROBOT_NAME=iCubNottingham01 icub@pc104:~$ yarprobotinterface ||| configuring ||| default config file specified as yarprobotinterface.ini ||| checking [/home/icub/yarprobotinterface.ini] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/yarprobotinterface.ini] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/yarprobotinterface.ini ||| finding file [config] ||| checking [/home/icub/./icub_all.xml] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml yarp: Port /log/pc104/yarprobotinterface/3655 active at tcp://10.0.0.2:10180 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./cartesian/left_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./cartesian/right_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/head-cfw2_can0-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/head-cfw2_can0-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/head-cfw2_can0-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/head-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/torso-ems5-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/torso-ems5-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/torso-ems5-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/torso-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_upper_arm-ems1-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_arm-ems1-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_upper_arm-ems1-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_lower_arm-ems2-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_lower_arm-ems2-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/left_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_upper_arm-ems3-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_lower_arm-ems4-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/right_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_upper_arm-ems1-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_arm-ems1-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_upper_arm-ems3-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_upper_leg-ems6-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_upper_leg-ems8-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_lower_leg-ems7-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_lower_leg-ems9-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/left_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/right_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/left_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/right_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/torso-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/MAIS/left_hand-ems2-mais.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/MAIS/right_hand-ems4-mais.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_upper_leg-ems6-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_lower_leg-ems7-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/left_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_upper_leg-ems8-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_lower_leg-ems9-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/right_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/inertial.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/inertial.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/left_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skin.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skin.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skinSpec.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skinSpec.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/right_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/torso-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_arm-ems4-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_arm-ems4-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/left_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/right_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_leg-ems10-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems10-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_leg-ems10-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_leg-ems11-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems11-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_leg-ems11-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/left_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/right_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/left_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/right_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/torso-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/head-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml yarp: Port /icub/yarprobotinterface active at tcp://10.0.0.2:10076 [INFO]startup phase starting... ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/plugins] (robot) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type left_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D 0.10774) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D 0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A 0.015) (D 0.15228) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A 0.023365) (D -0.1433) (alpha -90.0) (offset 105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D -0.02598) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10077 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10078 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10079 yarp: Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10080 yarp: Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10081 yarp: Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10082 yarp: Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10083 [INFO]created device . See C++ class ServerCartesianController for documentation. [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10084 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10085 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10086 yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10087 yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10088 yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10089 yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10090 [INFO]created device . See C++ class ServerCartesianController for documentation. [WARNING]Rotor: Using default value = 1 [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]jntVelMax: Using default jntVelMax=100 deg/s [WARNING]maxPosStep: Using default MaxPosStep=10 degs [WARNING]Rotor: Using default value = 1 [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]jntVelMax: Using default jntVelMax=100 deg/s [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]created device . See C++ class yarp::dev::Cfw2Can for documentation. printing destinations and inverted map 0 1 2 2 4 3 [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 Registering new thread 0 out of 500 [INFO] [INFO]** [INFO]iCubInterface CAN protocol: 1.6 [INFO]Firmware report: [INFO]cfw2can [0] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 2 can_address: 2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 3 can_address: 2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 4 can_address: 3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 5 can_address: 3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]** [INFO] [DEBUG]CanBusMotionControl::open returned true

[INFO]created device . See C++ class yarp::dev::CanBusMotionControl for documentation. [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10091 yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10092 yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10093 yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10094 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.5 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.5 [INFO] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1781s 851m 69u: (code 0x00000034, par16 0x0001 par64 0x000000000000003c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB5 with IP 10.0.1.5 at 5 ms [INFO] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1781s 886m 241u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [DEBUG] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1781s 906m 241u: (code 0x05000015, par16 0x0300 par64 0x0000000000103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 293u: CAN discovery has started for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0. [INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 934u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 949u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 964u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 984u: CAN discovery is OK for 3 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1781s 907m 218u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10095 yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10096 yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10097 yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10098 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.1 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.1 [INFO] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1782s 158m 568u: (code 0x00000034, par16 0x0001 par64 0x0000000000000054) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB1 with IP 10.0.1.1 at 5 ms [INFO] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1782s 193m 730u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [DEBUG] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1782s 213m 248u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 213m 314u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0. [INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 170u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 185u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 199u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 214u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 234u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1782s 214m 525u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.2 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.2 [INFO] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1782s 394m 207u: (code 0x00000034, par16 0x0001 par64 0x00000000000000d6) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB2 with IP 10.0.1.2 at 3 ms [INFO] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1782s 429m 846u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 429m 879u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 430m 687u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 0 ms [INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 430m 705u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1782s 430m 727u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 430m 746u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 564u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 579u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 593u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 608u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 622u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 637u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 656u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1782s 432m 706u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]/icub/left_arm : no ROS initialization required [INFO]/icub/left_arm initting YARP initialization yarp: Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10099 yarp: Port /icub/left_arm/command:i active at tcp://10.0.0.2:10100 yarp: Port /icub/left_arm/state:o active at tcp://10.0.0.2:10101 yarp: Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10102 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.3 [INFO] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1782s 955m 377u: (code 0x00000034, par16 0x0001 par64 0x0000000000000054) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB3 with IP 10.0.1.3 at 5 ms [INFO] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1782s 990m 985u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [DEBUG] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1783s 11m 254u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 11m 320u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0. [INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 176u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 191u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 206u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 220u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 240u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1783s 12m 531u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [WARNING] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1783s 39m 586u: (code 0x0200000a, par16 0x0000 par64 0x0000000000000001) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + . [WARNING] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1783s 39m 608u: (code 0x0200000a, par16 0x0001 par64 0x0000000000000001) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + . [WARNING] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1783s 39m 628u: (code 0x0200000a, par16 0x0002 par64 0x0000000000000001) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.4 [INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1783s 197m 907u: (code 0x00000034, par16 0x0001 par64 0x00000000000000d6) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB4 with IP 10.0.1.4 at 3 ms [INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1783s 232m 558u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 232m 592u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 232m 900u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 0 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 232m 918u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1783s 232m 940u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 232m 959u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 178u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 192u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 207u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 222u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 236u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 251u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 270u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1783s 234m 320u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10103 yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10104 yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10105 yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10106 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_arm/analog:o/rpc:i active at tcp://10.0.0.2:10107 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10108 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_leg/analog:o/rpc:i active at tcp://10.0.0.2:10109 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_leg/analog:o/rpc:i active at tcp://10.0.0.2:10110 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_foot/analog:o/rpc:i active at tcp://10.0.0.2:10111 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_foot/analog:o/rpc:i active at tcp://10.0.0.2:10112 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]The embObjStrain device using BOARD EB1 w/ IP 10.0.1.1 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.1 (EB1) @ 1783s 938m 562u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.1 (EB1) @ 1783s 939m 595u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 1 ms [INFO]The embObjStrain device using BOARD EB1 w/ IP 10.0.1.1 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.1 (EB1) @ 1783s 939m 608u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1783s 939m 628u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [INFO]The embObjStrain device using BOARD EB3 w/ IP 10.0.1.3 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.3 (EB3) @ 1784s 997m 777u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.3 (EB3) @ 1784s 998m 810u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 1 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 1784s 998m 824u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1784s 998m 844u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB3 w/ IP 10.0.1.3 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.6 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.6 [INFO]The embObjStrain device using BOARD EB6 w/ IP 10.0.1.6 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1786s 2m 160u: (code 0x00000034, par16 0x0001 par64 0x0000000000000048) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB6 with IP 10.0.1.6 at 5 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 1786s 37m 945u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.6 (EB6) @ 1786s 38m 243u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 1786s 38m 258u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1786s 38m 280u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB6 w/ IP 10.0.1.6 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.8 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.8 [INFO]The embObjStrain device using BOARD EB8 w/ IP 10.0.1.8 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1787s 92m 47u: (code 0x00000034, par16 0x0001 par64 0x0000000000000049) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB8 with IP 10.0.1.8 at 5 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 1787s 128m 136u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.8 (EB8) @ 1787s 128m 433u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 1787s 128m 448u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1787s 128m 470u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB8 w/ IP 10.0.1.8 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [DEBUG]cfw2can [0] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 6.12 seconds [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.7 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.7 [INFO]The embObjStrain device using BOARD EB7 w/ IP 10.0.1.7 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1788s 150m 826u: (code 0x00000034, par16 0x0001 par64 0x0000000000000032) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB7 with IP 10.0.1.7 at 5 ms [INFO] from BOARD 10.0.1.7 (EB7) @ 1788s 186m 851u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x0002) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.7 (EB7) @ 1788s 187m 145u: CAN discovery has detected a eobrd_strain board in CAN2 addr 1 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.7 (EB7) @ 1788s 187m 162u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1788s 187m 184u: (code 0x05000008, par16 0x0101 par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB7 w/ IP 10.0.1.7 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.9 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.9 [INFO]The embObjStrain device using BOARD EB9 w/ IP 10.0.1.9 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1789s 243m 542u: (code 0x00000034, par16 0x0001 par64 0x0000000000000031) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB9 with IP 10.0.1.9 at 5 ms [INFO] from BOARD 10.0.1.9 (EB9) @ 1789s 279m 388u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x0002) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.9 (EB9) @ 1789s 279m 682u: CAN discovery has detected a eobrd_strain board in CAN2 addr 1 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.9 (EB9) @ 1789s 279m 699u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1789s 279m 721u: (code 0x05000008, par16 0x0101 par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB9 w/ IP 10.0.1.9 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/left_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10113 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/right_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10114 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/left_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10115 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/right_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10116 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/icub/joint_vsens/torso:i") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10117 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10118 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10119 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. ||| finding paths [plugins] [INFO]The embObjMais device using BOARD EB2 w/ IP 10.0.1.2 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- MAIS named id_l_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjMais for documentation. [INFO]The embObjMais device using BOARD EB4 w/ IP 10.0.1.4 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- MAIS named id_r_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjMais for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1790s 892m 852u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1790s 913m 263u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 913m 323u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0. [INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 869u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 882u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 895u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 908u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 926u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1790s 915m 222u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [WARNING] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1790s 915m 811u: (code 0x0000000b, par16 0x01d7 par64 0x006e001400060018) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1791s 93m 273u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1791s 113m 224u: (code 0x05000015, par16 0x0200 par64 0x0000000000003000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.7 (EB7) @ 1791s 113m 287u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0. [INFO] from BOARD 10.0.1.7 (EB7) @ 1791s 115m 267u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.7 (EB7) @ 1791s 115m 280u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.7 (EB7) @ 1791s 115m 298u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1791s 115m 515u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]/icub/left_leg : no ROS initialization required [INFO]/icub/left_leg initting YARP initialization yarp: Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10120 yarp: Port /icub/left_leg/command:i active at tcp://10.0.0.2:10121 yarp: Port /icub/left_leg/state:o active at tcp://10.0.0.2:10122 yarp: Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10123 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1791s 300m 863u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1791s 321m 263u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 321m 323u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0. [INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 879u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 891u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 904u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 917u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 935u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1791s 323m 232u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [WARNING] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1791s 323m 821u: (code 0x0000000b, par16 0x01d7 par64 0x006e001500060018) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1791s 503m 18u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + . [DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1791s 523m 218u: (code 0x05000015, par16 0x0200 par64 0x0000000000003000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.9 (EB9) @ 1791s 523m 258u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0. [INFO] from BOARD 10.0.1.9 (EB9) @ 1791s 525m 11u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [INFO] from BOARD 10.0.1.9 (EB9) @ 1791s 525m 24u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms [INFO] from BOARD 10.0.1.9 (EB9) @ 1791s 525m 43u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1791s 525m 260u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]/icub/right_leg : no ROS initialization required [INFO]/icub/right_leg initting YARP initialization yarp: Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10124 yarp: Port /icub/right_leg/command:i active at tcp://10.0.0.2:10125 yarp: Port /icub/right_leg/state:o active at tcp://10.0.0.2:10126 yarp: Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10127 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. XSensMtX init check: device ok. [INFO]created device . See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10128 [INFO]Server Inertial : no ROS initialization required [INFO]Starting server Inertial thread [DEBUG]Writing an Inertial measurement. [INFO]created wrapper . See C++ class yarp::dev::ServerInertial for documentation. [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_hand : 0 191 0 191 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_forearm : 192 575 0 383 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_arm : 576 1343 0 767 yarp: Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10129 yarp: Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10130 yarp: Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10131 [INFO]created device . See C++ class skinWrapper for documentation. [INFO] from BOARD 10.0.1.2 (EB2) @ 1792s 21m 262u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.2 (EB2) @ 1792s 21m 290u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1792s 21m 324u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1792s 27m 267u: (code 0x0000000d, par16 0x015d par64 0x07000018004e0006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1792s 38m 379u: (code 0x0000000d, par16 0x01ce par64 0x0700008400b50006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10132 yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10133 yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10134 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10135 [INFO]created device . See C++ class skinWrapper for documentation. [WARNING]CanBusSkin id list contains more than one entry -> devices will be merged.
[INFO]created device . See C++ class yarp::dev::Cfw2Can for documentation. [INFO]Skin on can bus 9 uses NEW configuration version!!! yarp: Port /diagnostics/skin/errors:o active at tcp://10.0.0.2:10136 [INFO]created device . See C++ class CanBusSkin for documentation. [INFO] from BOARD 10.0.1.4 (EB4) @ 1793s 506m 371u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (EB4) @ 1793s 506m 398u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1793s 506m 433u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1793s 513m 376u: (code 0x0000000d, par16 0x015f par64 0x0700001800600006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1793s 523m 488u: (code 0x0000000d, par16 0x01cf par64 0x0700048200c90006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.13 seconds [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_foot : 0 383 0 383 yarp: Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10137 yarp: Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10138 yarp: Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10139 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_foot : 0 383 0 383 yarp: Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10140 yarp: Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10141 yarp: Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10142 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.10 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.10 [INFO] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 1794s 335m 218u: (code 0x00000034, par16 0x0001 par64 0x000000000000000c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB10 with IP 10.0.1.10 at 3 ms [INFO] from BOARD 10.0.1.10 (EB10) @ 1794s 370m 386u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.10 (EB10) @ 1794s 370m 415u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 1794s 370m 465u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.11 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.11 [INFO] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 1794s 913m 712u: (code 0x00000034, par16 0x0001 par64 0x000000000000000c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB11 with IP 10.0.1.11 at 3 ms [INFO] from BOARD 10.0.1.11 (EB11) @ 1794s 948m 354u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.11 (EB11) @ 1794s 948m 383u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 1794s 948m 433u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]Entering action level 5 of phase startup yarp: Port /icub/left_arm/analog:o active at tcp://10.0.0.2:10143 yarp: Port /icub/right_arm/analog:o active at tcp://10.0.0.2:10144 yarp: Port /icub/right_leg/analog:o active at tcp://10.0.0.2:10145 yarp: Port /icub/left_leg/analog:o active at tcp://10.0.0.2:10146 yarp: Port /icub/right_foot/analog:o active at tcp://10.0.0.2:10147 yarp: Port /icub/left_foot/analog:o active at tcp://10.0.0.2:10148 yarp: Port /icub/left_hand/analog:o active at tcp://10.0.0.2:10149 yarp: Port /icub/right_hand/analog:o active at tcp://10.0.0.2:10150 yarp: Port /icub/skin/left_hand active at tcp://10.0.0.2:10151 yarp: Port /icub/skin/left_forearm active at tcp://10.0.0.2:10152 yarp: Port /icub/skin/left_arm active at tcp://10.0.0.2:10153 yarp: Port /icub/skin/right_hand active at tcp://10.0.0.2:10154 yarp: Port /icub/skin/right_forearm active at tcp://10.0.0.2:10155 yarp: Port /icub/skin/right_arm active at tcp://10.0.0.2:10156 yarp: Port /icub/skin/torso active at tcp://10.0.0.2:10157 yarp: Port /icub/skin/left_leg_upper active at tcp://10.0.0.2:10158 yarp: Port /icub/skin/left_leg_lower active at tcp://10.0.0.2:10159 yarp: Port /icub/skin/left_foot active at tcp://10.0.0.2:10160 yarp: Port /icub/skin/right_leg_upper active at tcp://10.0.0.2:10161 yarp: Port /icub/skin/right_leg_lower active at tcp://10.0.0.2:10162 yarp: Port /icub/skin/right_foot active at tcp://10.0.0.2:10163 [INFO]All actions for action level 5 of startup phase started. Waiting for unfinished actions. [INFO]All actions for action level 5 of startup phase finished. [INFO]Entering action level 10 of phase startup [DEBUG]left_arm_calibrator starting calibration of device left_arm_mc_wrapper [INFO]Left_Arm_Calibrator : starting calibration [DEBUG]Left_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 )
Registering new thread 0 out of 500 [DEBUG]right_arm_calibrator starting calibration of device right_arm_mc_wrapper [DEBUG]left_leg_calibrator starting calibration of device left_leg_mc_wrapper [INFO]Right_Arm_Calibrator : starting calibration [DEBUG]Right_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 )
[DEBUG]right_leg_calibrator starting calibration of device right_leg_mc_wrapper [DEBUG]torso_calibrator starting calibration of device torso_mc_wrapper [INFO]All actions for action level 10 of startup phase started. Waiting for unfinished actions. [DEBUG]head_calibrator starting calibration of device head_mc_wrapper Registering new thread 0 out of 500 [INFO]Right_Leg_Calibrator : starting calibration [INFO]Torso_Calibrator : starting calibration [DEBUG]Right_Leg_Calibrator : Joints calibration order: ( 0 1 2 3 4 5 )
[DEBUG]Torso_Calibrator : Joints calibration order: ( 0 1 2 )
[INFO]Head_Calibrator : starting calibration Registering new thread 0 out of 500 Registering new thread 0 out of 500 [INFO]Left_Leg_Calibrator : starting calibration [DEBUG]Head_Calibrator : Joints calibration order: ( 0 1 2 ) ( 3 ) ( 4 ) ( 5 )
Registering new thread 1 out of 500 [DEBUG]Left_Leg_Calibrator : Joints calibration order: ( 0 1 2 3 4 5 )
Registering new thread 0 out of 500 Registering new thread 0 out of 500 Registering new thread 0 out of 500 [DEBUG]Head_Calibrator : skipping startupMaxPWM=0 of joint 2 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 0 : type 3 with params: 38229.2 10 14879.1 0 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 1 : type 3 with params: 51882.5 10 8575 0 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 2 : type 3 with params: 32767.9 10 25519.1 0 0 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 0 : type 3 with params: 32767.9 10 44397.9 0 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 3 : type 3 with params: 24575.9 10 53646.9 0 0 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 1 : type 3 with params: 32767.9 10 63197.9 0 0 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 2 : type 3 with params: 32767.9 10 56798.9 0 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 0 : type 3 with params: 27306.6 10 44542.9 0 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 1 : type 3 with params: 13653.3 10 35887 0 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 2 : type 3 with params: 32767.9 10 5452.1 0 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 3 : type 3 with params: 40959.9 10 41822.9 0 0 [WARNING] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1795s 901m 726u: (code 0x0000000d, par16 0x01fd par64 0x0009002000a900d6) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1795s 882m 277u: (code 0x0000000d, par16 0x018c par64 0x00070070008e00a0) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 0 : type 3 with params: 2047.5 10 1149.5 0 0 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 1 : type 3 with params: 2047.5 10 3897.5 0 0 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 2 : type 3 with params: 2047.5 10 1683.5 0 0 [WARNING] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1795s 923m 884u: (code 0x0000000d, par16 0x01c3 par64 0x0009007900a400d2) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint 0 : type 3 with params: 32767.9 10 51950.9 0 0 [DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint 1 : type 3 with params: 32767.9 10 18255.1 0 0 [DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint 2 : type 3 with params: 32767.9 10 49694.9 0 0 [DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint 3 : type 3 with params: 32767.9 10 54798.9 0 0 [[DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint 4 : type 3 with params: 32767.9 10 62366.9 0 0 [DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint 5 : type 3 with params: 32767.9 10 8223.1 0 0 DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint 0 : type 3 with params: 32767.9 10 33118.9 0 0 [DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint 1 : type 3 with params: 32767.9 10 1039.1 0 0 [DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint 2 : type 3 with params: 32767.9 10 23231.1 0 0 [DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint 3 : type 3 with params: 32767.9 10 44414.9 0 0 [DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint 4 : type 3 with params: 32767.9 10 33390.9 0 0 [DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint 5 : type 3 with params: 32767.9 10 4639.1 0 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH0 [DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH0 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA:0 [WARNING] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1795s 897m 890u: (code 0x0000000d, par16 0x016e par64 0x0007007d008400d2) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [DEBUG]Left_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -34.4203 [DEBUG]Left_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 24.961 [DEBUG]Torso_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -4.03749 [DEBUG]Left_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 6.41603 [DEBUG]Left_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 2.02149 [DEBUG]Torso_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -7.4103 [DEBUG]Torso_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -24.2579 [DEBUG]Right_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 19.336 [DEBUG]Right_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 28.5426 [DEBUG]Right_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 1.00525 [DEBUG]Right_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 49.9879 [DEBUG]Left_Arm_Calibrator : calib joint 0 ended [DEBUG]Torso_Calibrator : calib joint 0 ended [DEBUG]Head_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 27.7363 [DEBUG]Head_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 26.7692 [DEBUG]Head_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.0659341 [DEBUG]Right_Arm_Calibrator : calib joint 0 ended [DEBUG]Torso_Calibrator : calib joint 1 ended [DEBUG]Left_Arm_Calibrator : calib joint 1 ended [DEBUG]Right_Leg_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 0 [DEBUG]Right_Leg_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -0.703127 [DEBUG]Right_Leg_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.0219727 [DEBUG]Right_Leg_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: -0.0494386 [DEBUG]Right_Leg_Calibrator : set 1 j 4 : Calibrating... enc values AFTER calib: -0.153809 [DEBUG]Right_Leg_Calibrator : set 1 j 5 : Calibrating... enc values AFTER calib: 0.12085 [DEBUG]Left_Leg_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 0.0109864 [DEBUG]Left_Leg_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -1.64795 [DEBUG]Left_Leg_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.0219727 [DEBUG]Left_Leg_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 0 [DEBUG]Left_Leg_Calibrator : set 1 j 4 : Calibrating... enc values AFTER calib: -0.164795 [DEBUG]Left_Leg_Calibrator : set 1 j 5 : Calibrating... enc values AFTER calib: -0.153809 [DEBUG]Right_Arm_Calibrator : calib joint 1 ended [DEBUG]Left_Arm_Calibrator : calib joint 2 ended [DEBUG]Torso_Calibrator : calib joint 2 ended [DEBUG]Torso_Calibrator : set 1 : Calibration ended, going to zero!

[DEBUG]Right_Leg_Calibrator : calib joint 0 ended [DEBUG]Head_Calibrator : calib joint 0 ended [DEBUG]Right_Arm_Calibrator : calib joint 2 ended [DEBUG]Left_Arm_Calibrator : calib joint 3 ended [DEBUG]Left_Arm_Calibrator : set 1 : Calibration ended, going to zero!

[DEBUG]Right_Leg_Calibrator : calib joint 1 ended [DEBUG]Left_Leg_Calibrator : calib joint 0 ended [DEBUG]Right_Arm_Calibrator : calib joint 3 ended [DEBUG]Right_Arm_Calibrator : set 1 : Calibration ended, going to zero!

[DEBUG]Right_Leg_Calibrator : calib joint 2 ended [DEBUG]Left_Leg_Calibrator : calib joint 1 ended [DEBUG]Head_Calibrator : calib joint 1 ended [DEBUG]Right_Leg_Calibrator : calib joint 3 ended [DEBUG]Left_Leg_Calibrator : calib joint 2 ended [DEBUG]Left_Leg_Calibrator : calib joint 3 ended [DEBUG]Right_Leg_Calibrator : calib joint 4 ended [DEBUG]Head_Calibrator : calib joint 2 ended [DEBUG]Head_Calibrator : set 1 : Calibration ended, going to zero!

[DEBUG]Left_Leg_Calibrator : calib joint 4 ended [DEBUG]Right_Leg_Calibrator : calib joint 5 ended [DEBUG]Right_Leg_Calibrator : set 1 : Calibration ended, going to zero!

[DEBUG]Left_Leg_Calibrator : calib joint 5 ended [DEBUG]Left_Leg_Calibrator : set 1 : Calibration ended, going to zero!

[DEBUG]Torso_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -35.97 desired speed: 10 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 29.97 desired speed: 10 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0.06 desired speed: 10 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 50 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -35.97 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 29.97 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0.06 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 50 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 ) [DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 ) [DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 ) [DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.005 des: 0.000 -> delta: 0.005 threshold: 2.000 output: -754.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.005 over: 2.000 [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.412 des: 0.000 -> delta: 0.412 threshold: 2.000 output: 135.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.412 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -35.387 des: -35.970 -> delta: 0.583 threshold: 2.000 output: -613.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.583 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 30.059 des: 29.970 -> delta: 0.089 threshold: 2.000 output: -293.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.089 over: 2.000 [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -12.480 des: 0.000 -> delta: 12.480 threshold: 2.000 output: -3686.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.352 des: 0.060 -> delta: 0.292 threshold: 2.000 output: -406.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.292 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.021 des: 50.000 -> delta: 47.979 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.000 over: 2.000 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.560 des: 0.000 -> delta: 19.560 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.011 des: 0.000 -> delta: 0.011 threshold: 2.000 output: 128.000 mode: pos [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.011 over: 2.000 [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.088 des: 0.000 -> delta: 0.088 threshold: 2.000 output: -253.000 mode: pos [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.088 over: 2.000 [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.066 des: 0.000 -> delta: 0.066 threshold: 2.000 output: 601.000 mode: pos [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.066 over: 2.000 [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 5.000 mode: pos [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000 [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: -47.000 mode: pos [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000 [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -0.049 des: 0.000 -> delta: 0.049 threshold: 2.000 output: -56.000 mode: pos [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.049 over: 2.000 [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.000 over: 2.000 [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.154 des: 0.000 -> delta: 0.154 threshold: 2.000 output: -316.000 mode: pos [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.154 over: 2.000 [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.121 des: 0.000 -> delta: 0.121 threshold: 2.000 output: 269.000 mode: pos [DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.121 over: 2.000 [DEBUG]Right_Leg_Calibrator : set 1 : Reached zero position!

[DEBUG]right_leg_calibrator finished calibration of device right_leg_mc_wrapper [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.077 des: 0.000 -> delta: 0.077 threshold: 2.000 output: 347.000 mode: pos [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.077 over: 2.000 [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.154 des: 0.000 -> delta: 0.154 threshold: 2.000 output: 330.000 mode: pos [DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.154 over: 2.000 [DEBUG]Left_Leg_Calibrator : set 1 : Reached zero position!

[DEBUG]left_leg_calibrator finished calibration of device left_leg_mc_wrapper [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -3.428 des: 0.000 -> delta: 3.428 threshold: 2.000 output: -2576.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 10.593 des: 0.000 -> delta: 10.593 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.352 des: 0.000 -> delta: 0.352 threshold: 2.000 output: -101.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.352 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator : set 1 : Reached zero position!

[DEBUG]torso_calibrator finished calibration of device torso_mc_wrapper [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 2.769 des: 0.000 -> delta: 2.769 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.424 des: -35.970 -> delta: 55.394 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.132 des: 0.000 -> delta: 0.132 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.132 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.396 des: 0.000 -> delta: 0.396 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.396 over: 2.000 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000 [DEBUG]Head_Calibrator : set 1 : Reached zero position!

[DEBUG]Head_Calibrator : skipping startupMaxPWM=0 of joint 3 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 3 : type 3 with params: 2047.5 10 3111.5 0 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA:1 [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES! [DEBUG]cfw2can [0] printing boards infos:

[DEBUG]Head_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib: 0.021978 [DEBUG]Head_Calibrator : calib joint 3 ended [DEBUG]Head_Calibrator : set 2 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.424 des: -35.970 -> delta: 55.394 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.022 over: 2.000 [DEBUG]Head_Calibrator : set 2 : Reached zero position!

[DEBUG]Head_Calibrator : skipping startupMaxPWM=0 of joint 4 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 4 : type 0 with params: 900 20 0 0 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : set 3 j 4 : Calibrating... enc values AFTER calib: 3.11243 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.021 des: 50.000 -> delta: 47.979 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator : calib joint 4 ended [DEBUG]Head_Calibrator : set 3 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.021 des: 50.000 -> delta: 47.979 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.424 des: -35.970 -> delta: 55.394 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.021 des: 50.000 -> delta: 47.979 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 23.878 des: 0.000 -> delta: 23.878 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 15.060 des: 0.000 -> delta: 15.060 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES! [DEBUG]cfw2can [0] printing boards infos:

[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 6.375 des: 0.000 -> delta: 6.375 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.424 des: -35.970 -> delta: 55.394 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 1.038 des: 0.000 -> delta: 1.038 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.001 des: 0.000 -> delta: 0.001 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.001 over: 2.000 [DEBUG]Head_Calibrator : set 3 : Reached zero position!

[DEBUG]Head_Calibrator : skipping startupMaxPWM=0 of joint 5 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 5 : type 0 with params: 900 20 0 0 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : set 4 j 5 : Calibrating... enc values AFTER calib: -27.0848 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos c [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 29.597 des: 29.970 -> delta: 0.373 threshold: 2.000 output: -598.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.373 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos [ERROR]Left_Arm_Calibrator : checkGoneToZeroThreshold: joint 3 Timeout while going to zero! [[DEBUGERROR]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.038 des: 0.060 -> delta: 0.022 threshold: 2.000 output: 246.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000 ]Left_Arm_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 49.988 des: 50.000 -> delta: 0.012 threshold: 2.000 output: -737.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.012 over: 2.000 [ERROR]Right_Arm_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes

Registering new thread 0 out of 500 Registering new thread 0 out of 500 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 4 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 4 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 4 : type 0 with params: 500 20 0 0 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 4 : type 0 with params: 500 -20 0 0 0 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1807s 812m 250u: CAN PRINT MESSAGE[id 2] -> CMODE SET:32 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1807s 812m 281u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1807s 840m 371u: CAN PRINT MESSAGE[id 2] -> CMODE SET:32 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1807s 841m 356u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [DEBUG]Left_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 3.47169 [DEBUG]Right_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 2.46644 [DEBUG]Head_Calibrator : calib joint 5 ended [DEBUG]Head_Calibrator : set 4 : Calibration ended, going to zero!

[DEBUG]Head_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.011 des: 0.000 -> delta: 0.011 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.011 over: 2.000 [DEBUG]Head_Calibrator : set 4 : Reached zero position!

[DEBUG]head_calibrator finished calibration of device head_mc_wrapper [DEBUG]Left_Arm_Calibrator : calib joint 4 ended [DEBUG]Left_Arm_Calibrator : set 2 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator : calib joint 4 ended [DEBUG]Right_Arm_Calibrator : set 2 : Calibration ended, going to zero!

[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES! [DEBUG]cfw2can [0] printing boards infos:

[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.839 des: 0.000 -> delta: 51.839 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.998 des: 0.000 -> delta: 51.998 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.181 des: 0.000 -> delta: 24.181 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.077 des: 0.000 -> delta: 24.077 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.268 des: 0.000 -> delta: 4.268 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.323 des: 0.000 -> delta: 4.323 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.011 des: 0.000 -> delta: 0.011 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.011 over: 2.000 [DEBUG]Left_Arm_Calibrator : set 2 : Reached zero position!

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.016 des: 0.000 -> delta: 0.016 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.016 over: 2.000 [DEBUG]Right_Arm_Calibrator : set 2 : Reached zero position!

[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 5 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 5 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 6 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 7 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 6 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 7 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 5 : type 3 with params: 2047.5 10 1277.5 0 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 6 : type 3 with params: 2047.5 10 267.5 0 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 7 : type 7 with params: 67800 100 0 2720 2815 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 5 : type 3 with params: 2047.5 10 3810.5 0 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 6 : type 3 with params: 2047.5 10 1656.3 0 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 7 : type 7 with params: 26700 100 0 2311 2463 [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1814s 67m 547u: (code 0x0000000d, par16 0x0275 par64 0x00090093008d0006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 68m 247u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 69m 231u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 69m 297u: CAN PRINT MESSAGE[id 2] -> PWM ENA COUPLED:1 & 2 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 69m 363u: CAN PRINT MESSAGE[id 3] -> PWM ENA COUPLED:1 & 2 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 70m 244u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 70m 276u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1814s 96m 657u: (code 0x0000000d, par16 0x0278 par64 0x0009001900980006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1814s 97m 323u: (code 0x0000000b, par16 0x01bf par64 0x0019009800060278) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 98m 356u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 98m 387u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 98m 464u: CAN PRINT MESSAGE[id 2] -> PWM ENA COUPLED:1 & 2 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 99m 406u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 99m 437u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 99m 453u: CAN PRINT MESSAGE[id 3] -> PWM ENA COUPLED:1 & 2 [DEBUG]Left_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: -0.521852 [DEBUG]Left_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 30.6025 [DEBUG]Left_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 68.8405 [DEBUG]Right_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 4.56483 [DEBUG]Right_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 23.8184 [DEBUG]Right_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 16.1829 [DEBUG]Left_Arm_Calibrator : calib joint 5 ended [DEBUG]Right_Arm_Calibrator : calib joint 5 ended [DEBUG]Left_Arm_Calibrator : calib joint 6 ended [DEBUG]Left_Arm_Calibrator : calib joint 7 ended [DEBUG]Left_Arm_Calibrator : set 3 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator : calib joint 6 ended [DEBUG]Right_Arm_Calibrator : calib joint 7 ended [DEBUG]Right_Arm_Calibrator : set 3 : Calibration ended, going to zero!

[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.055 des: 0.000 -> delta: 1.055 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 1.055 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.401 des: 0.000 -> delta: 1.401 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 1.401 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 2.900 des: 0.000 -> delta: 2.900 threshold: 90.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 2.214 des: 0.000 -> delta: 2.214 threshold: 90.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 2.214 over: 90.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 2.900 over: 90.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 16.578 des: 15.000 -> delta: 1.578 threshold: 90.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 1.578 over: 90.000[ DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 52.421 des: 15.000 -> delta: 37.421 threshold: 90.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : set 3 : Reached zero position!

[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 37.421 over: 90.000 [DEBUG]Left_Arm_Calibrator : set 3 : Reached zero position!

[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 8 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 8 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 9 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 9 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 11 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 11 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 13 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 13 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 8 : type 7 with params: 27822.2 10 0 1198 1990 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 9 : type 6 with params: 0 10 -1 255 30 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 11 : type 6 with params: 0 10 -1 242 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 13 : type 6 with params: 0 10 -1 255 12 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 8 : type 7 with params: 13913.9 10 0 1070 1860 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 9 : type 6 with params: 0 10 -1 255 30 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 11 : type 6 with params: 0 10 -1 255 10 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 13 : type 6 with params: 0 10 -1 255 0 [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1815s 847m 970u: (code 0x0000000d, par16 0x03b1 par64 0x000c001900df0006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 849m 384u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 849m 418u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 850m 355u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 850m 387u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 850m 438u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1815s 829m 861u: (code 0x0000000d, par16 0x03b0 par64 0x000c001800b90006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1815s 851m 402u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 831m 276u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1815s 851m 417u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 831m 292u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 831m 323u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 832m 228u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 832m 260u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 832m 295u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1815s 833m 255u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1815s 833m 294u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [DEBUG]Right_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 6.7621 [DEBUG]Right_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: 3.19703 [DEBUG]Right_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: 0 [DEBUG]Right_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: 0 [DEBUG]Left_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 29.6412 [DEBUG]Left_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: 0 [DEBUG]Left_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: 0 [DEBUG]Left_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: 0 [DEBUG]Right_Arm_Calibrator : calib joint 8 ended [DEBUG]Left_Arm_Calibrator : calib joint 8 ended [DEBUG]Right_Arm_Calibrator : calib joint 9 ended [DEBUG]Left_Arm_Calibrator : calib joint 9 ended [DEBUG]Right_Arm_Calibrator : calib joint 11 ended [DEBUG]Right_Arm_Calibrator : calib joint 13 ended [DEBUG]Right_Arm_Calibrator : set 4 : Calibration ended, going to zero!

[DEBUG]Left_Arm_Calibrator : calib joint 11 ended [DEBUG]Left_Arm_Calibrator : calib joint 13 ended [DEBUG]Left_Arm_Calibrator : set 4 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 30 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 30 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 30.905 des: 30.000 -> delta: 0.905 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.905 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 29.641 des: 30.000 -> delta: 0.359 threshold: 1000.000 output: 0.000 mode: pos [DEBUG[]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 1.198 des: 0.000 -> delta: 1.198 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 1.198 over: 1000.000 DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.359 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.000 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 0.000 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.000 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.000 over: 1000.000 [DEBUG]Right_Arm_Calibrator : set 4 : Reached zero position!

[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.000 over: 1000.000 [DEBUG]Left_Arm_Calibrator : set 4 : Reached zero position!

[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 10 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 12 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 10 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 14 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 12 [DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 15 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 14 [DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 15 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 10 : type 6 with params: 0 30 1 500 27 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 12 : type 6 with params: 0 10 1 487 45 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 14 : type 6 with params: 0 10 1 490 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 15 : type 6 with params: 0 10 -1 690 120 [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1817s 613m 975u: (code 0x0000000d, par16 0x03b6 par64 0x000c00ae00d20006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1817s 615m 384u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1817s 615m 400u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 615m 435u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 10 : type 6 with params: 0 30 1 510 30 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 12 : type 6 with params: 0 10 1 510 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 14 : type 6 with params: 0 10 1 502 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 15 : type 6 with params: 0 10 -1 762 160 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 616m 394u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 616m 409u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 616m 425u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 616m 457u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 617m 353u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1817s 600m 569u: (code 0x0000000d, par16 0x028c par64 0x0009001900c00006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1817s 601m 212u: (code 0x0000000b, par16 0x0200 par64 0x001900c00006028c) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1817s 602m 272u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1817s 602m 288u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 603m 270u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 603m 302u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 603m 334u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 604m 275u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 604m 309u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 605m 228u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [DEBUG]Right_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 15.2216 [DEBUG]Right_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: 0.406495 [DEBUG]Right_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 0.36255 [DEBUG]Right_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: 0.472413 [DEBUG]Left_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 0 [DEBUG]Left_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: 1.41175 [DEBUG]Left_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 1.43372 [DEBUG]Left_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: -0.444947 [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Right_Arm_Calibrator : calib joint 10 ended [DEBUG]Left_Arm_Calibrator : calib joint 10 ended [DEBUG]Left_Arm_Calibrator : calib joint 12 ended [DEBUG]Right_Arm_Calibrator : calib joint 12 ended [DEBUG]Left_Arm_Calibrator : calib joint 14 ended [DEBUG]Right_Arm_Calibrator : calib joint 14 ended [DEBUG]Left_Arm_Calibrator : calib joint 15 ended [DEBUG]Left_Arm_Calibrator : set 5 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator : calib joint 15 ended [DEBUG]Right_Arm_Calibrator : set 5 : Calibration ended, going to zero!

[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 85.243 des: 0.000 -> delta: 85.243 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 84.375 des: 0.000 -> delta: 84.375 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 11.250 des: 0.000 -> delta: 11.250 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 17.122 des: 0.000 -> delta: 17.122 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 15.980 des: 0.000 -> delta: 15.980 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 0.374 des: 0.000 -> delta: 0.374 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 0.374 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 15.980 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 1.626 des: 0.000 -> delta: 1.626 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 1.626 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 1.763 des: 0.000 -> delta: 1.763 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 1.763 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 1.467 des: 0.000 -> delta: 1.467 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 1.467 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 1.791 des: 0.000 -> delta: 1.791 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 1.791 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 0.472 des: 0.000 -> delta: 0.472 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 0.472 over: 1000.000 [DEBUG]Right_Arm_Calibrator : set 5 : Reached zero position!

[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 0.000 over: 1000.000 [DEBUG]Left_Arm_Calibrator : set 5 : Reached zero position!

[DEBUG]left_arm_calibrator finished calibration of device left_arm_mc_wrapper [DEBUG]right_arm_calibrator finished calibration of device right_arm_mc_wrapper [INFO]All actions for action level 10 of startup phase finished. [INFO]Entering action level 15 of phase startup [INFO] Attaching drivers to cartesian controller icub/cartesianController/left_arm [INFO]Received list of 2 driver(s) [INFO]Acquiring info on driver torso... [INFO]driver torso successfully open [INFO]Acquiring info on driver left_arm... [INFO]driver left_arm successfully open [INFO]icub/cartesianController/left_arm: IControlMode2 available [INFO]icub/cartesianController/left_arm: IEncodersTimed interface will be used [INFO]icub/cartesianController/left_arm: IPidControl available [INFO]icub/cartesianController/left_arm: IPositionDirect available [INFO]icub/cartesianController/left_arm: IVelocityControl2 available [INFO]icub/cartesianController/left_arm: IPositionDirect interface will be used [INFO]icub/cartesianController/left_arm: multiple joints control will be used [INFO]icub/cartesianController/left_arm: aligning joints bounds ... [INFO]part #0: torso Registering new thread 1 out of 500 [INFO]joint #0: [-19.9897, 69.9886] deg [INFO]joint #1: [-29.9873, 29.9873] deg [INFO]joint #2: [-49.9879, 49.9879] deg [INFO]part #1: left_arm Registering new thread 1 out of 500 [INFO]joint #3: [-95.4879, 7.98708] deg [INFO]joint #4: [12.0136, 159.989] deg [INFO]joint #5: [-31.9868, 79.9917] deg [INFO]joint #6: [15.0129, 105.991] deg Registering new thread 1 out of 500 [INFO]joint #7: [-59.9855, 59.991] deg [INFO]joint #8: [-79.9642, 25.0379] deg [INFO]joint #9: [-20.0062, 24.9665] deg [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]Starting icub/cartesianController/left_arm at 10 ms [INFO]icub/cartesianController/left_arm started successfully [INFO] Attaching drivers to cartesian controller icub/cartesianController/right_arm [INFO]Received list of 2 driver(s) [INFO]Acquiring info on driver torso... [INFO]driver torso successfully open [INFO]Acquiring info on driver right_arm... [INFO]driver right_arm successfully open [INFO]icub/cartesianController/right_arm: IControlMode2 available [INFO]icub/cartesianController/right_arm: IEncodersTimed interface will be used [INFO]icub/cartesianController/right_arm: IPidControl available [INFO]icub/cartesianController/right_arm: IPositionDirect available [INFO]icub/cartesianController/right_arm: IVelocityControl2 available [INFO]icub/cartesianController/right_arm: IPositionDirect interface will be used [INFO]icub/cartesianController/right_arm: multiple joints control will be used [INFO]icub/cartesianController/right_arm: aligning joints bounds ... [INFO]part #0: torso [INFO]joint #0: [-19.9897, 69.9886] deg [INFO]joint #1: [-29.9873, 29.9873] deg [INFO]joint #2: [-49.9879, 49.9879] deg [INFO]part #1: right_arm Registering new thread 1 out of 500 [INFO]joint #3: [-95.4879, 7.98708] deg [INFO]joint #4: [12.0136, 159.989] deg [INFO]joint #5: [-31.9868, 79.9917] deg [INFO]joint #6: [15.0129, 105.991] deg Registering new thread 1 out of 500 [INFO]joint #7: [-59.9855, 59.991] deg [INFO]joint #8: [-80.0576, 24.9445] deg [INFO]joint #9: [-19.9347, 25.0379] deg [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO]Starting icub/cartesianController/right_arm at 10 ms [INFO]icub/cartesianController/right_arm started successfully [INFO]All actions for action level 15 of startup phase started. Waiting for unfinished actions. [INFO]All actions for action level 15 of startup phase finished. [INFO]startup phase finished. [INFO]run phase starting... [DEBUG]yarprobotinterface running happily [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet ^C[try 1 of 3] Trying to shut down [WARNING]Interrupt # 1 # received. [INFO]Interrupt received. Stopping all running threads. RFModule closing [INFO]interrupt1 phase starting... [INFO]Entering action level 1 of phase interrupt1 [DEBUG]left_arm_calibrator starting park device left_arm_mc_wrapper [[DEBUG]right_arm_calibrator starting park device right_arm_mc_wrapper [ERROR]Right_Arm_Calibrator : joint 0 is idle, skipping park [ERROR]Right_Arm_Calibrator : joint 1 is idle, skipping park [ERROR]Right_Arm_Calibrator : joint 2 is idle, skipping park [ERROR]Right_Arm_Calibrator : joint 3 is idle, skipping park ERROR Registering new thread 2 out of 500 [DEBUG]left_leg_calibrator starting park device left_leg_mc_wrapper Registering new thread 1 out of 500 [DEBUG]right_leg_calibrator starting park device right_leg_mc_wrapper ]Registering new thread 1 out of 500 Left_Arm_Calibrator : joint 0 is idle, skipping park [DEBUG]torso_calibrator starting park device torso_mc_wrapper Registering new thread 2 out of 500 [INFO]All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions. [DEBUG]head_calibrator starting park device head_mc_wrapper [ERROR]Left_Arm_Calibrator : joint 1 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 2 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 3 is idle, skipping park Registering new thread 2 out of 500 [DEBUG]Head_Calibrator : Moving to park position, joint: 0 Registering new thread 2 out of 500 [DEBUG]Head_Calibrator : Moving to park position, joint: 1 Registering new thread 1 out of 500 Registering new thread 1 out of 500 [DEBUG]Head_Calibrator : Moving to park position, joint: 2 [DEBUG]Torso_Calibrator : Moving to park position, joint: 0 [DEBUG]Torso_Calibrator : Moving to park position, joint: 1 [DEBUG]Head_Calibrator : Moving to park position, joint: 3 [DEBUG]Torso_Calibrator : Moving to park position, joint: 2 [DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 0 [DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 0 [DEBUG]Head_Calibrator : Moving to park position, joint: 4 [DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 1 [DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 1 [DEBUG]Head_Calibrator : Moving to park position, joint: 5 [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1832s 108m 48u: (code 0x0000000d, par16 0x0016 par64 0x000c001901800006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [DEBUG]Head_Calibrator : Park completed [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1832s 89m 944u: (code 0x0000000b, par16 0x019d par64 0x009600580006001b) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1832s 89m 957u: (code 0x0000000d, par16 0x001b par64 0x000c001b019d0017) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 4 [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1832s 90m 261u: (code 0x0000000d, par16 0x0158 par64 0x0000001b035c01d3) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 5 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 4 [DEBUG]cfw2can [0] msg from board 1: PWM DIA CH1 [DEBUG]cfw2can [0] msg from board 1: PWM DIS CH1 [DEBUG]cfw2can [0] msg from board 1: PWM DIS CH0 [DEBUG]cfw2can [0] msg from board 1: PWM DIS COUPLED:0 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 6 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 5 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 6 [DEBUG]cfw2can [0] msg from board 2: PWM DIS:0 [DEBUG]cfw2can [0] msg from board 2: PWM DIS:1 [DEBUG]cfw2can [0] msg from board 2: PWM DIS COUPLED:3 [DEBUG]cfw2can [0] msg from board 2: PWM DIS COUPLED:2 [DEBUG]head_calibrator finished park device head_mc_wrapper [DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 2 [DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 2 [DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 3 [DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 3 [DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 4 [DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 4 [DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 5 [DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 5 [DEBUG]Left_Leg_Calibrator : Park completed [DEBUG]Right_Leg_Calibrator : Park completed [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 7 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 7 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 8 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 9 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 8 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 10 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 9 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 11 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 10 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 12 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 11 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 12 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 13 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 13 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 14 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 14 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 15 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 15 [DEBUG]Left_Arm_Calibrator : Park completed [DEBUG]Right_Arm_Calibrator : Park completed [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1833s 192m 353u: CAN PRINT MESSAGE[id 2] -> PWM DIS:0 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1833s 169m 257u: CAN PRINT MESSAGE[id 2] -> PWM DIS:0 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1833s 212m 403u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:2 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1833s 213m 340u: CAN PRINT MESSAGE[id 3] -> PWM DIS COUPLED:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1833s 190m 263u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:2 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1833s 190m 279u: CAN PRINT MESSAGE[id 3] -> PWM DIS COUPLED:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1833s 214m 257u: CAN PRINT MESSAGE[id 1] -> PWM DIS:3 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1833s 238m 381u: CAN PRINT MESSAGE[id 1] -> PWM DIS:3 [DEBUG]left_leg_calibrator finished park device left_leg_mc_wrapper [DEBUG]right_leg_calibrator finished park device right_leg_mc_wrapper [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1833s 234m 257u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1833s 258m 370u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1833s 278m 381u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1833s 255m 247u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1833s 275m 244u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1833s 298m 381u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1833s 318m 370u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1833s 295m 247u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1833s 338m 372u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1833s 315m 244u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1833s 359m 359u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1833s 336m 244u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1833s 356m 244u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1833s 379m 362u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1833s 399m 362u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1833s 376m 244u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [DEBUG]left_arm_calibrator finished park device left_arm_mc_wrapper [DEBUG]right_arm_calibrator finished park device right_arm_mc_wrapper [DEBUG]Torso_Calibrator : Park completed [DEBUG]torso_calibrator finished park device torso_mc_wrapper [INFO]All actions for action level 1 of interrupt1 phase finished. [INFO]interrupt1 phase finished. [INFO]shutdown phase starting... [INFO]Entering action level 2 of phase shutdown [INFO]Stopping icub/cartesianController/left_arm [INFO]Stopping icub/cartesianController/right_arm [INFO]All actions for action level 2 of shutdown phase started. Waiting for unfinished actions. [INFO]All actions for action level 2 of shutdown phase finished. [INFO]Entering action level 5 of phase shutdown [INFO]All actions for action level 5 of shutdown phase started. Waiting for unfinished actions. [INFO]All actions for action level 5 of shutdown phase finished. [INFO]Closing Server Inertial... [INFO]Server Intertial thread finished Segmentation fault

julijenv commented 7 years ago

Hi @pedrombmachado , could you please send a picture of the robot as it is before launching yarprobobtinterface. thx in advance

pedrombmachado commented 7 years ago

Hi @julijenv , Please find below the requested fotos. img_20170222_171808 img_20170222_171817 img_20170222_171827 +++++++++++++++++++++++++++++++++ I have another issue to report because I ha've done the firmware update as suggested in the documentation and now I am getting the following errors: icub@pc104:~$ yarprobotinterface ||| configuring ||| default config file specified as yarprobotinterface.ini ||| checking [/home/icub/yarprobotinterface.ini] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/yarprobotinterface.ini] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/yarprobotinterface.ini ||| finding file [config] ||| checking [/home/icub/./icub_all.xml] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml yarp: Port /log/pc104/yarprobotinterface/2208 active at tcp://10.0.0.2:10074 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./cartesian/left_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./cartesian/right_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/head-cfw2_can0-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/head-cfw2_can0-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/head-cfw2_can0-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/head-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/torso-ems5-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/torso-ems5-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/torso-ems5-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/torso-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_upper_arm-ems1-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_arm-ems1-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_upper_arm-ems1-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_lower_arm-ems2-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_lower_arm-ems2-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/left_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_upper_arm-ems3-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_lower_arm-ems4-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/right_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_upper_arm-ems1-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_arm-ems1-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_upper_arm-ems3-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_upper_leg-ems6-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_upper_leg-ems8-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_lower_leg-ems7-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_lower_leg-ems9-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/left_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/right_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/left_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/right_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/torso-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/MAIS/left_hand-ems2-mais.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/MAIS/right_hand-ems4-mais.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_upper_leg-ems6-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_lower_leg-ems7-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/left_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_upper_leg-ems8-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_lower_leg-ems9-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/right_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/inertial.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/inertial.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/left_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skin.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skin.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skinSpec.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skinSpec.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/right_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/torso-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_arm-ems4-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_arm-ems4-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/left_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/right_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_leg-ems10-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems10-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_leg-ems10-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_leg-ems11-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems11-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_leg-ems11-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/left_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/right_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/left_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/right_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/torso-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/head-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml yarp: Port /icub/yarprobotinterface active at tcp://10.0.0.2:10004 [INFO]startup phase starting... ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/plugins] (robot) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type left_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D 0.10774) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D 0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A 0.015) (D 0.15228) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A 0.023365) (D -0.1433) (alpha -90.0) (offset 105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D -0.02598) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10005 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10006 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10007 yarp: Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10008 yarp: Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10009 yarp: Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10010 yarp: Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10011 [INFO]created device . See C++ class ServerCartesianController for documentation. [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10012 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10013 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10014 yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10015 yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10016 yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10017 yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10018 [INFO]created device . See C++ class ServerCartesianController for documentation. [WARNING]Rotor: Using default value = 1 [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]jntVelMax: Using default jntVelMax=100 deg/s [WARNING]maxPosStep: Using default MaxPosStep=10 degs [WARNING]Rotor: Using default value = 1 [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]jntVelMax: Using default jntVelMax=100 deg/s [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]created device . See C++ class yarp::dev::Cfw2Can for documentation. printing destinations and inverted map 0 1 2 2 4 3 [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 Registering new thread 0 out of 500 [INFO] [INFO]** [INFO]iCubInterface CAN protocol: 1.6 [INFO]Firmware report: [INFO]cfw2can [0] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 2 can_address: 2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 3 can_address: 2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 4 can_address: 3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 5 can_address: 3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]** [INFO] [DEBUG]CanBusMotionControl::open returned true

[INFO]created device . See C++ class yarp::dev::CanBusMotionControl for documentation. [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10019 yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10020 yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10021 yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10022 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.5 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.5 [INFO] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 748s 412m 389u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB5 with IP 10.0.1.5 at 5 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB5 with IP 10.0.1.5 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device torso_mc [WARNING]Cannot open device torso_mc [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10024 yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10025 yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10026 yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10027 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.1 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.1 [INFO] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 748s 801m 344u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB1 with IP 10.0.1.1 at 5 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB1 with IP 10.0.1.1 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_upper_arm_mc [WARNING]Cannot open device left_upper_arm_mc [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.2 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.2 [INFO] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 749s 113m 458u: (code 0x00000034, par16 0x0001 par64 0x0000000000000029) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB2 with IP 10.0.1.2 at 3 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB2 with IP 10.0.1.2 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_lower_arm_mc [WARNING]Cannot open device left_lower_arm_mc [INFO]/icub/left_arm : no ROS initialization required [INFO]/icub/left_arm initting YARP initialization yarp: Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10028 yarp: Port /icub/left_arm/command:i active at tcp://10.0.0.2:10029 yarp: Port /icub/left_arm/state:o active at tcp://10.0.0.2:10030 yarp: Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10031 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.3 [INFO] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 749s 511m 691u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB3 with IP 10.0.1.3 at 5 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB3 with IP 10.0.1.3 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_arm_mc [WARNING]Cannot open device right_upper_arm_mc [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.4 [INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 749s 827m 575u: (code 0x00000034, par16 0x0001 par64 0x0000000000000029) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB4 with IP 10.0.1.4 at 3 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB4 with IP 10.0.1.4 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_arm_mc [WARNING]Cannot open device right_lower_arm_mc [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10032 yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10033 yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10034 yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10035 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_arm/analog:o/rpc:i active at tcp://10.0.0.2:10036 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10037 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_leg/analog:o/rpc:i active at tcp://10.0.0.2:10038 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_leg/analog:o/rpc:i active at tcp://10.0.0.2:10039 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_foot/analog:o/rpc:i active at tcp://10.0.0.2:10040 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_foot/analog:o/rpc:i active at tcp://10.0.0.2:10041 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.1 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.1 [INFO]The embObjStrain device using BOARD EB1 w/ IP 10.0.1.1 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 750s 362m 183u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB1 with IP 10.0.1.1 at 5 ms [INFO] from BOARD 10.0.1.1 (EB1) @ 750s 397m 628u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.1 (EB1) @ 750s 398m 53u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO][The embObjStrain device using BOARD EB1 w/ IP 10.0.1.1 has the following service config: INFO [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) ] from BOARD 10.0.1.1 (EB1) @ 750s 398m 196u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 750s 398m 315u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.3 [INFO]The embObjStrain device using BOARD EB3 w/ IP 10.0.1.3 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 751s 442m 580u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB3 with IP 10.0.1.3 at 5 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 751s 477m 298u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.3 (EB3) @ 751s 477m 719u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 751s 477m 862u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 751s 477m 981u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB3 w/ IP 10.0.1.3 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.6 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.6 [INFO]The embObjStrain device using BOARD EB6 w/ IP 10.0.1.6 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 752s 504m 856u: (code 0x00000034, par16 0x0001 par64 0x0000000000000010) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB6 with IP 10.0.1.6 at 5 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 752s 540m 15u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.6 (EB6) @ 752s 540m 436u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 752s 540m 579u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 752s 540m 698u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB6 w/ IP 10.0.1.6 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.8 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.8 [INFO]The embObjStrain device using BOARD EB8 w/ IP 10.0.1.8 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 753s 589m 108u: (code 0x00000034, par16 0x0001 par64 0x0000000000000010) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB8 with IP 10.0.1.8 at 5 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 753s 624m 66u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.8 (EB8) @ 753s 624m 488u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 753s 624m 631u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 753s 624m 750u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB8 w/ IP 10.0.1.8 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [DEBUG]cfw2can [0] thread ran 597 times, req.dT:10[ms], av.dT:10.07[ms] av.loopT :0.01[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 6.12 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 6.12 seconds [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.7 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.7 [INFO]The embObjStrain device using BOARD EB7 w/ IP 10.0.1.7 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 754s 659m 645u: (code 0x00000034, par16 0x0001 par64 0x0000000000000010) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB7 with IP 10.0.1.7 at 5 ms [INFO] from BOARD 10.0.1.7 (EB7) @ 754s 694m 616u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x0002) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.7 (EB7) @ 754s 695m 36u: CAN discovery has detected a eobrd_strain board in CAN2 addr 1 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.7 (EB7) @ 754s 695m 181u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 754s 695m 300u: (code 0x05000008, par16 0x0101 par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB7 w/ IP 10.0.1.7 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.9 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.9 [INFO]The embObjStrain device using BOARD EB9 w/ IP 10.0.1.9 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 755s 739m 789u: (code 0x00000034, par16 0x0001 par64 0x0000000000000010) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB9 with IP 10.0.1.9 at 5 ms [INFO] from BOARD 10.0.1.9 (EB9) @ 755s 773m 811u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x0002) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.9 (EB9) @ 755s 774m 227u: CAN discovery has detected a eobrd_strain board in CAN2 addr 1 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.9 (EB9) @ 755s 774m 372u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms[ INFO]The embObjStrain device using BOARD EB9 w/ IP 10.0.1.9 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 755s 774m 491u: (code 0x05000008, par16 0x0101 par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/left_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10042 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/right_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10043 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/left_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10044 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/right_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10045 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/icub/joint_vsens/torso:i") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10046 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10047 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10048 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. ||| finding paths [plugins] [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.2 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.2 [INFO]The embObjMais device using BOARD EB2 w/ IP 10.0.1.2 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- MAIS named id_l_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 757s 304m 739u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB2 with IP 10.0.1.2 at 3 ms [INFO] from BOARD 10.0.1.2 (EB2) @ 757s 337m 160u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.2 (EB2) @ 757s 338m 292u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 1 ms [INFO] from BOARD 10.0.1.2 (EB2) @ 757s 338m 439u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 757s 338m 556u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjMais for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.4 [INFO]The embObjMais device using BOARD EB4 w/ IP 10.0.1.4 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- MAIS named id_r_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 757s 404m 164u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB4 with IP 10.0.1.4 at 3 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 757s 436m 319u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.4 (EB4) @ 757s 436m 867u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 0 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 757s 437m 15u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 757s 437m 132u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjMais for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB6 with IP 10.0.1.6 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_upper_leg_mc [WARNING]Cannot open device left_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB7 with IP 10.0.1.7 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_lower_leg_mc [WARNING]Cannot open device left_lower_leg_mc [INFO]/icub/left_leg : no ROS initialization required [INFO]/icub/left_leg initting YARP initialization yarp: Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10049 yarp: Port /icub/left_leg/command:i active at tcp://10.0.0.2:10050 yarp: Port /icub/left_leg/state:o active at tcp://10.0.0.2:10051 yarp: Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10052 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB8 with IP 10.0.1.8 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_leg_mc [WARNING]Cannot open device right_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB9 with IP 10.0.1.9 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_leg_mc [WARNING]Cannot open device right_lower_leg_mc [INFO]/icub/right_leg : no ROS initialization required [INFO]/icub/right_leg initting YARP initialization yarp: Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10053 yarp: Port /icub/right_leg/command:i active at tcp://10.0.0.2:10054 yarp: Port /icub/right_leg/state:o active at tcp://10.0.0.2:10055 yarp: Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10056 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. XSensMtX init check: device ok. [INFO]created device . See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10057 [INFO]Server Inertial : no ROS initialization required [INFO]Starting server Inertial thread [INFO]created wrapper . See C++ class yarp::dev::ServerInertial for documentation. [DEBUG]Writing an Inertial measurement. [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_hand : 0 191 0 191 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_forearm : 192 575 0 383 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_arm : 576 1343 0 767 yarp: Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10058 yarp: Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10059 yarp: Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10060 [INFO]created device . See C++ class skinWrapper for documentation. [INFO] from BOARD 10.0.1.2 (EB2) @ 758s 31m 682u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.2 (EB2) @ 758s 31m 837u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 758s 31m 986u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 758s 32m 608u: (code 0x0000000b, par16 0x0227 par64 0x0017001400050017) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 758s 37m 667u: (code 0x0000000d, par16 0x015d par64 0x0700001700400005) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 758s 47m 783u: (code 0x0000000d, par16 0x01d0 par64 0x0700001700a90005) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10061 yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10062 yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10063 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10064 [INFO]created device . See C++ class skinWrapper for documentation. [WARNING]CanBusSkin id list contains more than one entry -> devices will be merged.
[INFO]created device . See C++ class yarp::dev::Cfw2Can for documentation. [INFO]Skin on can bus 9 uses NEW configuration version!!! yarp: Port /diagnostics/skin/errors:o active at tcp://10.0.0.2:10065 [INFO]created device . See C++ class CanBusSkin for documentation. [INFO] from BOARD 10.0.1.4 (EB4) @ 759s 517m 811u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (EB4) @ 759s 517m 967u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 759s 518m 117u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 759s 518m 743u: (code 0x0000000b, par16 0x0222 par64 0x005a001300060017) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 759s 524m 802u: (code 0x0000000d, par16 0x015d par64 0x0700001700410006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 759s 534m 917u: (code 0x0000000d, par16 0x01d0 par64 0x0700001700a90006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_foot : 0 383 0 383 [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 12.13 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.13 seconds yarp: Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10066 yarp: Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10067 yarp: Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10068 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_foot : 0 383 0 383 yarp: Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10069 yarp: Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10070 yarp: Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10071 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.10 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.10 [INFO] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 760s 406m 132u: (code 0x00000034, par16 0x0001 par64 0x000000000000000c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB10 with IP 10.0.1.10 at 3 ms [INFO] from BOARD 10.0.1.10 (EB10) @ 760s 440m 438u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.10 (EB10) @ 760s 440m 608u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 760s 440m 790u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.11 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.11 [INFO] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 760s 999m 542u: (code 0x00000034, par16 0x0001 par64 0x000000000000000c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB11 with IP 10.0.1.11 at 3 ms [INFO] from BOARD 10.0.1.11 (EB11) @ 761s 34m 795u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.11 (EB11) @ 761s 34m 966u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 761s 35m 149u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [WARNING]There was some problem opening one or more devices. Please check the log and your configuration [ERROR]One or more devices failed opening... see previous log messages for more info [INFO]Closing Server Inertial... [INFO]Server Intertial thread finished Segmentation fault +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ The EMS version is now v2.57 icub@pc104:~$ ethLoader Using default port 3333 Using default port 10.0.1.104 Usage: ethLoader --port n --address xxx.xxx.xxx.xxx

(process:2329): Gtk-WARNING **: Locale not supported by C library. Using the fallback 'C' locale. Gtk-Message: Failed to load module "canberra-gtk-module" Discovered a board @ 10.0.1.1: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.2: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.3: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.4: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.5: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.6: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.7: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.8: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.9: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.11: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.10: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ Shall I update the CAN FW? If yes what is/are the file(s) to use?

julijenv commented 7 years ago

Hi @pedrombmachado , from my visit made to the FW guys, they tolld me that you update teh AYRP repository and by conseqently you need to update the firmware on the Ethernet board (EMS4) as well. they should give you the right one to upload on them with EthLoader soon. Hopefully today or tomorrow.

pedrombmachado commented 7 years ago

Hi @julijenv, Many thanks for the update. Do you think that the FW update will solve the initial problem? Or am I doing something wrong?

julijenv commented 7 years ago

Hi @pedrombmachado , I would have recommended to wait to fix your problem be4 updating everything but now it is too late. at this point I would say let's wait to get the FW update and we will investigate the error message. if you want you can already add icub.support in your contact on skype we may need it to debug, thx in advancce

pedrombmachado commented 7 years ago

Hi @julijenv, Many thanks in advance. I have sent a skype invitation from pmbmwtf to icub.support. Do you think a good idea to downgrade the FW version? If yes where can I find the previous version 2.20?

julijenv commented 7 years ago

Hi @pedrombmachado , my colleague's gonna give you some pings on what to do next and we will talk tomorrow about it

valegagge commented 7 years ago

Hi @pedrombmachado ,

you need to update fw to the most recent version. In details you need to update only fw of ethernet boards, the EMS boards. In order to accomplish this task you can refer to this mini tutorial: https://github.com/robotology/icub-firmware-build/blob/master/ETH/howto-eth-boards-simple-fw-update.txt

The executable is ems.hex ad it is in icub-firmware-build/ETH/EMS/bin/application/.

I hope this suggestions can be helpful .

pedrombmachado commented 7 years ago

Hi @valegagge, Many thanks for your reply. I think I have done that yesterday and after the update the following error was generated. [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB9 with IP 10.0.1.9 for eoprot_endpoint_motioncontrol : FW upgrade is required [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 Am I right or am I missing something?

The actual version on all the boards is now: ++++++++++++++++++++++++++++++++++++ icub@pc104:~$ ethLoader Using default port 3333 Using default port 10.0.1.104 Usage: ethLoader --port n --address xxx.xxx.xxx.xxx

(process:2329): Gtk-WARNING **: Locale not supported by C library. Using the fallback 'C' locale. Gtk-Message: Failed to load module "canberra-gtk-module" Discovered a board @ 10.0.1.1: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.2: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.3: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.4: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.5: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.6: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.7: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.8: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.9: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.11: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.10: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

valegagge commented 7 years ago

Hi @pedrombmachado ,

did you update the repository icub-firmware-shared? and you did you compiled it? After compiling icub-firmware-shared, you need to recompile icub-main

pedrombmachado commented 7 years ago

Hi @valegagge , No I have not update the iCub-firmware-share nor compiled any of those. Can you suggest some documentation explaining the procedures step by step? Many thanks in advance.

valegagge commented 7 years ago

see http://wiki.icub.org/wiki/Compilation_on_the_pc104.

Anyway, you need to: 1) cd $ROBOT_CODE/icub-firmware-shared/build-pc104 2) git pull --rebase 2) cmake .. 3) make 4) cd $ICUB_DIR 5) cmake .. (here you don't need change any configuration) 6) make

Now all should works fine.

pedrombmachado commented 7 years ago

Hi @valegagge , Many thanks. I got the following error when on step 7. icub@icubsrv:/usr/local/src/robot/icub-main/build$ make [ 0%] Copying manager.py to /usr/local/src/robot/icub-main/build/bin/. [ 0%] Built target python-scripts [ 0%] Built target robotSymLink [ 0%] Copying icub-cluster scripts to /usr/local/src/robot/icub-main/build/bin/. [ 0%] Built target cluster-scripts [ 1%] Built target iCubDev [ 4%] Built target ctrlLib [ 7%] Built target skinDynLib [ 9%] Built target iKin [ 11%] Built target iDyn [ 16%] Built target learningMachine [ 18%] Built target perceptiveModels [ 19%] Built target actionPrimitives [ 20%] Built target icubmod [ 21%] Built target cartesiancontrollerserver [ 22%] Built target cartesiancontrollerclient [ 23%] Built target gazecontrollerclient [ 24%] Built target optimization [ 25%] Built target emotionInterface [ 26%] Built target controlBoardDumper [ 26%] Built target simpleClient [ 27%] Built target testStereoMatch [ 28%] Built target fingersTuner [ 29%] Built target imuFilter [ 29%] Built target imageSplitter [ 29%] Built target trajectoryPlayer [ 31%] Built target canLoaderLib [ 31%] Built target canLoader-console [ 32%] Built target canLoader [ 32%] Building CXX object src/tools/ethLoader/ethLoaderLib/CMakeFiles/ethLoaderLib.dir/EthUpdater.cpp.o /usr/local/src/robot/icub-main/src/tools/ethLoader/ethLoaderLib/EthUpdater.cpp: In member function ‘std::__cxx11::string EthUpdater::cmdGetMoreInfo(bool, ACE_UINT32)’: /usr/local/src/robot/icub-main/src/tools/ethLoader/ethLoaderLib/EthUpdater.cpp:169:13: error: ‘struct eOuprot_cmd_MOREINFO_t’ has no member named ‘filler’ command.filler[0] = EOUPROT_VALUE_OF_UNUSED_BYTE; ^ src/tools/ethLoader/ethLoaderLib/CMakeFiles/ethLoaderLib.dir/build.make:86: recipe for target 'src/tools/ethLoader/ethLoaderLib/CMakeFiles/ethLoaderLib.dir/EthUpdater.cpp.o' failed make[2]: [src/tools/ethLoader/ethLoaderLib/CMakeFiles/ethLoaderLib.dir/EthUpdater.cpp.o] Error 1 CMakeFiles/Makefile2:3055: recipe for target 'src/tools/ethLoader/ethLoaderLib/CMakeFiles/ethLoaderLib.dir/all' failed make[1]: [src/tools/ethLoader/ethLoaderLib/CMakeFiles/ethLoaderLib.dir/all] Error 2 Makefile:127: recipe for target 'all' failed make: *** [all] Error 2

pedrombmachado commented 7 years ago

Hi @valegagge , I managed to sort the error. However the main problem is remains. What should I do next?

++++++ Make log +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ icub@icubsrv:/usr/local/src/robot/icub-main/build$ make install [ 0%] Copying manager.py to /usr/local/src/robot/icub-main/build/bin/. [ 0%] Built target python-scripts [ 0%] Copying icub-cluster scripts to /usr/local/src/robot/icub-main/build/bin/. [ 0%] Built target cluster-scripts [ 0%] Built target iCubDev [ 3%] Built target ctrlLib [ 6%] Built target skinDynLib [ 8%] Built target iKin [ 10%] Built target iDyn [ 15%] Built target learningMachine [ 17%] Built target perceptiveModels [ 18%] Built target actionPrimitives [ 18%] Built target icubmod [ 19%] Built target cartesiancontrollerserver [ 20%] Built target cartesiancontrollerclient [ 21%] Built target gazecontrollerclient [ 22%] Built target optimization [ 23%] Built target emotionInterface [ 24%] Built target controlBoardDumper [ 24%] Built target simpleClient [ 25%] Built target testStereoMatch [ 26%] Built target fingersTuner [ 27%] Built target imuFilter [ 27%] Built target imageSplitter [ 27%] Built target trajectoryPlayer [ 28%] Built target imageBlender [ 29%] Built target imageCropper [ 31%] Built target canLoaderLib [ 32%] Built target canLoader-console [ 32%] Built target canLoader [ 35%] Built target ethLoaderLib [ 35%] Built target ethLoader [ 35%] Automatic moc for target QtICubSkinGuiPlugin [ 35%] Built target QtICubSkinGuiPlugin_automoc [ 39%] Built target QtICubSkinGuiPlugin [ 39%] Automatic moc for target iCubSkinGui-qt [ 39%] Built target iCubSkinGui-qt_automoc [ 40%] Built target iCubSkinGui-qt [ 40%] Automatic moc for target frameGrabberGui2-qt [ 40%] Built target frameGrabberGui2-qt_automoc [ 44%] Built target frameGrabberGui2-qt [ 44%] Automatic moc for target skinManagerGui-qt [ 44%] Built target skinManagerGui-qt_automoc [ 47%] Built target skinManagerGui-qt [ 51%] Built target iCubSkinGui-gtk [ 52%] Built target frameGrabberGui2-gtk [ 53%] Built target skinManagerGui-gtk [ 54%] Built target joystickCtrl [ 54%] Built target joystickCheck [ 54%] Built target focusTool [ 54%] Automatic moc for target iCubGui [ 54%] Built target iCubGui_automoc [ 58%] Built target iCubGui [ 59%] Built target stereoCalib [ 61%] Built target depth2kin [ 68%] Built target iCub_SIM [ 69%] Built target simFaceExpressions [ 70%] Built target ctpService [ 73%] Built target lmpredict [ 74%] Built target lmmerge [ 75%] Built target lmtest [ 79%] Built target lmtransform [ 82%] Built target lmtrain [ 82%] Built target cartesianInterfaceControl [ 83%] Built target positionDirectControl [ 84%] Built target velocityControl [ 85%] Built target velocityObserver [ 86%] Built target wholeBodyDynamics [ 87%] Built target gravityCompensator [ 88%] Built target skinManager [ 89%] Built target objectsPropertiesCollector [ 91%] Built target camCalib [ 93%] Built target camCalibWithPose [ 95%] Built target dualCamCalib [ 96%] Built target actionsRenderingEngine [ 96%] Built target motionCUT [ 97%] Built target templatePFTracker [ 98%] Built target lumaChroma [100%] Built target iKinGazeCtrl [100%] Built target iKinCartesianSolver Install the project... -- Install configuration: "Release" CMake Error at cmake_install.cmake:36 (file): file cannot create directory: /usr/local/share/iCub/plugins. Maybe need administrative privileges.

Makefile:61: recipe for target 'install' failed make: *** [install] Error 1 icub@icubsrv:/usr/local/src/robot/icub-main/build$ cd $ROBOT_CODE/icub-firmware-shared/build-pc104 icub@icubsrv:/usr/local/src/robot/icub-firmware-shared/build-pc104$ make installInstall the project... -- Install configuration: "" CMake Error at cmake_install.cmake:36 (file): file cannot create directory: /usr/local/lib/cmake/icub_firmware_shared. Maybe need administrative privileges.

Makefile:61: recipe for target 'install' failed make: *** [install] Error 1 icub@icubsrv:/usr/local/src/robot/icub-firmware-shared/build-pc104$ sudo make install [sudo] password for icub: Install the project... -- Install configuration: "" -- Installing: /usr/local/lib/cmake/icub_firmware_shared/icub_firmware_shared-config-version.cmake -- Installing: /usr/local/lib/cmake/icub_firmware_shared/icub_firmware_shared-config.cmake -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib/iCubCanProto_bootloaderMessages.h -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib/iCubCanProto_types.h -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib/iCubCanProto_skinMessages.h -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib/iCubCanProto_inertialSensorMessages.h -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib/iCubCanProto_motorControlMessages.h -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib/iCubCanProtocol.h -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib/iCubCanProto_classes.h -- Installing: /usr/local/include/icub-firmware-shared/canProtocolLib/iCubCanProto_analogSensorMessages.h -- Installing: /usr/local/include/icub-firmware-shared/embobj -- Installing: /usr/local/include/icub-firmware-shared/embobj/core -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheSystem.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheSystem.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifoWord.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOumlsm_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheCallbackManager.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONmutex_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtimer.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOlist_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheMemoryPool_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheErrorManager.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVmutex_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONmutex.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOdeque.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOarray.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtask.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheCallbackManager.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOaction.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheMemoryPool.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOvector.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtask.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONmutex.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifoWord_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOdeque.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheTimerManager.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOarray_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheSystem_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOpacket.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtask_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifo_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheTimerManager_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOpacket.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheSystem.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheErrorManager_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheMemoryPool.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOarray.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtask_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifoWord.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVmutex.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOumlsm.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheLEDpulser.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtimer_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtask.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheCallbackManager_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtask.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOlist.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifoByte.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOconstvector.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOconstarray_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOaction.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOvector_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOconstarray.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheSystem.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheSystem_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOconstvector_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOsm.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOpacket_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOconstarray.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheCallbackManager.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOvector.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOumlsm.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOconstvector.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EoCommon.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOlist.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EoCommon.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheTimerManager_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifoByte_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOsm.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifo.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtimer.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheErrorManager.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifoByte.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheTimerManager.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheTimerManager.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOfifo.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EONtheCallbackManager.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheLEDpulser_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOaction_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOsm_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOtheLEDpulser.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheCallbackManager_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/embOBJporting.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVmutex.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOVtheTimerManager.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/core/EOdeque_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec/yarp -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec/yarp/EOYmutex.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec/yarp/EOYtheSystem.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec/yarp/EOYtheSystem.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec/yarp/FeatureInterface.extract.cpp -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec/yarp/EOYmutex.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec/yarp/EOYtheSystem_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/core/exec/yarp/EOYmutex_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2 -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoManagement.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoBoards.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoAnalogSensors.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoDiagnostics.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoError.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoUpdaterProtocol.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoMeasures.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoUtilities.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoSkin.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoMotionControl.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoManagement.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoBoards.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoError.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoMotionControl.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoUpdaterProtocol.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/icub/EoAnalogSensors.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/opcprot -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/opcprot/OPCprotocolManager.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/opcprot/cfg -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/opcprot/cfg/OPCprotocolManager_Cfg.template.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/opcprot/cfg/OPCprotocolManager_Cfg.template.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/opcprot/OPCprotocolManager.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/opcprot/OPCprotocolManager_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOropframe.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtransceiver.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOproxy_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOhostTransceiver.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOreceiver.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOagent.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheParser.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOrop.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnvSet_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheBOARDtransceiver.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOreceiver_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheBOARDtransceiver_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOropframe.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOagent.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheFormer.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOconfirmationManager.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtransceiver_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOagent_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnvsetBRDbuilder_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOconfirmationManager.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOprotocolConfigurator_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOropframe_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOrop.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnvSet.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOproxy.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnv.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheParser.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOproxy.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtransceiver.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnvsetBRDbuilder.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheFormer_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOdeviceTransceiver_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOreceiver.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnvSet.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOdeviceTransceiver.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtransmitter_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheFormer.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOconfirmationManager_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnv.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheInfoDispatcher.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOhostTransceiver_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheParser_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtransmitter.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheInfoDispatcher_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtransmitter.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnv_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOhostTransceiver.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOdeviceTransceiver.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOnvsetBRDbuilder.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOrop_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOprotocolConfigurator.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheBOARDtransceiver.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOprotocolConfigurator.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/transport/EOtheInfoDispatcher.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolAS_fun.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolMN_rom.new.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolMC_fun.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolMN_rom.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolMN_fun.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolSK_rom.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolMC_rom.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolEPs.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolEPs.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolAS_rom.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolSK_fun.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolSK_rom.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolMN_rom.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocol.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolMC_rom.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolMN_fun.new.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/src/EoProtocolAS_rom.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/api -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/api/EoProtocolMN.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/api/EoProtocolSK.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/api/EoProtocol.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/api/EoProtocolMC.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/api/EoProtocolAS.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/cfg -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/cfg/EoProtocolMC_overridden_fun.template.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/cfg/EoProtocolAS_overridden_fun.template.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/cfg/EoProtocolMN_overridden_fun.template.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/comm-v2/protocol/cfg/EoProtocolSK_overridden_fun.template.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/utils -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/utils/eODeb_eoProtoParser.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/utils/eOtheEthLowLevelParser_hid.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/utils/eOtheEthLowLevelParser.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/utils/eOtheEthLowLevelParser.h -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/utils/eODeb_eoProtoParser.c -- Installing: /usr/local/include/icub-firmware-shared/embobj/plus/utils/eODeb_eoProtoParser_hid.h -- Installing: /usr/local/include/icub-firmware-shared/robotconfig -- Installing: /usr/local/include/icub-firmware-shared/robotconfig/v1 -- Installing: /usr/local/include/icub-firmware-shared/robotconfig/v1/backdoor -- Installing: /usr/local/include/icub-firmware-shared/robotconfig/v1/backdoor/OPCprotocolManager_Cfg.h -- Installing: /usr/local/include/icub-firmware-shared/robotconfig/v1/backdoor/OPCprotocolManager_Cfg.c ============== yarprobotinterface after update ===================================== iCub LIVE image for PC104 version 6.0-16.04.05 Based on jessie amd64 Build on 05-Apr-2016 icub@pc104's password:

The programs included with the Debian GNU/Linux system are free software; the exact distribution terms for each program are described in the individual files in /usr/share/doc/*/copyright.

Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent permitted by applicable law. Last login: Mon Feb 27 16:06:41 2017 from 10.0.0.1 Setting up yarp and iCub env vars icub@pc104:~$ yarprobotinterface ||| configuring ||| default config file specified as yarprobotinterface.ini ||| checking [/home/icub/yarprobotinterface.ini] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/yarprobotinterface.ini] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/yarprobotinterface.ini ||| finding file [config] ||| checking [/home/icub/./icub_all.xml] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml yarp: Port /log/pc104/yarprobotinterface/1601 active at tcp://10.0.0.2:10086 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./cartesian/left_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./cartesian/right_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/head-cfw2_can0-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/head-cfw2_can0-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/head-cfw2_can0-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/head-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/torso-ems5-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/torso-ems5-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/torso-ems5-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/torso-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_upper_arm-ems1-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_arm-ems1-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_upper_arm-ems1-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_lower_arm-ems2-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_lower_arm-ems2-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/left_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_upper_arm-ems3-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_lower_arm-ems4-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/right_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_upper_arm-ems1-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_arm-ems1-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_upper_arm-ems3-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_upper_leg-ems6-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_upper_leg-ems8-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_lower_leg-ems7-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_lower_leg-ems9-strain.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/left_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/right_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/left_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/right_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/torso-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/MAIS/left_hand-ems2-mais.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/MAIS/right_hand-ems4-mais.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_upper_leg-ems6-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_lower_leg-ems7-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/left_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_upper_leg-ems8-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_lower_leg-ems9-mec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/right_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/inertial.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/inertial.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/left_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skin.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skin.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skinSpec.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skinSpec.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/right_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/torso-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_arm-ems4-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_arm-ems4-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/left_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/right_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_leg-ems10-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems10-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_leg-ems10-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_leg-ems11-skin.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems11-eln.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_leg-ems11-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/left_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/right_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/left_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/right_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/torso-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/head-calib.xml [DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml yarp: Port /icub/yarprobotinterface active at tcp://10.0.0.2:10004 [INFO]startup phase starting... ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/plugins] (robot) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type left_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D 0.10774) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D 0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A 0.015) (D 0.15228) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A 0.023365) (D -0.1433) (alpha -90.0) (offset 105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D -0.02598) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10005 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10006 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10007 yarp: Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10008 yarp: Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10009 yarp: Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10010 yarp: Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10011 [INFO]created device . See C++ class ServerCartesianController for documentation. [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10012 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10013 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10014 yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10015 yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10016 yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10017 yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10018 [INFO]created device . See C++ class ServerCartesianController for documentation. [WARNING]Rotor: Using default value = 1 [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]jntVelMax: Using default jntVelMax=100 deg/s [WARNING]maxPosStep: Using default MaxPosStep=10 degs [WARNING]Rotor: Using default value = 1 [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]jntVelMax: Using default jntVelMax=100 deg/s [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]created device . See C++ class yarp::dev::Cfw2Can for documentation. printing destinations and inverted map 0 1 2 2 4 3 [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 Registering new thread 0 out of 500 [INFO] [INFO]** [INFO]iCubInterface CAN protocol: 1.6 [INFO]Firmware report: [INFO]cfw2can [0] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 2 can_address: 2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 3 can_address: 2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 4 can_address: 3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]cfw2can [0] joint: 5 can_address: 3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6 [INFO]** [INFO] [DEBUG]CanBusMotionControl::open returned true

[INFO]created device . See C++ class yarp::dev::CanBusMotionControl for documentation. [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10019 yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10020 yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10021 yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10022 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.5 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.5 [INFO] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1381s 865m 660u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB5 with IP 10.0.1.5 at 5 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB5 with IP 10.0.1.5 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device torso_mc [WARNING]Cannot open device torso_mc [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10024 yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10025 yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10026 yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10027 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.1 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.1 [INFO] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1382s 259m 252u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB1 with IP 10.0.1.1 at 5 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB1 with IP 10.0.1.1 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_upper_arm_mc [WARNING]Cannot open device left_upper_arm_mc [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.2 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.2 [INFO] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1382s 562m 770u: (code 0x00000034, par16 0x0001 par64 0x000000000000002a) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB2 with IP 10.0.1.2 at 3 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB2 with IP 10.0.1.2 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_lower_arm_mc [WARNING]Cannot open device left_lower_arm_mc [INFO]/icub/left_arm : no ROS initialization required [INFO]/icub/left_arm initting YARP initialization yarp: Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10028 yarp: Port /icub/left_arm/command:i active at tcp://10.0.0.2:10029 yarp: Port /icub/left_arm/state:o active at tcp://10.0.0.2:10030 yarp: Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10031 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.3 [INFO] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1382s 962m 942u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB3 with IP 10.0.1.3 at 5 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB3 with IP 10.0.1.3 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_arm_mc [WARNING]Cannot open device right_upper_arm_mc [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.4 [INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1383s 272m 159u: (code 0x00000034, par16 0x0001 par64 0x000000000000002a) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB4 with IP 10.0.1.4 at 3 ms [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB4 with IP 10.0.1.4 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_arm_mc [WARNING]Cannot open device right_lower_arm_mc [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10032 yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10033 yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10034 yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10035 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_arm/analog:o/rpc:i active at tcp://10.0.0.2:10036 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10037 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_leg/analog:o/rpc:i active at tcp://10.0.0.2:10038 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_leg/analog:o/rpc:i active at tcp://10.0.0.2:10039 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_foot/analog:o/rpc:i active at tcp://10.0.0.2:10040 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_foot/analog:o/rpc:i active at tcp://10.0.0.2:10041 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.1 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.1 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.1 [INFO]The embObjStrain device using BOARD EB1 w/ IP 10.0.1.1 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1383s 826m 982u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB1 with IP 10.0.1.1 at 5 ms [INFO] from BOARD 10.0.1.1 (EB1) @ 1383s 862m 215u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.1 (EB1) @ 1383s 862m 637u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO]The embObjStrain device using BOARD EB1 w/ IP 10.0.1.1 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.1 (EB1) @ 1383s 862m 780u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1383s 862m 899u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.3 [INFO]The embObjStrain device using BOARD EB3 w/ IP 10.0.1.3 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1384s 904m 342u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB3 with IP 10.0.1.3 at 5 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 1384s 940m 14u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.3 (EB3) @ 1384s 940m 436u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (EB3) @ 1384s 940m 579u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1384s 940m 698u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB3 w/ IP 10.0.1.3 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.6 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.6 [INFO]The embObjStrain device using BOARD EB6 w/ IP 10.0.1.6 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1385s 965m 868u: (code 0x00000034, par16 0x0001 par64 0x0000000000000010) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB6 with IP 10.0.1.6 at 5 ms [INFO] from BOARD 10.0.1.6 (EB6) @ 1386s 2m 680u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.6 (EB6) @ 1386s 3m 104u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO]The embObjStrain device using BOARD EB6 w/ IP 10.0.1.6 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.6 (EB6) @ 1386s 3m 246u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1386s 3m 365u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.8 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.8 [INFO]The embObjStrain device using BOARD EB8 w/ IP 10.0.1.8 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1387s 52m 593u: (code 0x00000034, par16 0x0001 par64 0x0000000000000010) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB8 with IP 10.0.1.8 at 5 ms [INFO] from BOARD 10.0.1.8 (EB8) @ 1387s 89m 246u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.8 (EB8) @ 1387s 89m 668u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO][The embObjStrain device using BOARD EB8 w/ IP 10.0.1.8 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) INFO] from BOARD 10.0.1.8 (EB8) @ 1387s 89m 811u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1387s 89m 930u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [DEBUG]cfw2can [0] thread ran 597 times, req.dT:10[ms], av.dT:10.07[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.7 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.7 [INFO]The embObjStrain device using BOARD EB7 w/ IP 10.0.1.7 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1388s 117m 17u: (code 0x00000034, par16 0x0001 par64 0x0000000000000010) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB7 with IP 10.0.1.7 at 5 ms [INFO] from BOARD 10.0.1.7 (EB7) @ 1388s 153m 767u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x0002) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.7 (EB7) @ 1388s 154m 185u: CAN discovery has detected a eobrd_strain board in CAN2 addr 1 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO]The embObjStrain device using BOARD EB7 w/ IP 10.0.1.7 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_l_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.7 (EB7) @ 1388s 154m 330u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1388s 154m 449u: (code 0x05000008, par16 0x0101 par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.9 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.9 [INFO]The embObjStrain device using BOARD EB9 w/ IP 10.0.1.9 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1389s 209m 742u: (code 0x00000034, par16 0x0001 par64 0x0000000000000010) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB9 with IP 10.0.1.9 at 5 ms [INFO] from BOARD 10.0.1.9 (EB9) @ 1389s 245m 593u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x0002) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.9 (EB9) @ 1389s 246m 13u: CAN discovery has detected a eobrd_strain board in CAN2 addr 1 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms [INFO] from BOARD 10.0.1.9 (EB9) @ 1389s 246m 159u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1389s 246m 278u: (code 0x05000008, par16 0x0101 par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]The embObjStrain device using BOARD EB9 w/ IP 10.0.1.9 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- useCalibration = true [INFO]- STRAIN named id_r_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO]created device . See C++ class yarp::dev::embObjStrain for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/left_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10042 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/right_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10043 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/left_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10044 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/right_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10045 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/icub/joint_vsens/torso:i") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10046 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10047 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]AnalogServer : no ROS initialization required yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10048 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. ||| finding paths [plugins] [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.2 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.2 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.2 [INFO]The embObjMais device using BOARD EB2 w/ IP 10.0.1.2 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- MAIS named id_l_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1390s 724m 800u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB2 with IP 10.0.1.2 at 3 ms [INFO] from BOARD 10.0.1.2 (EB2) @ 1390s 758m 995u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.2 (EB2) @ 1390s 760m 349u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 1 ms [INFO] from BOARD 10.0.1.2 (EB2) @ 1390s 760m 495u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1390s 760m 613u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjMais for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.4 [INFO]The embObjMais device using BOARD EB4 w/ IP 10.0.1.4 has the following service config: [INFO]- acquisitionrate = 10 [INFO]- MAIS named id_r_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1390s 826m 784u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB4 with IP 10.0.1.4 at 3 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 1390s 861m 14u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.4 (EB4) @ 1390s 862m 304u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 1390s 862m 450u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1390s 862m 568u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class yarp::dev::embObjMais for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB6 with IP 10.0.1.6 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_upper_leg_mc [WARNING]Cannot open device left_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB7 with IP 10.0.1.7 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_lower_leg_mc [WARNING]Cannot open device left_lower_leg_mc [INFO]/icub/left_leg : no ROS initialization required [INFO]/icub/left_leg initting YARP initialization yarp: Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10049 yarp: Port /icub/left_leg/command:i active at tcp://10.0.0.2:10050 yarp: Port /icub/left_leg/state:o active at tcp://10.0.0.2:10051 yarp: Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10052 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB8 with IP 10.0.1.8 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_leg_mc [WARNING]Cannot open device right_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [ERROR]EthResource::verifyEPprotocol() for ep = eoprot_endpoint_motioncontrol detected: pc104.version.minor = 16 and board.version.minor = 18 [ERROR]EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD EB9 with IP 10.0.1.9 for eoprot_endpoint_motioncontrol : FW upgrade is required yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_leg_mc [WARNING]Cannot open device right_lower_leg_mc [INFO]/icub/right_leg : no ROS initialization required [INFO]/icub/right_leg initting YARP initialization yarp: Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10053 yarp: Port /icub/right_leg/command:i active at tcp://10.0.0.2:10054 yarp: Port /icub/right_leg/state:o active at tcp://10.0.0.2:10055 yarp: Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10056 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. XSensMtX init check: device ok. [INFO]created device . See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10057 [INFO]Server Inertial : no ROS initialization required [INFO]Starting server Inertial thread [INFO]created wrapper . See C++ class yarp::dev::ServerInertial for documentation. [DEBUG]Writing an Inertial measurement. [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_hand : 0 191 0 191 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_forearm : 192 575 0 383 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_arm : 576 1343 0 767 yarp: Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10058 yarp: Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10059 yarp: Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10060 [INFO]created device . See C++ class skinWrapper for documentation. [INFO] from BOARD 10.0.1.2 (EB2) @ 1391s 458m 568u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.2 (EB2) @ 1391s 458m 724u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1391s 458m 873u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1391s 459m 499u: (code 0x0000000b, par16 0x0210 par64 0x005a001400050017) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1391s 465m 559u: (code 0x0000000d, par16 0x015c par64 0x0700001700400005) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1391s 474m 676u: (code 0x0000000d, par16 0x01ce par64 0x0700001700a90005) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10061 yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10062 yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10063 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10064 [INFO]created device . See C++ class skinWrapper for documentation. [WARNING]CanBusSkin id list contains more than one entry -> devices will be merged.
[INFO]created device . See C++ class yarp::dev::Cfw2Can for documentation. [INFO]Skin on can bus 9 uses NEW configuration version!!! yarp: Port /diagnostics/skin/errors:o active at tcp://10.0.0.2:10065 [INFO]created device . See C++ class CanBusSkin for documentation. [INFO] from BOARD 10.0.1.4 (EB4) @ 1392s 912m 506u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (EB4) @ 1392s 912m 663u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1392s 912m 812u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1392s 913m 438u: (code 0x0000000b, par16 0x0210 par64 0x0017001300050017) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1392s 919m 499u: (code 0x0000000d, par16 0x015e par64 0x0700001e00510005) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1392s 929m 611u: (code 0x0000000d, par16 0x01cd par64 0x0700005900ba0005) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_foot : 0 383 0 383 yarp: Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10066 yarp: Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10067 yarp: Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10068 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_foot : 0 383 0 383 [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None yarp: Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10069 yarp: Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10070 yarp: Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10071 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.10 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.10 [INFO] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 1393s 766m 934u: (code 0x00000034, par16 0x0001 par64 0x000000000000000c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB10 with IP 10.0.1.10 at 3 ms [INFO] from BOARD 10.0.1.10 (EB10) @ 1393s 800m 372u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.10 (EB10) @ 1393s 800m 530u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 1393s 800m 688u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.11 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP = 10.0.1.11 [INFO] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 1394s 371m 433u: (code 0x00000034, par16 0x0001 par64 0x000000000000000c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB11 with IP 10.0.1.11 at 3 ms [INFO] from BOARD 10.0.1.11 (EB11) @ 1394s 407m 304u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.11 (EB11) @ 1394s 407m 486u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 1394s 407m 657u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [WARNING]There was some problem opening one or more devices. Please check the log and your configuration [ERROR]One or more devices failed opening... see previous log messages for more info [INFO]Closing Server Inertial... [INFO]Server Intertial thread finished Segmentation fault

valegagge commented 7 years ago

Hi @pedrombmachado ,

I would notice you that you did 2 errors: 1) you had compiled on icubsrv and not on pc104. 2) you performed make install and not only make. In the link i sent you, there is written that is important don't run make install.

These two errors made a very dirty situation! Please, next time it would be better you read the instructions more carefully.

Now I help you to restore a clean situation.

First of all, you need to keep in mind that pc104 and icubsrv share source code, but they have different compilations because different applications run on pc104 and on icubsrv and because they have different cpu. For this reason there are two folders: build and build-pc104.

Now we are going to uninstall all. 1) on icubsrv: in folder icub-main/build run "make uninstall" (maybe sudo before) 2) in the same folder remove CMakeCache.txt 3) on icubsrv in folder icub-firmware-shared/build-pc104: run "sudo make uninstall" 4) in the same folder remove CMakeCache.txt

5) on pc104(ssh pc104) : if, in folder icub-main/build-pc104, you had run make install than run "make uninstall" and after remove file CMakeCache.txt. 6) on pc104 (ssh pc104) : if, in folder icub-firmware-shared/build-pc104, you had run make install than run "make uninstall" and after remove file CMakeCache.txt.

After these commands you should be in a clean situation both on icubsrv than on pc104.

Now we are going to compile applications:

On icubsrv: 1)move to icub-main/build folder 2) ccmake ../ 3) Hit 'c' to configure the project. 4) Select options: CMAKE_BUILD_TYPE to "Release" ENABLE_icubmod_cartesiancontrollerclient ON ENABLE_icubmod_cartesiancontrollerserver ON ENABLE_icubmod_gazecontrollerclient ON 5) make (and not make install!!!!)

on pc104: 1) move to icub-firmware-shared/build-pc104 2) ccmake ../ 3) Hit 'c' to configure the project. 4) Hit g to generate. 5) make 6)move to icub-main/build-pc104 folder 7) ccmake ../ 8) Hit 'c' to configure the project. 9) Select options: ENABLE_icubmod_dragonfly2 ENABLE_icubmod_skinWrapper ENABLE_icubmod_xsensmtx ENABLE_icubmod_embObjAnalogSensor ENABLE_icubmod_embObjMotionControl ENABLE_icubmod_embObjSkin ENABLE_icubmod_embObjVirtualAnalogSensor ENABLE_icubmod_parametricCalibratorEth ENABLE_icubmod_cartesiancontrollerclient ENABLE_icubmod_cartesiancontrollerserver ENABLE_icubmod_cfw2can ENABLE_icubmod_skinprototype ENABLE_icubmod_icubheadcalibratorV2

10) make

Now if you run yarprobotinterface all should be ok!

I hope this instructions can help you to make robot running! If you have any problem write me!

pedrombmachado commented 7 years ago

Hi @valegagge , Many thanks for your support. Sorry because I only saw the make install warning after having done the mistake. I managed to solve the the problem on the laptop (see the log). However I am having an error on the pc104. 1) First I cannot find the ccmake option ENABLE_icubmod_icubheadcalibratorV2. screenshot from 2017-02-28 10-23-28 2) After pressing g I get the following errors: screenshot from 2017-02-28 10-24-41 ++++++++++++++++++ icubsrv ++++++++++++++++++++++++ icub@icubsrv:/usr/local/src/robot/icub-main/build$ make Scanning dependencies of target python-scripts [ 0%] Copying manager.py to /usr/local/src/robot/icub-main/build/bin/. [ 0%] Built target python-scripts [ 0%] Copying icub-cluster scripts to /usr/local/src/robot/icub-main/build/bin/. [ 0%] Built target cluster-scripts [ 0%] Built target iCubDev [ 3%] Built target ctrlLib [ 5%] Built target skinDynLib [ 6%] Built target iKin [ 8%] Built target iDyn [ 12%] Built target learningMachine [ 14%] Built target perceptiveModels [ 14%] Built target actionPrimitives [ 14%] Built target icubmod Scanning dependencies of target cartesiancontrollerclient [ 14%] Building CXX object src/libraries/icubmod/cartesianController/CMakeFiles/cartesiancontrollerclient.dir/yarp_plugin_icubmod_cartesiancontrollerclient.cpp.o [ 14%] Building CXX object src/libraries/icubmod/cartesianController/CMakeFiles/cartesiancontrollerclient.dir/ClientCartesianController.cpp.o [ 15%] Linking CXX shared module ../../../../lib/iCub/cartesiancontrollerclient.so [ 15%] Built target cartesiancontrollerclient Scanning dependencies of target cartesiancontrollerserver [ 15%] Building CXX object src/libraries/icubmod/cartesianController/CMakeFiles/cartesiancontrollerserver.dir/yarp_plugin_icubmod_cartesiancontrollerserver.cpp.o [ 15%] Building CXX object src/libraries/icubmod/cartesianController/CMakeFiles/cartesiancontrollerserver.dir/ServerCartesianController.cpp.o [ 16%] Building CXX object src/libraries/icubmod/cartesianController/CMakeFiles/cartesiancontrollerserver.dir/SmithPredictor.cpp.o [ 16%] Linking CXX shared module ../../../../lib/iCub/cartesiancontrollerserver.so [ 16%] Built target cartesiancontrollerserver Scanning dependencies of target gazecontrollerclient [ 16%] Building CXX object src/libraries/icubmod/gazeController/CMakeFiles/gazecontrollerclient.dir/yarp_plugin_icubmod_gazecontrollerclient.cpp.o [ 16%] Building CXX object src/libraries/icubmod/gazeController/CMakeFiles/gazecontrollerclient.dir/ClientGazeController.cpp.o [ 17%] Linking CXX shared module ../../../../lib/iCub/gazecontrollerclient.so [ 17%] Built target gazecontrollerclient [ 18%] Built target optimization [ 19%] Linking CXX executable ../../../bin/emotionInterface [ 19%] Built target emotionInterface [ 19%] Linking CXX executable ../../../bin/controlBoardDumper [ 21%] Built target controlBoardDumper [ 22%] Linking CXX executable ../../../bin/simpleClient [ 22%] Built target simpleClient [ 22%] Linking CXX executable ../../../bin/testStereoMatch [ 23%] Built target testStereoMatch [ 23%] Linking CXX executable ../../../bin/fingersTuner [ 25%] Built target fingersTuner [ 25%] Linking CXX executable ../../../bin/imuFilter [ 25%] Built target imuFilter [ 25%] Linking CXX executable ../../../bin/imageSplitter [ 26%] Built target imageSplitter [ 27%] Linking CXX executable ../../../bin/trajectoryPlayer [ 27%] Built target trajectoryPlayer [ 27%] Linking CXX executable ../../../bin/imageBlender [ 28%] Built target imageBlender [ 28%] Linking CXX executable ../../../bin/imageCropper [ 29%] Built target imageCropper [ 30%] Built target canLoaderLib [ 31%] Linking CXX executable ../../../../bin/canLoader-console [ 31%] Built target canLoader-console [ 31%] Linking CXX executable ../../../../bin/canLoader [ 32%] Built target canLoader [ 33%] Built target ethLoaderLib [ 33%] Linking CXX executable ../../../../bin/ethLoader [ 34%] Built target ethLoader [ 35%] Automatic moc for target QtICubSkinGuiPlugin [ 35%] Built target QtICubSkinGuiPlugin_automoc [ 35%] Linking CXX shared module ../../../../lib/qt5/qml/robotology/icub/skingui/libQtICubSkinGuiPlugin.so [ 38%] Built target QtICubSkinGuiPlugin [ 38%] Automatic moc for target iCubSkinGui-qt [ 38%] Built target iCubSkinGui-qt_automoc [ 38%] Linking CXX executable ../../../../bin/iCubSkinGui [ 40%] Built target iCubSkinGui-qt [ 40%] Automatic moc for target frameGrabberGui2-qt [ 40%] Built target frameGrabberGui2-qt_automoc [ 41%] Linking CXX executable ../../../bin/frameGrabberGui2 [ 44%] Built target frameGrabberGui2-qt [ 44%] Automatic moc for target skinManagerGui-qt [ 44%] Built target skinManagerGui-qt_automoc [ 44%] Linking CXX executable ../../../bin/skinManagerGui [ 47%] Built target skinManagerGui-qt [ 47%] Linking CXX executable ../../../bin/iCubSkinGui-gtk [ 50%] Built target iCubSkinGui-gtk [ 50%] Linking CXX executable ../../../bin/frameGrabberGui2-gtk [ 51%] Built target frameGrabberGui2-gtk [ 51%] Linking CXX executable ../../../bin/skinManagerGui-gtk [ 52%] Built target skinManagerGui-gtk [ 53%] Linking CXX executable ../../../bin/joystickCtrl [ 53%] Built target joystickCtrl [ 53%] Linking CXX executable ../../../bin/joystickCheck [ 54%] Built target joystickCheck [ 54%] Linking CXX executable ../../../bin/focusTool [ 54%] Built target focusTool [ 54%] Automatic moc for target iCubGui [ 54%] Built target iCubGui_automoc [ 55%] Linking CXX executable ../../../../bin/iCubGui [ 58%] Built target iCubGui [ 58%] Linking CXX executable ../../../bin/stereoCalib [ 59%] Built target stereoCalib [ 59%] Linking CXX executable ../../../bin/depth2kin [ 61%] Built target depth2kin [ 61%] Linking CXX executable ../../../bin/iCub_SIM [ 67%] Built target iCub_SIM [ 67%] Linking CXX executable ../../../bin/simFaceExpressions [ 68%] Built target simFaceExpressions [ 68%] Linking CXX executable ../../../bin/ctpService [ 68%] Built target ctpService [ 68%] Linking CXX executable ../../../bin/lmtrain [ 71%] Built target lmtrain [ 71%] Linking CXX executable ../../../bin/lmtransform [ 75%] Built target lmtransform [ 76%] Linking CXX executable ../../../bin/lmtest [ 76%] Built target lmtest [ 77%] Linking CXX executable ../../../bin/lmmerge [ 77%] Built target lmmerge [ 77%] Linking CXX executable ../../../bin/lmpredict [ 80%] Built target lmpredict [ 80%] Linking CXX executable ../../../bin/cartesianInterfaceControl [ 81%] Built target cartesianInterfaceControl [ 82%] Linking CXX executable ../../../bin/positionDirectControl [ 82%] Built target positionDirectControl [ 83%] Linking CXX executable ../../../bin/velocityControl [ 83%] Built target velocityControl [ 83%] Linking CXX executable ../../../bin/velocityObserver [ 84%] Built target velocityObserver [ 84%] Linking CXX executable ../../../bin/wholeBodyDynamics [ 85%] Built target wholeBodyDynamics [ 86%] Linking CXX executable ../../../bin/gravityCompensator [ 86%] Built target gravityCompensator [ 86%] Linking CXX executable ../../../bin/skinManager [ 87%] Built target skinManager [ 87%] Linking CXX executable ../../../bin/objectsPropertiesCollector [ 88%] Built target objectsPropertiesCollector [ 88%] Linking CXX executable ../../../bin/camCalib [ 89%] Built target camCalib [ 89%] Linking CXX executable ../../../bin/camCalibWithPose [ 91%] Built target camCalibWithPose [ 91%] Linking CXX executable ../../../bin/dualCamCalib [ 93%] Built target dualCamCalib [ 93%] Linking CXX executable ../../../bin/actionsRenderingEngine [ 95%] Built target actionsRenderingEngine [ 95%] Linking CXX executable ../../../bin/motionCUT [ 95%] Built target motionCUT [ 95%] Linking CXX executable ../../../bin/templatePFTracker [ 96%] Built target templatePFTracker [ 97%] Linking CXX executable ../../../bin/lumaChroma [ 97%] Built target lumaChroma [ 98%] Linking CXX executable ../../../bin/iKinGazeCtrl [ 99%] Built target iKinGazeCtrl [ 99%] Linking CXX executable ../../../bin/iKinCartesianSolver [100%] Built target iKinCartesianSolver

valegagge commented 7 years ago

hi @pedrombmachado ! for the first error: i'm sorry the flag ENABLE_icubmod_icubheadcalibratorV2 doesn't exist anymore. So for this reason you could not find it. So you can conitue ignoring it.

For the second error, you need to go to $YARP_ROOT and run "git pull --rebase". The cmake error tells you that YARP is not updated, so you need to update it with the command above. After updating, you need to compile it both on icubsrv and pc104. this mean: 1) on icubsrv: cd $YARP_DIR; cmake ..; make 2) on pc104: cd $YARP_DIR; cmake ..; make.

Since icub stuff depends on yarp, you need to recompile icub both on icubsrv and pc104. Use instructions of previous post to compile icub.

marcoaccame commented 7 years ago

Dear @pedrombmachado (cc @valegagge), in reference to https://github.com/robotology/QA/issues/190, I would like to point out the following.

The content of your post in QA is:

Dear all,
I am trying to upgrade the CAN FW update on iCub 2.5 (Eth base). I am able to connect to see 
CAN 1 and CAN 2.  However I am not sure where to find the FW for each one one of CAN 1 and 2. 
I have updated CAN1 with the EMS.hex. and I got the following:
[DEBUG] BUS:id type version
[DEBUG] CAN1:4 8 2.1.-1
[DEBUG] CAN1:1 8 2.1.-1
[DEBUG] CAN1:2 8 2.1.-1
[DEBUG] CAN1:3 8 2.1.-1
[DEBUG] CAN2:13 6 3.0.4
However the version is lower. I think the type is now correct, but I lost the S/N of strain 
and it now says PROTOCOL N/A.
Therefore, I may be using the wrong FW version. should I use MCP2PLUS and/or MCP4PLUS? 
If so what file is to be downloaded to CAN1 and CAN2?
Many thanks in advance.
Pedro

It tells me that the FOC boards in CAN1 are running the bootloader and that the STRAIN board in CAN2 is running the application. You should read this information more easily from the GUI of the canLoader.

You also wrote: I have updated CAN1 with the EMS.hex.

From the above information, I suspect that you have uploaded into the FOC boards the wrong FW and now the FOC boards are stuck into the bootloader, hence cannot control the motors. Which motors, I cannot tell because you did not write the IP address of the EMS.

Thus, before running yarprobotinterface you should ask for support in checking the status of the CAN FW, at least of the boards which you have attempted re-programming.

pedrombmachado commented 7 years ago

Hi @valegagge, Many thanks for your help. I was able to run make without errors on the icubserv, however I got the following error on the pc104 when I attempt to run cmake. +++++++++++++++++++ PC104 +++++++++++++++++++++++++++++++++++++++++++++++ icub@pc104:/usr/local/src/robot/icub-main/build-pc104$ cd $YARP_DIR icub@pc104:/usr/local/src/robot/yarp/build-pc104$ cmake .. -- YARP Version: 2.3.68 (2.3.68+198-20170228.4+git3483cd3) -- Looking for C++ include cstddef -- Looking for C++ include cstddef - found -- Performing Test CXX_HAS_WHEADER_GUARD -- Performing Test CXX_HAS_WHEADER_GUARD - Failed -- Performing Test CXX_HAS_WIGNORED_ATTRIBUTES -- Performing Test CXX_HAS_WIGNORED_ATTRIBUTES - Failed -- Performing Test CXX_HAS_WNEWLINE_EOF -- Performing Test CXX_HAS_WNEWLINE_EOF - Failed -- Performing Test CXX_HAS_WDANGLING_ELSE -- Performing Test CXX_HAS_WDANGLING_ELSE - Failed -- Performing Test CXX_HAS_WGCC_COMPAT -- Performing Test CXX_HAS_WGCC_COMPAT - Failed -- Performing Test CXX_HAS_WMICROSOFT_EXISTS -- Performing Test CXX_HAS_WMICROSOFT_EXISTS - Failed -- Performing Test CXX_HAS_WSTATIC_INLINE_EXPLICIT_INSTANTIATION -- Performing Test CXX_HAS_WSTATIC_INLINE_EXPLICIT_INSTANTIATION - Failed -- Performing Test CXX_HAS_WMISLEADING_INDENTATION -- Performing Test CXX_HAS_WMISLEADING_INDENTATION - Failed -- Performing Test CXX_HAS_WC98_COMPAT -- Performing Test CXX_HAS_WC__98_COMPAT - Failed -- Performing Test CXX_HAS_WC98_COMPAT_PEDANTIC -- Performing Test CXX_HAS_WC__98_COMPAT_PEDANTIC - Failed -- Performing Test CXX_HAS_STD_CXX98 -- Performing Test CXX_HAS_STD_CXX98 - Success -- Performing Test CXX_HAS_STD_CXX14 -- Performing Test CXX_HAS_STD_CXX14 - Success -- Performing Test CXX_HAS_STD_CXX17 -- Performing Test CXX_HAS_STD_CXX17 - Failed -- Performing Test CXX_HAS_STD_CXX1Z -- Performing Test CXX_HAS_STD_CXX1Z - Failed -- Performing Test CXX_HAS_WERROR -- Performing Test CXX_HAS_WERROR - Success -- Performing Test CXX_HAS_WFATAL_ERROR -- Performing Test CXX_HAS_WFATAL_ERROR - Success CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "CREATE_SHARED_LIBRARY" is deprecated in favour of "BUILD_SHARED_LIBS". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) cmake/YarpOptions.cmake:111 (yarp_renamed_option) CMakeLists.txt:54 (include)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "YARP_CLEAN_API" is deprecated. Removing old cache entry. Call Stack (most recent call first): cmake/YarpDeprecatedOption.cmake:10 (yarp_deprecated_warning) cmake/YarpOptions.cmake:252 (yarp_deprecated_option) CMakeLists.txt:54 (include)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "CREATE_YARPBUILDER" is deprecated. Removing old cache entry. Call Stack (most recent call first): cmake/YarpDeprecatedOption.cmake:10 (yarp_deprecated_warning) cmake/YarpFindDependencies.cmake:272 (yarp_deprecated_option) CMakeLists.txt:62 (include)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "CREATE_YARPMANAGER_PP" is deprecated. Removing old cache entry. Call Stack (most recent call first): cmake/YarpDeprecatedOption.cmake:10 (yarp_deprecated_warning) cmake/YarpFindDependencies.cmake:273 (yarp_deprecated_option) CMakeLists.txt:62 (include)

-- Detecting required libraries -- CMake modules directory: /usr/local/src/robot/yarp/cmake;/usr/local/src/robot/yarp/cmake/ycm-0.2/find-modules;/usr/local/src/robot/yarp/cmake/ycm-0.2/modules;/usr/local/src/robot/yarp/cmake/ycm-0.2/3rdparty;/usr/local/src/robot/yarp/cmake/ycm-0.2/cmake-next;/usr/local/src/robot/yarp/cmake/ycm-0.2/cmake-3.1/Modules -- Checking GNUCXX version 3/4 to determine OpenCV /opt/net/ path -- OPENCV_LIBRARY not found turning off OPENCV_FOUND -- OPENCV_CVAUX_LIBRARY not found turning off OPENCV_FOUND -- OPENCV library or headers not found. Please search manually or set env. variable OPENCV_ROOT to guide search. -- Looking for include file pthread.h -- Looking for include file pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE
-- I have found the following libraries: -- --- YCM: not found -- +++ ACE: found (/usr/lib/libACE.so) -- +++ SQLite: compiling (not found) -- --- Eigen3: not found -- --- GSL: disabled -- +++ TinyXML (>= 2.6): found (/usr/lib/x86_64-linux-gnu/libtinyxml.so) -- +++ xmlrpcpp: compiling (not found) -- +++ Qt5: found (/usr/lib/x86_64-linux-gnu/cmake/Qt5) -- +++ QCustomPlot: compiling (not found) -- --- Libedit: not found -- --- SWIG: disabled -- --- OpenCV: not found -- +++ Lua: found (/usr/lib/x86_64-linux-gnu/liblua5.2.so) -- --- LibOVR: not found -- --- GLFW3: not found -- --- GLEW: not found -- +++ Libdc1394 (>= 2.0): found (/usr/lib/x86_64-linux-gnu/libdc1394.so) -- +++ JPEG: found (/usr/lib/x86_64-linux-gnu/libjpeg.so) -- --- MPI: not found -- --- FTDI: not found -- --- CUDA: not found -- +++ FFMPEG: found (/usr/lib/x86_64-linux-gnu/libavformat.so) -- --- wxWidgets: not found -- --- SDL: not found -- +++ PortAudio: found (/usr/lib/x86_64-linux-gnu/libportaudio.so) -- --- NVIDIACg: not found -- --- Libusb1: not found -- --- Stage: not found CMake Error at cmake/YarpFindDependencies.cmake:192 (message): Optional package Eigen3 not found. Please install it or enable the option "CREATE_LIB_MATH_USING_GSL" to build yarp. Call Stack (most recent call first): cmake/YarpFindDependencies.cmake:464 (check_skip_dependency) CMakeLists.txt:62 (include)

-- Configuring incomplete, errors occurred! See also "/usr/local/src/robot/yarp/build-pc104/CMakeFiles/CMakeOutput.log". See also "/usr/local/src/robot/yarp/build-pc104/CMakeFiles/CMakeError.log". +++++++++++++++++ icubserv log +++++++++++++++++++++++++++++++++ icub@icubsrv:/usr/local/src/robot/yarp$ cd $YARP_DIR icub@icubsrv:/usr/local/src/robot/yarp/build$ cmake .. -- YARP Version: 2.3.68 (2.3.68+198-20170228.4+git3483cd3) -- Looking for C++ include cstddef -- Looking for C++ include cstddef - found -- Performing Test CXX_HAS_WHEADER_GUARD -- Performing Test CXX_HAS_WHEADER_GUARD - Failed -- Performing Test CXX_HAS_WIGNORED_ATTRIBUTES -- Performing Test CXX_HAS_WIGNORED_ATTRIBUTES - Failed -- Performing Test CXX_HAS_WNEWLINE_EOF -- Performing Test CXX_HAS_WNEWLINE_EOF - Failed -- Performing Test CXX_HAS_WDANGLING_ELSE -- Performing Test CXX_HAS_WDANGLING_ELSE - Failed -- Performing Test CXX_HAS_WGCC_COMPAT -- Performing Test CXX_HAS_WGCC_COMPAT - Failed -- Performing Test CXX_HAS_WMICROSOFT_EXISTS -- Performing Test CXX_HAS_WMICROSOFT_EXISTS - Failed -- Performing Test CXX_HAS_WSTATIC_INLINE_EXPLICIT_INSTANTIATION -- Performing Test CXX_HAS_WSTATIC_INLINE_EXPLICIT_INSTANTIATION - Failed -- Performing Test CXX_HAS_WMISLEADING_INDENTATION -- Performing Test CXX_HAS_WMISLEADING_INDENTATION - Failed -- Performing Test CXX_HAS_WC98_COMPAT -- Performing Test CXX_HAS_WC__98_COMPAT - Failed -- Performing Test CXX_HAS_WC98_COMPAT_PEDANTIC -- Performing Test CXX_HAS_WC__98_COMPAT_PEDANTIC - Failed -- Performing Test CXX_HAS_STD_CXX98 -- Performing Test CXX_HAS_STD_CXX98 - Success -- Performing Test CXX_HAS_STD_CXX14 -- Performing Test CXX_HAS_STD_CXX14 - Success -- Performing Test CXX_HAS_STD_CXX17 -- Performing Test CXX_HAS_STD_CXX17 - Success -- Performing Test CXX_HAS_STD_CXX1Z -- Performing Test CXX_HAS_STD_CXX1Z - Success -- Performing Test CXX_HAS_WERROR -- Performing Test CXX_HAS_WERROR - Success -- Performing Test CXX_HAS_WFATAL_ERROR -- Performing Test CXX_HAS_WFATAL_ERROR - Success CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "CREATE_SHARED_LIBRARY" is deprecated in favour of "BUILD_SHARED_LIBS". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) cmake/YarpOptions.cmake:111 (yarp_renamed_option) CMakeLists.txt:54 (include)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "YARP_CLEAN_API" is deprecated. Removing old cache entry. Call Stack (most recent call first): cmake/YarpDeprecatedOption.cmake:10 (yarp_deprecated_warning) cmake/YarpOptions.cmake:252 (yarp_deprecated_option) CMakeLists.txt:54 (include)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "CREATE_YARPBUILDER" is deprecated. Removing old cache entry. Call Stack (most recent call first): cmake/YarpDeprecatedOption.cmake:10 (yarp_deprecated_warning) cmake/YarpFindDependencies.cmake:272 (yarp_deprecated_option) CMakeLists.txt:62 (include)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "CREATE_YARPMANAGER_PP" is deprecated. Removing old cache entry. Call Stack (most recent call first): cmake/YarpDeprecatedOption.cmake:10 (yarp_deprecated_warning) cmake/YarpFindDependencies.cmake:273 (yarp_deprecated_option) CMakeLists.txt:62 (include)

-- Detecting required libraries -- CMake modules directory: /usr/local/src/robot/yarp/cmake;/usr/local/src/robot/yarp/cmake/ycm-0.2/find-modules;/usr/local/src/robot/yarp/cmake/ycm-0.2/modules;/usr/local/src/robot/yarp/cmake/ycm-0.2/3rdparty;/usr/local/src/robot/yarp/cmake/ycm-0.2/cmake-next -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE
-- I have found the following libraries: -- --- YCM: not found -- +++ ACE: found (/usr/lib/libACE.so) -- +++ SQLite: found (/usr/lib/x86_64-linux-gnu/libsqlite3.so) -- +++ Eigen3: found (/usr/include/eigen3) -- --- GSL: disabled -- +++ TinyXML (>= 2.6): found (/usr/lib/x86_64-linux-gnu/libtinyxml.so) -- +++ xmlrpcpp: compiling (not found) -- +++ Qt5: found (/usr/lib/x86_64-linux-gnu/cmake/Qt5) -- +++ QCustomPlot: compiling (not found) -- +++ Libedit: found (/usr/lib/x86_64-linux-gnu/libedit.so) -- --- SWIG: disabled -- +++ OpenCV: found (/usr/share/OpenCV) -- --- Lua: not found -- --- LibOVR: not found -- --- GLFW3: not found -- --- GLEW: not found -- +++ Libdc1394 (>= 2.0): found (/usr/lib/x86_64-linux-gnu/libdc1394.so) -- +++ JPEG: found (/usr/lib/x86_64-linux-gnu/libjpeg.so) -- +++ MPI: found (/usr/lib/openmpi/lib/libmpi_cxx.so) -- --- FTDI: not found -- --- CUDA: not found -- +++ FFMPEG: found (/usr/lib/x86_64-linux-gnu/libavformat.so) -- --- wxWidgets: not found -- +++ SDL: found (/usr/lib/x86_64-linux-gnu/libSDLmain.a;/usr/lib/x86_64-linux-gnu/libSDL.so;-lpthread) -- --- PortAudio: not found -- --- NVIDIACg: not found -- +++ Libusb1: found (/usr/lib/x86_64-linux-gnu/libusb-1.0.so) -- --- Stage: not found -- YARP_math selected for compilation -- GUIs selected for compilation -- generated /usr/local/src/robot/yarp/build/generated_include/yarp/conf/version.h -- generated /usr/local/src/robot/yarp/build/generated_include/yarp/conf/system.h -- generated /usr/local/src/robot/yarp/build/generated_include/yarp/conf/options.h -- generated /usr/local/src/robot/yarp/build/generated_include/yarp/conf/api.h -- generated /usr/local/src/robot/yarp/build/generated_include/yarp/conf/numeric.h -- starting plugin library: yarpmod -- --- plugin yarpmod_cuda: disabled -- --- plugin yarpmod_depthCamera: disabled -- --- plugin yarpmod_fakebot: disabled -- --- plugin yarpmod_fakeMotionControl: disabled -- --- plugin yarpmod_fakeAnalogSensor: disabled -- --- plugin yarpmod_fakeIMU: disabled -- --- plugin yarpmod_nvidia: disabled -- --- plugin yarpmod_stage: disabled -- --- plugin yarpmod_vfw_grabber: disabled -- --- plugin yarpmod_wxsdl: disabled -- --- plugin yarpmod_SerialServoBoard: disabled -- --- plugin yarpmod_ffmpeg_grabber: disabled -- --- plugin yarpmod_ffmpeg_writer: disabled -- --- plugin yarpmod_opencv_grabber: disabled -- --- plugin yarpmod_serial: disabled -- --- plugin yarpmod_serialport: disabled -- --- plugin yarpmod_portaudio: disabled -- --- plugin yarpmod_imuBosch_BNO055: disabled -- --- plugin yarpmod_jrkerr: disabled -- --- plugin yarpmod_urbtc: disabled -- --- plugin yarpmod_dynamixelAX12Ftdi: disabled -- --- plugin yarpmod_fakeLaser: disabled -- --- plugin yarpmod_laserFromDepth: disabled -- --- plugin yarpmod_rpLidar: disabled -- --- plugin yarpmod_laserHokuyo: disabled -- --- plugin yarpmod_KinectDeviceLocal: disabled -- --- plugin yarpmod_KinectDeviceClient: disabled -- --- plugin yarpmod_OpenNI2DeviceServer: disabled -- --- plugin yarpmod_OpenNI2DeviceClient: disabled -- --- plugin yarpmod_ovrheadset: disabled -- --- plugin yarpmod_pumacalibrator: disabled -- --- plugin yarpmod_meiMotionControl: disabled -- --- plugin yarpmod_microphone: disabled -- ending plugin library: yarpmod -- starting plugin library: yarpcar -- --- plugin yarpcar_human: disabled -- --- plugin yarpcar_mpi: disabled -- --- plugin yarpcar_mpibcast: disabled -- +++ plugin yarpcar_xmlrpc: enabled -- +++ plugin yarpcar_tcpros: enabled -- +++ plugin yarpcar_rossrv: enabled -- --- plugin yarpcar_mjpeg: disabled -- +++ plugin yarpcar_bayer: enabled -- +++ plugin yarpcar_priority: enabled -- +++ plugin yarpcar_portmonitor: enabled -- --- plugin yarpcar_depthimage: disabled -- ending plugin library: yarpcar CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_bayer_carrier" is deprecated in favour of "ENABLE_yarpcar_bayer". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:34 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_human_carrier" is deprecated in favour of "ENABLE_yarpcar_human". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:35 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_mjpeg_carrier" is deprecated in favour of "ENABLE_yarpcar_mjpeg". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:36 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_mpi_carrier" is deprecated in favour of "ENABLE_yarpcar_mpi". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:37 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_mpibcast_carrier" is deprecated in favour of "ENABLE_yarpcar_mpibcast". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:38 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_portmonitor_carrier" is deprecated in favour of "ENABLE_yarpcar_portmonitor". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:39 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_priority_carrier" is deprecated in favour of "ENABLE_yarpcar_priority". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:40 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_tcpros_carrier" is deprecated in favour of "ENABLE_yarpcar_tcpros". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:41 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_rossrv_carrier" is deprecated in favour of "ENABLE_yarpcar_rossrv". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:42 (yarp_renamed_option)

CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "ENABLE_yarpcar_xmlrpc_carrier" is deprecated in favour of "ENABLE_yarpcar_xmlrpc". Updating new cache entry. Call Stack (most recent call first): cmake/YarpRenamedOption.cmake:10 (yarp_deprecated_warning) src/carriers/CMakeLists.txt:43 (yarp_renamed_option)

-- Deleted: "/usr/local/src/robot/yarp/build/bin/yarpdatadumperAppGenerator.py" CMake Warning at cmake/YarpDeprecatedWarning.cmake:7 (message): "YARP_USE_PERSISTENT_NAMESERVER" is deprecated. Removing old cache entry. Call Stack (most recent call first): cmake/YarpDeprecatedOption.cmake:10 (yarp_deprecated_warning) src/CMakeLists.txt:68 (yarp_deprecated_option)

-- In-tree includes: /usr/local/src/robot/yarp/build/generated_include;/usr/local/src/robot/yarp/src/libYARP_OS/include;/usr/local/src/robot/yarp/src/libYARP_sig/include;/usr/local/src/robot/yarp/src/libYARP_eigen/include;/usr/local/src/robot/yarp/src/libYARP_gsl/include;/usr/local/src/robot/yarp/src/libYARP_math/include;/usr/local/src/robot/yarp/src/libYARP_dev/include;/usr/local/src/robot/yarp/src/libYARP_name/include;/usr/local/src/robot/yarp/src/libYARP_manager/include;/usr/local/src/robot/yarp/src/libYARP_logger/include -- YARP libraries: YARP_priv_qcustomplot;YARP_priv_xmlrpcpp;YARP_OS;YARP_sig;YARP_gsl;YARP_math;YARP_dev;YARP_name;YARP_serversql;YARP_manager;YARP_logger;YARP_wire_rep_utils;YARP_init -- YARP Version: 2.3.68 (2.3.68+198-20170228.4+git3483cd3) -- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) -- Configuring done -- Generating done -- Build files have been written to: /usr/local/src/robot/yarp/build icub@icubsrv:/usr/local/src/robot/yarp/build$ make [ 0%] Automatic moc for target YARP_priv_qcustomplot Generating moc_qcustomplot.cpp [ 0%] Built target YARP_priv_qcustomplot_automoc Scanning dependencies of target YARP_priv_qcustomplot [ 1%] Building CXX object extern/qcustomplot/CMakeFiles/YARP_priv_qcustomplot.dir/qcustomplot/qcustomplot.cpp.o [ 1%] Building CXX object extern/qcustomplot/CMakeFiles/YARP_priv_qcustomplot.dir/YARP_priv_qcustomplot_automoc.cpp.o [ 1%] Linking CXX static library ../../lib/libYARP_priv_qcustomplot.a [ 1%] Built target YARP_priv_qcustomplot Scanning dependencies of target YARP_priv_xmlrpcpp [ 1%] Building CXX object extern/xmlrpcpp/CMakeFiles/YARP_priv_xmlrpcpp.dir/xmlrpcpp/src/base64.cpp.o [ 2%] Building CXX object extern/xmlrpcpp/CMakeFiles/YARP_priv_xmlrpcpp.dir/xmlrpcpp/src/XmlRpcClient.cpp.o [ 2%] Building CXX object extern/xmlrpcpp/CMakeFiles/YARP_priv_xmlrpcpp.dir/xmlrpcpp/src/XmlRpcServerConnection.cpp.o [ 2%] Building CXX object extern/xmlrpcpp/CMakeFiles/YARP_priv_xmlrpcpp.dir/xmlrpcpp/src/XmlRpcServer.cpp.o [ 2%] Building CXX object extern/xmlrpcpp/CMakeFiles/YARP_priv_xmlrpcpp.dir/xmlrpcpp/src/XmlRpcServerMethod.cpp.o [ 2%] Building CXX object extern/xmlrpcpp/CMakeFiles/YARP_priv_xmlrpcpp.dir/xmlrpcpp/src/XmlRpcSource.cpp.o [ 3%] Building CXX object extern/xmlrpcpp/CMakeFiles/YARP_priv_xmlrpcpp.dir/xmlrpcpp/src/XmlRpcUtil.cpp.o [ 3%] Building CXX object extern/xmlrpcpp/CMakeFiles/YARP_priv_xmlrpcpp.dir/xmlrpcpp/src/XmlRpcValue.cpp.o [ 3%] Linking CXX static library ../../lib/libYARP_priv_xmlrpcpp.a [ 3%] Built target YARP_priv_xmlrpcpp Scanning dependencies of target YARP_OS [ 3%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/AbstractCarrier.cpp.o [ 3%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/AuthHMAC.cpp.o [ 4%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Bottle.cpp.o [ 4%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/BottleImpl.cpp.o [ 4%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/BufferedConnectionWriter.cpp.o [ 4%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Bytes.cpp.o [ 4%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Carriers.cpp.o [ 5%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Companion.cpp.o [ 5%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/ConnectionReader.cpp.o [ 5%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/ConnectionWriter.cpp.o [ 5%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/ConstString.cpp.o [ 5%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Contactable.cpp.o [ 6%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Contact.cpp.o [ 6%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/ContactStyle.cpp.o [ 6%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/DgramTwoWayStream.cpp.o [ 6%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Dispatcher.cpp.o [ 6%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/DummyConnector.cpp.o [ 7%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Election.cpp.o [ 7%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Event.cpp.o [ 7%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/FakeFace.cpp.o [ 7%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/FallbackNameClient.cpp.o [ 7%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/FallbackNameServer.cpp.o [ 8%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/HttpCarrier.cpp.o [ 8%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/IConfig.cpp.o [ 8%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/InputStream.cpp.o [ 8%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/LocalCarrier.cpp.o [ 8%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Log.cpp.o [ 9%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Logger.cpp.o [ 9%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/LogForwarder.cpp.o [ 9%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/ManagedBytes.cpp.o [ 9%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/MessageStack.cpp.o [ 9%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/ModifyingCarrier.cpp.o [ 10%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/MultiNameSpace.cpp.o [ 10%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Mutex.cpp.o [ 10%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/NameClient.cpp.o [ 10%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/NameConfig.cpp.o [ 10%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/Name.cpp.o [ 11%] Building CXX object src/libYARP_OS/CMakeFiles/YARP_OS.dir/src/NameserCarrier.cpp.o [ 11%] Building CXX object 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src/libYARP_dev/CMakeFiles/YARP_dev.dir/src/devices/ControlBoardWrapper/StreamingMessagesParser.cpp.o [ 46%] Building CXX object src/libYARP_dev/CMakeFiles/YARP_dev.dir/src/devices/ControlBoardWrapper/SubDevice.cpp.o [ 46%] Building CXX object src/libYARP_dev/CMakeFiles/YARP_dev.dir/src/devices/RemoteControlBoard/RemoteControlBoard.cpp.o [ 47%] Building CXX object src/libYARP_dev/CMakeFiles/YARP_dev.dir/src/devices/RemoteControlBoard/stateExtendedReader.cpp.o [ 47%] Building CXX object src/libYARP_dev/CMakeFiles/YARP_dev.dir/src/devices/ServerInertial/ServerInertial.cpp.o [ 47%] Building CXX object src/libYARP_dev/CMakeFiles/YARP_dev.dir/src/devices/RGBDSensorClient/RGBDSensorClient.cpp.o [ 47%] Building CXX object src/libYARP_dev/CMakeFiles/YARP_dev.dir/src/devices/RGBDSensorClient/RGBDSensorClient_StreamingMsgParser.cpp.o [ 47%] Building CXX object src/libYARP_dev/CMakeFiles/YARP_dev.dir/src/devices/RGBDSensorWrapper/RGBDSensorWrapper.cpp.o [ 48%] Linking CXX shared library ../../lib/libYARP_dev.so [ 48%] Built target YARP_dev Scanning dependencies of target YARP_name [ 48%] Building CXX object src/libYARP_name/CMakeFiles/YARP_name.dir/src/BootstrapServer.cpp.o [ 48%] Building CXX object src/libYARP_name/CMakeFiles/YARP_name.dir/src/NameService.cpp.o [ 48%] Linking CXX shared library ../../lib/libYARP_name.so [ 48%] Built target YARP_name Scanning dependencies of target YARP_init [ 48%] Building CXX object src/libYARP_init/CMakeFiles/YARP_init.dir/src/CustomInit.cpp.o [ 48%] Linking CXX shared library ../../lib/libYARP_init.so [ 48%] Built target YARP_init Scanning dependencies of target YARP_serversql [ 48%] Building CXX object src/libYARP_serversql/CMakeFiles/YARP_serversql.dir/src/TripleSourceCreator.cpp.o [ 48%] Building CXX object src/libYARP_serversql/CMakeFiles/YARP_serversql.dir/src/NameServiceOnTriples.cpp.o [ 49%] Building CXX object src/libYARP_serversql/CMakeFiles/YARP_serversql.dir/src/AllocatorOnTriples.cpp.o [ 49%] Building CXX object src/libYARP_serversql/CMakeFiles/YARP_serversql.dir/src/SubscriberOnSql.cpp.o [ 49%] Building CXX object src/libYARP_serversql/CMakeFiles/YARP_serversql.dir/src/ParseName.cpp.o [ 49%] Building CXX object src/libYARP_serversql/CMakeFiles/YARP_serversql.dir/src/yarpserver.cpp.o [ 49%] Building CXX object src/libYARP_serversql/CMakeFiles/YARP_serversql.dir/src/StyleNameService.cpp.o [ 50%] Linking CXX static library ../../lib/libYARP_serversql.a [ 50%] Built target YARP_serversql Scanning dependencies of target YARP_manager [ 50%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/application.cpp.o [ 50%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/arbitrator.cpp.o [ 50%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/binexparser.cpp.o [ 51%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/broker.cpp.o [ 51%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/data.cpp.o [ 51%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/execstate.cpp.o [ 51%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/executable.cpp.o [ 51%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/graph.cpp.o [ 52%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/kbase.cpp.o [ 52%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/localbroker.cpp.o [ 52%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/logicresource.cpp.o [ 52%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/manager.cpp.o [ 52%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/module.cpp.o [ 53%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/node.cpp.o [ 53%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/physicresource.cpp.o [ 53%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/primresource.cpp.o [ 53%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/resource.cpp.o [ 53%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/scriptbroker.cpp.o [ 54%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/singleapploader.cpp.o [ 54%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/utility.cpp.o [ 54%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/xmlapploader.cpp.o [ 54%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/xmlappsaver.cpp.o [ 54%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/xmlmodloader.cpp.o [ 55%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/xmlresloader.cpp.o [ 55%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/xmltemploader.cpp.o [ 55%] Building CXX object src/libYARP_manager/CMakeFiles/YARP_manager.dir/src/yarpbroker.cpp.o [ 55%] Linking CXX static library ../../lib/libYARP_manager.a [ 55%] Built target YARP_manager Scanning dependencies of target YARP_logger [ 56%] Building CXX object src/libYARP_logger/CMakeFiles/YARP_logger.dir/src/YarpLogger.cpp.o [ 56%] Linking CXX static library ../../lib/libYARP_logger.a [ 56%] Built target YARP_logger Scanning dependencies of target YARP_wire_rep_utils [ 56%] Building CXX object src/libYARP_wire_rep_utils/CMakeFiles/YARP_wire_rep_utils.dir/WireImage.cpp.o [ 56%] Building CXX object src/libYARP_wire_rep_utils/CMakeFiles/YARP_wire_rep_utils.dir/WireBottle.cpp.o [ 56%] Building CXX object src/libYARP_wire_rep_utils/CMakeFiles/YARP_wire_rep_utils.dir/WireTwiddler.cpp.o [ 56%] Linking CXX static library ../../lib/libYARP_wire_rep_utils.a [ 56%] Built target YARP_wire_rep_utils Scanning dependencies of target yarpmod [ 56%] Building CXX object src/devices/CMakeFiles/yarpmod.dir/yarp_yarpmod_plugin_library.cpp.o [ 56%] Linking CXX shared library ../../lib/libyarpmod.so [ 56%] Built target yarpmod Scanning dependencies of target yarpcar [ 56%] Building CXX object src/carriers/CMakeFiles/yarpcar.dir/yarp_yarpcar_plugin_library.cpp.o [ 56%] Linking CXX shared library ../../lib/libyarpcar.so [ 56%] Built target yarpcar Scanning dependencies of target yarp_xmlrpc [ 56%] Building CXX object src/carriers/xmlrpc_carrier/CMakeFiles/yarp_xmlrpc.dir/yarp_plugin_yarpcar_xmlrpc.cpp.o [ 57%] Building CXX object src/carriers/xmlrpc_carrier/CMakeFiles/yarp_xmlrpc.dir/XmlRpcCarrier.cpp.o [ 57%] Building CXX object src/carriers/xmlrpc_carrier/CMakeFiles/yarp_xmlrpc.dir/XmlRpcStream.cpp.o [ 57%] Linking CXX shared module ../../../lib/yarp/yarp_xmlrpc.so [ 57%] Built target yarp_xmlrpc Scanning dependencies of target yarp_tcpros [ 57%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarp_tcpros.dir/yarp_plugin_yarpcar_tcpros.cpp.o [ 57%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarp_tcpros.dir/yarp_plugin_yarpcar_rossrv.cpp.o [ 57%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarp_tcpros.dir/TcpRosCarrier.cpp.o [ 58%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarp_tcpros.dir/TcpRosStream.cpp.o [ 58%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarp_tcpros.dir/RosHeader.cpp.o [ 58%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarp_tcpros.dir/RosLookup.cpp.o [ 58%] Linking CXX shared module ../../../lib/yarp/yarp_tcpros.so [ 58%] Built target yarp_tcpros Scanning dependencies of target yarpros [ 59%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarpros.dir/yarpros.cpp.o [ 59%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarpros.dir/TcpRosStream.cpp.o [ 59%] Building CXX object src/carriers/tcpros_carrier/CMakeFiles/yarpros.dir/RosLookup.cpp.o [ 59%] Linking CXX executable ../../../bin/yarpros [ 59%] Built target yarpros Scanning dependencies of target yarp_bayer [ 59%] Building CXX object src/carriers/bayer_carrier/CMakeFiles/yarp_bayer.dir/yarp_plugin_yarpcar_bayer.cpp.o [ 59%] Building CXX object src/carriers/bayer_carrier/CMakeFiles/yarp_bayer.dir/BayerCarrier.cpp.o [ 59%] Linking CXX shared module ../../../lib/yarp/yarp_bayer.so [ 59%] Built target yarp_bayer Scanning dependencies of target yarp_priority [ 59%] Building CXX object src/carriers/priority_carrier/CMakeFiles/yarp_priority.dir/yarp_plugin_yarpcar_priority.cpp.o [ 60%] Building CXX object src/carriers/priority_carrier/CMakeFiles/yarp_priority.dir/PriorityCarrier.cpp.o [ 60%] Linking CXX shared module ../../../lib/yarp/yarp_priority.so [ 60%] Built target yarp_priority Scanning dependencies of target yarp_portmonitor [ 60%] Building CXX object src/carriers/portmonitor_carrier/CMakeFiles/yarp_portmonitor.dir/yarp_plugin_yarpcar_portmonitor.cpp.o [ 61%] Building CXX object src/carriers/portmonitor_carrier/CMakeFiles/yarp_portmonitor.dir/PortMonitor.cpp.o [ 61%] Building CXX object src/carriers/portmonitor_carrier/CMakeFiles/yarp_portmonitor.dir/MonitorBinding.cpp.o [ 61%] Building CXX object src/carriers/portmonitor_carrier/CMakeFiles/yarp_portmonitor.dir/dll/MonitorSharedLib.cpp.o [ 61%] Linking CXX shared module ../../../lib/yarp/yarp_portmonitor.so [ 61%] Built target yarp_portmonitor Scanning dependencies of target yarpidl_thrift [ 61%] Building CXX object src/idls/thrift/CMakeFiles/yarpidl_thrift.dir/src_gen/parser.cc.o [ 61%] Building CXX object src/idls/thrift/CMakeFiles/yarpidl_thrift.dir/src_gen/lexer.cc.o [ 61%] Building C object src/idls/thrift/CMakeFiles/yarpidl_thrift.dir/src_thrift/md5.c.o [ 61%] Building CXX object src/idls/thrift/CMakeFiles/yarpidl_thrift.dir/src_thrift/main.cc.o [ 62%] Building CXX object src/idls/thrift/CMakeFiles/yarpidl_thrift.dir/src_thrift/generate/t_generator.cc.o [ 62%] Building CXX object src/idls/thrift/CMakeFiles/yarpidl_thrift.dir/src_thrift/parse/parse.cc.o [ 62%] Building CXX object src/idls/thrift/CMakeFiles/yarpidl_thrift.dir/src/t_yarp_generator.cc.o [ 62%] Linking CXX executable ../../../bin/yarpidl_thrift [ 62%] Built target yarpidl_thrift Scanning dependencies of target yarpidl_rosmsg [ 62%] Building CXX object src/idls/rosmsg/CMakeFiles/yarpidl_rosmsg.dir/src/main.cpp.o [ 62%] Building CXX object src/idls/rosmsg/CMakeFiles/yarpidl_rosmsg.dir/src/RosType.cpp.o [ 62%] Building CXX object src/idls/rosmsg/CMakeFiles/yarpidl_rosmsg.dir/src/RosTypeCodeGenYarp.cpp.o [ 62%] Building C object src/idls/rosmsg/CMakeFiles/yarpidl_rosmsg.dir/src/md5.c.o [ 63%] Linking CXX executable ../../../bin/yarpidl_rosmsg [ 63%] Built target yarpidl_rosmsg Scanning dependencies of target yarpserver2 [ 64%] Building CXX object src/yarpserver/CMakeFiles/yarpserver2.dir/src/deprecated.cpp.o [ 64%] Linking CXX executable ../../bin/yarpserver2 [ 64%] Built target yarpserver2 Scanning dependencies of target yarpserver3 [ 64%] Building CXX object src/yarpserver/CMakeFiles/yarpserver3.dir/src/deprecated.cpp.o [ 64%] Linking CXX executable ../../bin/yarpserver3 [ 64%] Built target yarpserver3 Scanning dependencies of target yarpserver [ 64%] Building CXX object src/yarpserver/CMakeFiles/yarpserver.dir/src/main.cpp.o [ 64%] Linking CXX executable ../../bin/yarpserver [ 64%] Built target yarpserver Scanning dependencies of target yarp [ 65%] Building CXX object src/yarp/CMakeFiles/yarp.dir/yarp.cpp.o [ 65%] Linking CXX executable ../../bin/yarp [ 65%] Built target yarp Scanning dependencies of target yarp-config [ 65%] Building CXX object src/yarp/CMakeFiles/yarp-config.dir/yarpconfig.cpp.o [ 65%] Building CXX object src/yarp/CMakeFiles/yarp-config.dir/yarpcontext.cpp.o [ 65%] Building CXX object src/yarp/CMakeFiles/yarp-config.dir/yarprobot.cpp.o [ 66%] Building CXX object src/yarp/CMakeFiles/yarp-config.dir/yarpcontextutils.cpp.o [ 66%] Linking CXX executable ../../bin/yarp-config [ 66%] Built target yarp-config Scanning dependencies of target yarprun [ 66%] Building CXX object src/yarprun/CMakeFiles/yarprun.dir/yarprun.cpp.o [ 67%] Linking CXX executable ../../bin/yarprun [ 67%] Built target yarprun Scanning dependencies of target yarphear [ 67%] Building CXX object src/yarphear/CMakeFiles/yarphear.dir/yarphear.cpp.o [ 68%] Linking CXX executable ../../bin/yarphear [ 68%] Built target yarphear Scanning dependencies of target yarpdev [ 68%] Building CXX object src/yarpdev/CMakeFiles/yarpdev.dir/yarpdev.cpp.o [ 68%] Linking CXX executable ../../bin/yarpdev [ 68%] Built target yarpdev Scanning dependencies of target yarprobotinterface [ 68%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/main.cpp.o [ 69%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/Action.cpp.o [ 69%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/CalibratorThread.cpp.o [ 69%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/Device.cpp.o [ 69%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/Module.cpp.o [ 69%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/Param.cpp.o [ 70%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/Robot.cpp.o [ 70%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/Types.cpp.o [ 70%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/XMLReader.cpp.o /usr/local/src/robot/yarp/src/yarprobotinterface/XMLReader.cpp:97:13: warning: ‘std::__cxx11::string {anonymous}::DocTypeToString({anonymous}::RobotInterfaceDTD::DocType)’ defined but not used [-Wunused-function] std::string DocTypeToString(RobotInterfaceDTD::DocType doctype) { ^ [ 70%] Building CXX object src/yarprobotinterface/CMakeFiles/yarprobotinterface.dir/idl_generated_code/src/yarprobotinterfaceRpc.cpp.o [ 70%] Linking CXX executable ../../bin/yarprobotinterface [ 70%] Built target yarprobotinterface Scanning dependencies of target yarpmanager-console [ 70%] Building CXX object src/yarpmanager-console/CMakeFiles/yarpmanager-console.dir/ymanager.cpp.o [ 70%] Building CXX object src/yarpmanager-console/CMakeFiles/yarpmanager-console.dir/yarpmanager.cpp.o [ 70%] Linking CXX executable ../../bin/yarpmanager-console [ 70%] Built target yarpmanager-console Scanning dependencies of target yarplogger-console [ 70%] Building CXX object src/yarplogger-console/CMakeFiles/yarplogger-console.dir/main.cpp.o [ 70%] Linking CXX executable ../../bin/yarplogger-console [ 70%] Built target yarplogger-console Scanning dependencies of target yarpdatadumper [ 70%] Building CXX object src/yarpdatadumper/CMakeFiles/yarpdatadumper.dir/main.cpp.o [ 70%] Linking CXX executable ../../bin/yarpdatadumper [ 70%] Built target yarpdatadumper Scanning dependencies of target QtYARPViewPlugin_automoc [ 70%] Automatic moc for target QtYARPViewPlugin Generating moc_qtyarpview.cpp Generating moc_qtyarpview_plugin.cpp Generating moc_signalhandler.cpp Generating moc_videoproducer.cpp [ 70%] Built target QtYARPViewPlugin_automoc [ 70%] Generating qrc_res.cpp Scanning dependencies of target QtYARPViewPlugin [ 70%] Building CXX object src/yarpview/plugin/CMakeFiles/QtYARPViewPlugin.dir/qtyarpview_plugin.cpp.o [ 71%] Building CXX object src/yarpview/plugin/CMakeFiles/QtYARPViewPlugin.dir/videoproducer.cpp.o [ 71%] Building CXX object src/yarpview/plugin/CMakeFiles/QtYARPViewPlugin.dir/signalhandler.cpp.o [ 71%] Building CXX object src/yarpview/plugin/CMakeFiles/QtYARPViewPlugin.dir/qtyarpview.cpp.o [ 71%] Building CXX object src/yarpview/plugin/CMakeFiles/QtYARPViewPlugin.dir/ImagePort.cpp.o [ 71%] Building CXX object src/yarpview/plugin/CMakeFiles/QtYARPViewPlugin.dir/qrc_res.cpp.o [ 72%] Building CXX object src/yarpview/plugin/CMakeFiles/QtYARPViewPlugin.dir/QtYARPViewPlugin_automoc.cpp.o [ 72%] Linking CXX shared module ../../../lib/qt5/qml/robotology/yarp/view/libQtYARPViewPlugin.so [ 72%] Built target QtYARPViewPlugin Scanning dependencies of target yarpview_automoc [ 73%] Automatic moc for target yarpview Generating moc_qtquick2applicationviewer.cpp [ 73%] Built target yarpview_automoc [ 73%] Generating qrc_res.cpp Scanning dependencies of target yarpview [ 74%] Building CXX object src/yarpview/src/CMakeFiles/yarpview.dir/main.cpp.o [ 74%] Building CXX object src/yarpview/src/CMakeFiles/yarpview.dir/qtquick2applicationviewer/qtquick2applicationviewer.cpp.o [ 74%] Building CXX object src/yarpview/src/CMakeFiles/yarpview.dir/qrc_res.cpp.o [ 74%] Building CXX object src/yarpview/src/CMakeFiles/yarpview.dir/yarpview_automoc.cpp.o [ 74%] Linking CXX executable ../../../bin/yarpview [ 74%] Built target yarpview Scanning dependencies of target QtYARPScopePlugin_automoc [ 74%] Automatic moc for target QtYARPScopePlugin Generating moc_genericloader.cpp Generating moc_plotmanager.cpp Generating moc_plotter.cpp Generating moc_portreader.cpp Generating moc_qtyarpscope.cpp Generating moc_qtyarpscopeplugin_plugin.cpp Generating moc_simpleloader.cpp Generating moc_xmlloader.cpp [ 74%] Built target QtYARPScopePlugin_automoc [ 74%] Generating qrc_res.cpp Scanning dependencies of target QtYARPScopePlugin [ 74%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/portreader.cpp.o [ 74%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/simpleloader.cpp.o [ 74%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/qtyarpscope.cpp.o [ 74%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/plotter.cpp.o [ 75%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/genericloader.cpp.o [ 75%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/xmlloader.cpp.o [ 75%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/plotmanager.cpp.o [ 75%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/qtyarpscopeplugin_plugin.cpp.o [ 75%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/qrc_res.cpp.o [ 76%] Building CXX object src/yarpscope/plugin/CMakeFiles/QtYARPScopePlugin.dir/QtYARPScopePlugin_automoc.cpp.o [ 76%] Linking CXX shared module ../../../lib/qt5/qml/robotology/yarp/scope/libQtYARPScopePlugin.so [ 76%] Built target QtYARPScopePlugin Scanning dependencies of target yarpscope_automoc [ 76%] Automatic moc for target yarpscope Generating moc_qtquick2applicationviewer.cpp [ 76%] Built target yarpscope_automoc [ 76%] Generating qrc_res.cpp Scanning dependencies of target yarpscope [ 76%] Building CXX object src/yarpscope/src/CMakeFiles/yarpscope.dir/main.cpp.o [ 76%] Building CXX object src/yarpscope/src/CMakeFiles/yarpscope.dir/qtquick2applicationviewer/qtquick2applicationviewer.cpp.o [ 76%] Building CXX object src/yarpscope/src/CMakeFiles/yarpscope.dir/qrc_res.cpp.o [ 77%] Building CXX object src/yarpscope/src/CMakeFiles/yarpscope.dir/yarpscope_automoc.cpp.o [ 77%] Linking CXX executable ../../../bin/yarpscope [ 77%] Built target yarpscope Scanning dependencies of target yarpmanager_automoc [ 78%] Automatic moc for target yarpmanager Generating moc_builderscene.cpp Generating moc_builderwindow.cpp Generating moc_customtree.cpp Generating moc_itemsignalhandler.cpp Generating moc_propertiestable.cpp Generating moc_aboutdlg.cpp Generating moc_applicationviewwidget.cpp Generating moc_customtreewidget.cpp Generating moc_entitiestreewidget.cpp Generating moc_genericinfodlg.cpp Generating moc_genericviewwidget.cpp Generating moc_logwidget.cpp Generating moc_mainwindow.cpp Generating moc_moduleviewwidget.cpp Generating moc_newapplicationwizard.cpp Generating moc_resourceviewwidget.cpp Generating moc_stdoutwindow.cpp Generating moc_yscopewindow.cpp [ 78%] Built target yarpmanager_automoc [ 78%] Generating ui_yscopewindow.h [ 78%] Generating qrc_res.cpp [ 79%] Generating ui_aboutdlg.h [ 79%] Generating ui_applicationviewwidget.h [ 79%] Generating ui_genericinfodlg.h [ 79%] Generating ui_mainwindow.h [ 79%] Generating ui_moduleviewwidget.h [ 80%] Generating ui_resourceviewwidget.h [ 80%] Generating ui_stdoutwindow.h Scanning dependencies of target yarpmanager [ 80%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/aboutdlg.cpp.o [ 80%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/applicationviewwidget.cpp.o [ 81%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/customtreewidget.cpp.o [ 81%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/entitiestreewidget.cpp.o [ 81%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/genericinfodlg.cpp.o [ 81%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/genericviewwidget.cpp.o [ 81%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/logwidget.cpp.o [ 82%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/main.cpp.o [ 82%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/mainwindow.cpp.o [ 82%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/moduleviewwidget.cpp.o [ 82%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/newapplicationwizard.cpp.o [ 82%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/resourceviewwidget.cpp.o [ 83%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/safe_manager.cpp.o [ 83%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/stdoutwindow.cpp.o [ 83%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-manager/yscopewindow.cpp.o [ 83%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/applicationitem.cpp.o [ 83%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/arrow.cpp.o [ 84%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/builderitem.cpp.o [ 84%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/builderscene.cpp.o [ 84%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/builderwindow.cpp.o [ 84%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/customtree.cpp.o [ 84%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/destinationportitem.cpp.o [ 85%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/itemsignalhandler.cpp.o [ 85%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/moduleitem.cpp.o [ 85%] Building CXX object src/yarpmanager/CMakeFiles/yarpmanager.dir/src-builder/propertiestable.cpp.o /usr/local/src/robot/yarp/src/yarpmanager/src-builder/propertiestable.cpp: In member function 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/usr/local/src/robot/yarp/src/yarpmotorgui/jointitem.cpp:1136:16: warning: unused variable ‘dt’ [-Wunused-variable] double dt = ui->sliderTrajectoryPosition->value(); ^ [ 95%] Building CXX object src/yarpmotorgui/CMakeFiles/yarpmotorgui.dir/mainwindow.cpp.o [ 95%] Building CXX object src/yarpmotorgui/CMakeFiles/yarpmotorgui.dir/partitem.cpp.o /usr/local/src/robot/yarp/src/yarpmotorgui/partitem.cpp: In constructor ‘PartItem::PartItem(QString, int, QString, yarp::os::ResourceFinder, bool, bool, bool, QWidget*)’: /usr/local/src/robot/yarp/src/yarpmotorgui/partitem.cpp:221:18: warning: unused variable ‘bjt’ [-Wunused-variable] bool bjt = iinfo->getJointType(k, jtype); ^ /usr/local/src/robot/yarp/src/yarpmotorgui/partitem.cpp: In member function ‘void PartItem::onOpenSequence()’: /usr/local/src/robot/yarp/src/yarpmotorgui/partitem.cpp:1315:9: warning: variable ‘totPositions’ set but not used [-Wunused-but-set-variable] int totPositions = 0; ^ [ 96%] Building CXX object 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pedrombmachado commented 7 years ago

Hi @marcoaccame , cc @valegagge , I forgot to mention that the ip is 10.0.1.1 and I only tried to program the CAN1 of this board.

screenshot from 2017-02-28 18-37-52

valegagge commented 7 years ago

Hi @pedrombmachado , in your log you can find the description of error:

CMake Error at cmake/YarpFindDependencies.cmake:192 (message): Optional package Eigen3 not found. Please install it or enable the option "CREATE_LIB_MATH_USING_GSL" to build yarp. Call Stack (most recent call first): cmake/YarpFindDependencies.cmake:464 (check_skip_dependency) CMakeLists.txt:62 (include)

this means you need eigen3 library: so please install libeigen3-dev and compile again.

pedrombmachado commented 7 years ago

Hi @valegagge , Many thanks for all your support. I think I am getting close. I have good and bad news. I was able to compile YARP on the pc104 (see the log) but now I am getting a new error when I try to compile the icub-main. It says fatal error: yarp/math/SVD.h: No such file or directory

However if I run ....

[edit of @marcoaccame: begin] I can see what in the attached log.txt file. log.txt [edit of @marcoaccame: end]

valegagge commented 7 years ago

Did you run ccmake ... in icub-main/build-pc104 before running make?

If not could you try to run ccmake and than make?

If yes, could you try to remove the cache file and recompiled icub-main with flags enabled that I told you some post ago? The cachefile is inside icub-main/build-pc104/CMakeCache.txt

pedrombmachado commented 7 years ago

Hi @valegagge, Yes, I followed all the following steps that you posted: on pc104:

move to icub-firmware-shared/build-pc104

ccmake ../

Hit 'c' to configure the project.

Hit g to generate.

make
6)move to icub-main/build-pc104 folder

ccmake ../

Hit 'c' to configure the project.

Select options:
**ENABLE_icubmod_dragonfly2**
**ENABLE_icubmod_skinWrapper**
**ENABLE_icubmod_xsensmtx**
**ENABLE_icubmod_embObjAnalogSensor**
**ENABLE_icubmod_embObjMotionControl**
**ENABLE_icubmod_embObjSkin**
**ENABLE_icubmod_embObjVirtualAnalogSensor**
**ENABLE_icubmod_parametricCalibratorEth**
**ENABLE_icubmod_cartesiancontrollerclient**
**ENABLE_icubmod_cartesiancontrollerserver**
**ENABLE_icubmod_cfw2can**
**ENABLE_icubmod_skinprototype**
**_ENABLE_icubmod_icubheadcalibratorV2 (Not available)_**

7) make

======= CCMAKE configuration ========== CMAKE_BUILD_TYPE Release
CMAKE_CXX_COMPILER /usr/bin/c++
CMAKE_C_COMPILER /usr/bin/cc
CMAKE_INSTALL_PREFIX /usr/local
ENABLE_icubmod_analogServer OFF
ENABLE_icubmod_bcbBattery OFF
ENABLE_icubmod_bmsBattery OFF
ENABLE_icubmod_canBusAnalogSen OFF
ENABLE_icubmod_canBusDoubleFTS OFF
ENABLE_icubmod_canBusInertialM OFF
ENABLE_icubmod_canBusSkin OFF
ENABLE_icubmod_canBusVirtualAn OFF
ENABLE_icubmod_canmotioncontro *OFF
ENABLE_icubmod_cartesiancontro ON
ENABLE_icubmod_cartesiancontro ON
ENABLE_icubmod_cfw2can ON
ENABLE_icubmod_dragonfly2 ON
ENABLE_icubmod_dragonfly2raw OFF
ENABLE_icubmod_ecan OFF
ENABLE_icubmod_embObjAnalogSen *ON
ENABLE_icubmod_embObjInertials OFF
ENABLE_icubmod_embObjMais OFF
ENABLE_icubmod_embObjMotionCon *ON
ENABLE_icubmod_embObjMultiEnc *OFF
ENABLE_icubmod_embObjSkin *ON*
ENABLE_icubmod_embObjStrain OFF
ENABLE_icubmod_embObjVirtualAn *ON
ENABLE_icubmod_esdsniffer OFF
ENABLE_icubmod_fakecan OFF
ENABLE_icubmod_gazecontrollerc OFF
ENABLE_icubmod_imuST_M1 OFF
ENABLE_icubmod_parametricCalib *OFF
*ENABLE_icubmod_parametricCalib ON
ENABLE_icubmod_pcan OFF
ENABLE_icubmod_sharedcan OFF
ENABLE_icubmod_skinWrapper ON
ENABLE_icubmod_skinprototype ON
ENABLE_icubmod_socketcan OFF
ENABLE_icubmod_static_grabber OFF
ENABLE_icubmod_usbCamera OFF
ENABLE_icubmod_usbCameraRaw OFF
*ENABLE_icubmod_xsensmtx ON*
ICUB_ADD_PACKAGING OFF
ICUB_ASK_REFERENCE_TO_FIRMWARE ON
ICUB_AUTOMATIC_MODE_SWITCHING OFF
ICUB_CANMASKS_STRICT_FILTER ON
ICUB_CANPROTOCOL_STRICT ON
ICUB_DASHBOARD_SUBMIT OFF
ICUB_HAS_YARP ON
ICUB_INSTALL_WITH_RPATH OFF
ICUB_SHARED_LIBRARY OFF
ICUB_USE_ACE ON
ICUB_USE_GLUT OFF
ICUB_USE_GSL ON
ICUB_USE_GTK2 ON

pedrombmachado commented 7 years ago

Hi @marcoaccame , cc: @valegagge I managed to upgrade the firmware of CAN1 ID2 by following the procedure described in http://wiki.icub.org/wiki/Firmware. 1) open the CanLoader GUI. 2) select the can bus number and the can bus device driver from the menus and click 'Connect'. 3) select the F/T sensor (click on the checkbox on the left). 4) select the firmware file from the file selector on the right (default location: iCub\src\firmware\build\2FOC.hex). 5) click 'Start Download'. As described in table Services offered by the ETH boards : for ip 10.0.1.1, CAN1. However I noticed that I was only able to program CAN1: ID2 because the canLoader is not listing CAN1: ID1, ID3 and ID4 canload Can you please advise on how to recover CAN1: ID1, ID3 and ID4? Many thanks, Pedro

valegagge commented 7 years ago

hi @pedrombmachado , did you removed the cachefile is inside icub-main/build-pc104/CMakeCache.txt and than performed steps above?

marcoaccame commented 7 years ago

Dear @pedrombmachado, maybe you misspelled. Instead of select the F/T sensor (click on the checkbox on the left). you meant select the eobrd_foc board w/ address CAN1:2, did you not?

You must program eobrd_foc with 2FOC.hex, eobrd_strain with strain.hex etc.

About the other eobrd_foc boards at addresses CAN1:1, CAN1:3, and CAN1:4 .... They probably don't show up because maybe you programmed them w/ wrong FW and the boards crash.

You can recover them by catching them in the first five seconds after you switch the motors on. In such a way the 2FOC boards execute the bootloader and don't crash yet.

However, I would recommend to book a joint session w/ someone of the support team who will guide you through the operation.

pedrombmachado commented 7 years ago

Hi @valegagge , Yes, I done that a couple of times and it keeps complaining about the SVD.h. In fact, I have done everything from the scratch on the pc104. Compiled the yarp, icub-firmware-shared and then icub-main. Following all the steps that you suggested. Any idea why I am getting this error? [ 1%] Building CXX object src/libraries/ctrlLib/CMakeFiles/ctrlLib.dir/src/math.cpp.o /usr/local/src/robot/icub-main/src/libraries/ctrlLib/src/math.cpp:23:27: fatal error: yarp/math/SVD.h: No such file or directory

include <yarp/math/SVD.h>

                       ^

compilation terminated. src/libraries/ctrlLib/CMakeFiles/ctrlLib.dir/build.make:54: recipe for target 'src/libraries/ctrlLib/CMakeFiles/ctrlLib.dir/src/math.cpp.o' failed make[2]: [src/libraries/ctrlLib/CMakeFiles/ctrlLib.dir/src/math.cpp.o] Error 1 CMakeFiles/Makefile2:736: recipe for target 'src/libraries/ctrlLib/CMakeFiles/ctrlLib.dir/all' failed make[1]: [src/libraries/ctrlLib/CMakeFiles/ctrlLib.dir/all] Error 2 Makefile:107: recipe for target 'all' failed make: *** [all] Error 2 icub@pc104:/usr/local/src/robot/icub-main/build-pc104$ cat CMakeCache.txt This is the CMakeCache file. For build in directory: /usr/local/src/robot/icub-main/build-pc104 It was generated by CMake: /usr/bin/cmake You can edit this file to change values found and used by cmake. If you do not want to change any of the values, simply exit the editor. If you do want to change a value, simply edit, save, and exit the editor. The syntax for the file is as follows: KEY:TYPE=VALUE KEY is the name of a variable in the cache. TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. VALUE is the current value for the KEY.

pedrombmachado commented 7 years ago

Hi @marcoaccame and @julijenv , @marcoaccame many thanks for the clarification. @julijenv can you suggest someone to walk me through the process of upgrading the FW on the eobrd_foc boards at addresses CAN1:1, CAN1:3, and CAN1:4 as @marcoaccame suggested? Many thanks in advance,

julijenv commented 7 years ago

Hi @pedrombmachado , polese add icub.support on you contact list on skype, I'll try to give you my humble help to resolve the problem on which you struggle.

pedrombmachado commented 7 years ago

Hi @valegagge, I happy to inform that the software problem is now sorted. I have basically installed a fresh installation of YARP, icub-firmware-shared and icub-main. I think the error was given because yarp needs also this options enabled: on the icubsrv CREATE_GUIS, set to ON CREATE_LIB_MATH, set to ON http://www.yarp.it/install_yarp_linux.html and on pc104 CREATE_LIB_MATH, set to ON CREATE_DEVICE_LIBRARY_MODULES:ON ENABLE_yarpmod_serial ENABLE_yarpmod_serialport ENABLE_yarpmod_portaudio http://wiki.icub.org/wiki/Compilation_on_the_pc104 Many thanks for all your support. It was really helpful. Pedro

valegagge commented 7 years ago

Perfect! Can I close this issue?

pedrombmachado commented 7 years ago

Hi @valegagge Not really, Because we are still solving the FW issue and then run the calibration.

pedrombmachado commented 7 years ago

Hi @julijenv , Can we chat in skype?

pedrombmachado commented 7 years ago

Hi @julijenv and @valegagge I am trying to run the yarprobotinterface after the yarp, icub-firmware-share and icub-main compilation and I am getting the following error: ||| did not find yarprobotinterface.ini yarp: cannot read from yarprobotinterface.ini [FATAL]Missing "config" argument

Any idea how to solve this error? I found this issue https://github.com/robotology/icub-support/issues/289 that looks very similar to the error that I am getting.

======================== log ==================================================== icub@pc104:~$ yarprobotinterface ||| configuring ||| default config file specified as yarprobotinterface.ini ||| checking [/home/icub/yarprobotinterface.ini] (pwd) ||| checking [/home/icub/.config/yarp/yarprobotinterface.ini] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/yarprobotinterface.ini] (YARP_DATA_HOME) ||| checking [/etc/yarp/yarprobotinterface.ini] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| did not find yarprobotinterface.ini yarp: cannot read from yarprobotinterface.ini [FATAL]Missing "config" argument yarp: Port /log/pc104/yarprobotinterface/1047 active at tcp://10.0.0.2:10004/ LogForwarder error while connecting port /log/pc104/yarprobotinterface/1047 /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(+0xab916) [0x7f373e8ec916] yarprobotinterface() [0x406034] yarprobotinterface() [0x40d06b] /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN4yarp2os8RFModule9runModuleERNS0_14ResourceFinderE+0x42) [0x7f373e98d3a2] yarprobotinterface() [0x4059cc] /lib/x86_64-linux-gnu/libc.so.6(libc_start_main+0xf5) [0x7f373d451b45] yarprobotinterface() [0x405c77] yarprobotinterface() [0x40620d] yarprobotinterface() [0x40d06b] /usr/local/src/robot/yarp/build-pc104/lib/libYARP_OS.so.1(_ZN4yarp2os8RFModule9runModuleERNS0_14ResourceFinderE+0x42) [0x7f373e98d3a2] yarprobotinterface() [0x4059cc] /lib/x86_64-linux-gnu/libc.so.6(libc_start_main+0xf5) [0x7f373d451b45] yarprobotinterface() [0x405c77]

julijenv commented 7 years ago

Hi @pedrombmachado , first try to launch yarprobotinterface from where you modify the file icub.xml (it would have been nicer to create a new one called like icub-no-left-arm.xml on which you should have comment any instance of the left arm). when inside this repository it should be able to find yarprobotinterface,ini (if you created icub-no-left-arm.xml please open yarprobotinterface.ini to point to this file). If the robot launched it means that you need to update the path on the bash file of icub to append the path from where the robot was able to get launched. let me know

marcoaccame commented 7 years ago

Did you install robots-configuration? See https://github.com/robotology/QA/issues/143.

pedrombmachado commented 7 years ago

Hi @marcoaccame , Problem solved with the support of @julijenv . @julijenv I have now another problem. So I have changed the configuration of icub_no_left_arm.xml as you suggested (check bellow) and I am now getting the following error:

+++++++++++++++++++++ ERROR log +++++++++++++++++++++++++ icub@pc104:~$ yarprobotinterface ||| configuring ||| default config file specified as yarprobotinterface.ini ||| checking [/home/icub/yarprobotinterface.ini] (pwd) ||| checking [/home/icub/.config/yarp/yarprobotinterface.ini] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/yarprobotinterface.ini] (YARP_DATA_HOME) ||| checking [/etc/yarp/yarprobotinterface.ini] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/robots-configuration/iCubNottingham01/yarprobotinterface.ini ||| finding file [config] ||| checking [/home/icub/./icub_no_left_arm.xml] (pwd) ||| checking [/home/icub/.config/yarp/./icub_no_left_arm.xml] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/./icub_no_left_arm.xml] (YARP_DATA_HOME) ||| checking [/etc/yarp/./icub_no_left_arm.xml] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml yarp: Port /log/pc104/yarprobotinterface/959 active at tcp://10.0.0.2:10033/ LogForwarder error while connecting port /log/pc104/yarprobotinterface/959 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./cartesian/right_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/head-cfw2_can0-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/head-cfw2_can0-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/head-cfw2_can0-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/head-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/torso-ems5-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/torso-ems5-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/torso-ems5-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/torso-ems5-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/torso-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_upper_arm-ems3-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_lower_arm-ems4-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/right_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/left_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/left_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_upper_arm-ems3-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/left_upper_leg-ems6-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_upper_leg-ems8-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/left_lower_leg-ems7-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_lower_leg-ems9-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/right_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/left_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/right_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/torso-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/MAIS/right_hand-ems4-mais.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/left_upper_leg-ems6-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/left_lower_leg-ems7-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/left_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_upper_leg-ems8-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_lower_leg-ems9-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/right_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/inertial.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/inertial.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/right_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/torso-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_arm-ems4-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_arm-ems4-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/left_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/right_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/left_leg-ems10-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems10-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/left_leg-ems10-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_leg-ems11-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems11-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_leg-ems11-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/right_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/left_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/right_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/torso-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/head-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml yarp: Port /icub/yarprobotinterface active at tcp://10.0.0.2:10006/ [INFO]startup phase starting... ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/plugins] (YARP_DATA_DIRS) [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10014/ yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10015/ yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10016/ yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10017/ yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10018/ yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10019/ yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10020/ [INFO]created device . See C++ class ServerCartesianController for documentation. [ERROR]Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device head_mc [WARNING]Cannot open device head_mc [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10021/ yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10022/ yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10023/ yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10024/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.5 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB5 with IP 10.0.1.5 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB5 @ IP 10.0.1.5 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 76s 157m 396u: (code 0x05000015, par16 0x0300 par64 0x0000000000103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.5 (EB5) @ 76s 157m 547u: CAN discovery has started for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 158m 316u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 158m 456u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 158m 595u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.5 (EB5) @ 76s 158m 743u: CAN discovery has detected 3 invalid eobrd_foc boards in CAN1: [ERROR]1 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB5 IP 10.0.1.5 [ERROR] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 76s 158m 865u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 76s 158m 986u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 159m 127u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 159m 267u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 159m 406u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.5 (EB5) @ 76s 159m 554u: CAN discovery has detected 3 invalid eobrd_foc boards in CAN1: [ERROR]1 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:4 because it has: WRONG PROTOCOL VERSION yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device torso_mc [WARNING]Cannot open device torso_mc [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10029/ yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10030/ yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10031/ yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10032/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.3 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB3 with IP 10.0.1.3 even after 20 attempts and 10.0037 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB3 with IP 10.0.1.3 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_arm_mc [WARNING]Cannot open device right_upper_arm_mc [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.4 [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB4 with IP 10.0.1.4 at 3 ms [INFO]EthResource::askBoardVersion() found BOARD EB4 @ IP 10.0.1.4 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [INFO] from BOARD 10.0.1.4 (EB4) @ 88s 341m 443u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.4 (EB4) @ 88s 342m 94u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 0 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 88s 342m 239u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 88s 342m 356u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO] from BOARD 10.0.1.4 (EB4) @ 88s 342m 508u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (EB4) @ 88s 343m 898u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 88s 344m 39u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 88s 344m 178u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 88s 344m 317u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 88s 344m 457u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 88s 344m 596u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 88s 344m 743u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 88s 345m 64u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10034/ yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10035/ yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10036/ yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10037/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10038/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_leg/analog:o/rpc:i active at tcp://10.0.0.2:10039/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/left_leg/analog:o/rpc:i active at tcp://10.0.0.2:10040/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_foot/analog:o/rpc:i active at tcp://10.0.0.2:10041/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/left_foot/analog:o/rpc:i active at tcp://10.0.0.2:10042/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.config/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_HOME) ||| checking [/etc/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/plugins] (YARP_DATA_DIRS) [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_upper_arm_strain [WARNING]Cannot open device right_upper_arm_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device left_upper_leg_strain [WARNING]Cannot open device left_upper_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_upper_leg_strain [WARNING]Cannot open device right_upper_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device left_lower_leg_strain [WARNING]Cannot open device left_lower_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_lower_leg_strain [WARNING]Cannot open device right_lower_leg_strain [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/right_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10043/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/left_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10044/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/right_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10045/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/icub/joint_vsens/torso:i") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10046/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10047/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [ERROR]Cannot find "embObjMais" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjMais.ini or share/yarp/plugins/embObjMais.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_hand_mais [WARNING]Cannot open device right_hand_mais [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.6 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.6 [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB6 with IP 10.0.1.6 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB6 @ IP 10.0.1.6 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 89s 353m 437u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.6 (EB6) @ 89s 353m 590u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.6 (EB6) @ 89s 354m 559u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 89s 354m 698u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 89s 354m 837u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 89s 354m 976u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.6 (EB6) @ 89s 355m 127u: CAN discovery has detected 4 invalid eobrd_foc boards in CAN1: [ERROR]1 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]4 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 89s 355m 249u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 89s 355m 370u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.6 (EB6) @ 89s 355m 510u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 89s 355m 649u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 89s 355m 788u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 89s 355m 928u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.6 (EB6) @ 89s 356m 78u: CAN discovery has detected 4 invalid eobrd_foc boards in CAN1: [ERROR]1 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]4 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB6 IP 10.0.1.6 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_upper_leg_mc [WARNING]Cannot open device left_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.7 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.7 [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB7 with IP 10.0.1.7 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB7 @ IP 10.0.1.7 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 89s 444m 362u: (code 0x05000015, par16 0x0200 par64 0x0000000000003000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.7 (EB7) @ 89s 444m 515u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.7 (EB7) @ 89s 445m 88u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.7 (EB7) @ 89s 445m 227u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.7 (EB7) @ 89s 445m 375u: CAN discovery has detected 2 invalid eobrd_foc boards in CAN1: [ERROR]1 of 2: wrong eobrd_foc BOARD 10.0.1.7:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 2: wrong eobrd_foc BOARD 10.0.1.7:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 89s 445m 498u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 89s 445m 619u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.7 (EB7) @ 89s 445m 759u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.7 (EB7) @ 89s 445m 898u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.7 (EB7) @ 89s 446m 48u: CAN discovery has detected 2 invalid eobrd_foc boards in CAN1: [ERROR]1 of 2: wrong eobrd_foc BOARD 10.0.1.7:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 2: wrong eobrd_foc BOARD 10.0.1.7:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB7 IP 10.0.1.7 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_lower_leg_mc [WARNING]Cannot open device left_lower_leg_mc [INFO]/icub/left_leg : no ROS initialization required [INFO]/icub/left_leg initting YARP initialization yarp: Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10048/ yarp: Port /icub/left_leg/command:i active at tcp://10.0.0.2:10049/ yarp: Port /icub/left_leg/state:o active at tcp://10.0.0.2:10050/ yarp: Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10051/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.8 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.8 [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB8 with IP 10.0.1.8 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB8 @ IP 10.0.1.8 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 89s 608m 437u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.8 (EB8) @ 89s 608m 589u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.8 (EB8) @ 89s 609m 558u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 89s 609m 697u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 89s 609m 836u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 89s 609m 975u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.8 (EB8) @ 89s 610m 126u: CAN discovery has detected 4 invalid eobrd_foc boards in CAN1: [ERROR]1 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]4 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 89s 610m 248u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 89s 610m 369u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.8 (EB8) @ 89s 610m 509u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 89s 610m 648u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 89s 610m 788u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 89s 610m 927u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.8 (EB8) @ 89s 611m 77u: CAN discovery has detected 4 invalid eobrd_foc boards in CAN1: [ERROR]1 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]4 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB8 IP 10.0.1.8 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_leg_mc [WARNING]Cannot open device right_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.9 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.9 [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB9 with IP 10.0.1.9 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB9 @ IP 10.0.1.9 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 89s 705m 363u: (code 0x05000015, par16 0x0200 par64 0x0000000000003000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.9 (EB9) @ 89s 705m 514u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.9 (EB9) @ 89s 706m 88u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.9 (EB9) @ 89s 706m 227u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.9 (EB9) @ 89s 706m 375u: CAN discovery has detected 2 invalid eobrd_foc boards in CAN1: [ERROR]1 of 2: wrong eobrd_foc BOARD 10.0.1.9:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 2: wrong eobrd_foc BOARD 10.0.1.9:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 89s 706m 498u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 89s 706m 619u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.9 (EB9) @ 89s 706m 759u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.9 (EB9) @ 89s 706m 898u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.9 (EB9) @ 89s 707m 48u: CAN discovery has detected 2 invalid eobrd_foc boards in CAN1: [ERROR]1 of 2: wrong eobrd_foc BOARD 10.0.1.9:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 2: wrong eobrd_foc BOARD 10.0.1.9:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB9 IP 10.0.1.9 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_leg_mc [WARNING]Cannot open device right_lower_leg_mc [INFO]/icub/right_leg : no ROS initialization required [INFO]/icub/right_leg initting YARP initialization yarp: Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10052/ yarp: Port /icub/right_leg/command:i active at tcp://10.0.0.2:10053/ yarp: Port /icub/right_leg/state:o active at tcp://10.0.0.2:10054/ yarp: Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10055/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. XSensMtX init check: device ok. [INFO]created device . See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10056/ [INFO]Server Inertial : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::ServerInertial for documentation. [INFO]Starting server Inertial thread [DEBUG]Writing an Inertial measurement. [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10057/ yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10058/ yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10059/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10060/ [INFO]created device . See C++ class skinWrapper for documentation. [ERROR]Cannot find "canBusSkin" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusSkin.ini or share/yarp/plugins/canBusSkin.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device torso_skin [WARNING]Cannot open device torso_skin [INFO] from BOARD 10.0.1.4 (EB4) @ 90s 41m 453u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (EB4) @ 90s 41m 612u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 90s 41m 765u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 90s 42m 382u: (code 0x0000000b, par16 0x025e par64 0x0082003500060017) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 90s 48m 443u: (code 0x0000000d, par16 0x015e par64 0x07000017005a0007) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 90s 58m 557u: (code 0x0000000d, par16 0x01d0 par64 0x0700001800c30007) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_foot : 0 383 0 383 yarp: Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10061/ yarp: Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10062/ yarp: Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10063/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_foot : 0 383 0 383 yarp: Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10064/ yarp: Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10065/ yarp: Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10066/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.10 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.10 [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB10 with IP 10.0.1.10 at 3 ms [INFO]EthResource::askBoardVersion() found BOARD EB10 @ IP 10.0.1.10 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [INFO] from BOARD 10.0.1.10 (EB10) @ 90s 920m 590u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.10 (EB10) @ 90s 920m 747u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 90s 920m 904u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.11 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.11 [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB11 with IP 10.0.1.11 at 3 ms [INFO]EthResource::askBoardVersion() found BOARD EB11 @ IP 10.0.1.11 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [INFO] from BOARD 10.0.1.11 (EB11) @ 91s 531m 49u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.11 (EB11) @ 91s 531m 207u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 91s 531m 364u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [WARNING]There was some problem opening one or more devices. Please check the log and your configuration [ERROR]One or more devices failed opening... see previous log messages for more info Segmentation fault icub@pc104:~$ yarprobotinterface ||| configuring ||| default config file specified as yarprobotinterface.ini ||| checking [/home/icub/yarprobotinterface.ini] (pwd) ||| checking [/home/icub/.config/yarp/yarprobotinterface.ini] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/yarprobotinterface.ini] (YARP_DATA_HOME) ||| checking [/etc/yarp/yarprobotinterface.ini] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/robots-configuration/iCubNottingham01/yarprobotinterface.ini ||| finding file [config] ||| checking [/home/icub/./icub_no_left_arm.xml] (pwd) ||| checking [/home/icub/.config/yarp/./icub_no_left_arm.xml] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/./icub_no_left_arm.xml] (YARP_DATA_HOME) ||| checking [/etc/yarp/./icub_no_left_arm.xml] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml yarp: Port /log/pc104/yarprobotinterface/1045 active at tcp://10.0.0.2:10067/ LogForwarder error while connecting port /log/pc104/yarprobotinterface/1045 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./cartesian/right_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/head-cfw2_can0-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/head-cfw2_can0-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/head-cfw2_can0-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/head-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/torso-ems5-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/torso-ems5-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/torso-ems5-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/torso-ems5-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/torso-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_upper_arm-ems3-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_lower_arm-ems4-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/right_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/left_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/left_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_upper_arm-ems3-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/left_upper_leg-ems6-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_upper_leg-ems8-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/left_lower_leg-ems7-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_lower_leg-ems9-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/right_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/left_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/right_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/torso-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/MAIS/right_hand-ems4-mais.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/left_upper_leg-ems6-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/left_lower_leg-ems7-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/left_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_upper_leg-ems8-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_lower_leg-ems9-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/right_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/inertial.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/inertial.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/right_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/torso-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_arm-ems4-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_arm-ems4-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/left_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/right_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/left_leg-ems10-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems10-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/left_leg-ems10-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_leg-ems11-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems11-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_leg-ems11-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/right_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/left_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/right_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/torso-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/head-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml yarp: Port /icub/yarprobotinterface active at tcp://10.0.0.2:10006/ [INFO]startup phase starting... ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/plugins] (YARP_DATA_DIRS) [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10014/ yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10015/ yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10016/ yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10017/ yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10018/ yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10019/ yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10020/ [INFO]created device . See C++ class ServerCartesianController for documentation. [ERROR]Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device head_mc [WARNING]Cannot open device head_mc [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10021/ yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10022/ yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10023/ yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10024/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.5 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 [INFO] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 99s 232m 90u: (code 0x00000034, par16 0x0001 par64 0x000000000000000a) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB5 with IP 10.0.1.5 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB5 @ IP 10.0.1.5 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 99s 292m 406u: (code 0x05000015, par16 0x0300 par64 0x0000000000103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.5 (EB5) @ 99s 292m 558u: CAN discovery has started for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.5 (EB5) @ 99s 293m 327u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (EB5) @ 99s 293m 466u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (EB5) @ 99s 293m 605u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.5 (EB5) @ 99s 293m 753u: CAN discovery has detected 3 invalid eobrd_foc boards in CAN1: [ERROR]1 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 99s 293m 876u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 99s 293m 997u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.5 (EB5) @ 99s 294m 139u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (EB5) @ 99s 294m 279u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (EB5) @ 99s 294m 418u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.5 (EB5) @ 99s 294m 566u: CAN discovery has detected 3 invalid eobrd_foc boards in CAN1: [ERROR]1 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB5 IP 10.0.1.5 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device torso_mc [WARNING]Cannot open device torso_mc [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10029/ yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10030/ yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10031/ yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10032/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.3 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB3 with IP 10.0.1.3 even after 20 attempts and 10.0037 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB3 with IP 10.0.1.3 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_arm_mc [WARNING]Cannot open device right_upper_arm_mc [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.4 [INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 111s 430m 398u: (code 0x00000034, par16 0x0001 par64 0x0000000000000058) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]feat_manage_skin_data() fails to get a handle of embObjSkin for IP = 10.0.1.4 and NV = ID32 = 0x03000002 -> IND = 0, TAG = eoprot_tag_sk_skin_status_arrayofcandata [DEBUG]feat_manage_skin_data() fails to get a handle of embObjSkin for IP = 10.0.1.4 and NV = ID32 = 0x03000002 -> IND = 0, TAG = eoprot_tag_sk_skin_status_arrayofcandata [DEBUG]feat_manage_skin_data() fails to get a handle of embObjSkin for IP = 10.0.1.4 and NV = ID32 = 0x03000002 -> IND = 0, TAG = eoprot_tag_sk_skin_status_arrayofcandata [DEBUG]feat_manage_skin_data() fails to get a handle of embObjSkin for IP = 10.0.1.4 and NV = ID32 = 0x03000002 -> IND = 0, TAG = eoprot_tag_sk_skin_status_arrayofcandata [DEBUG]feat_manage_skin_data() fails to get a handle of embObjSkin for IP = 10.0.1.4 and NV = ID32 = 0x03000002 -> IND = 0, TAG = eoprot_tag_sk_skin_status_arrayofcandata [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB4 with IP 10.0.1.4 at 3 ms [INFO]EthResource::askBoardVersion() found BOARD EB4 @ IP 10.0.1.4 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [INFO] from BOARD 10.0.1.4 (EB4) @ 111s 470m 253u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.4 (EB4) @ 111s 471m 221u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 0 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 111s 471m 367u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 111s 471m 484u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO] from BOARD 10.0.1.4 (EB4) @ 111s 471m 637u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (EB4) @ 111s 472m 979u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 111s 473m 120u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 111s 473m 260u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 111s 473m 399u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 111s 473m 538u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 0 ms [WARNING] from BOARD 10.0.1.4 (EB4) @ 111s 473m 678u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (EB4) @ 111s 473m 825u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 111s 473m 972u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + . [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10034/ yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10035/ yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10036/ yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10037/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10038/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_leg/analog:o/rpc:i active at tcp://10.0.0.2:10039/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/left_leg/analog:o/rpc:i active at tcp://10.0.0.2:10040/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_foot/analog:o/rpc:i active at tcp://10.0.0.2:10041/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/left_foot/analog:o/rpc:i active at tcp://10.0.0.2:10042/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.config/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_HOME) ||| checking [/etc/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/plugins] (YARP_DATA_DIRS) [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_upper_arm_strain [WARNING]Cannot open device right_upper_arm_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device left_upper_leg_strain [WARNING]Cannot open device left_upper_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_upper_leg_strain [WARNING]Cannot open device right_upper_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device left_lower_leg_strain [WARNING]Cannot open device left_lower_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_lower_leg_strain [WARNING]Cannot open device right_lower_leg_strain [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/right_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10043/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/left_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10044/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/right_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10045/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/icub/joint_vsens/torso:i") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10046/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10047/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [ERROR]Cannot find "embObjMais" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjMais.ini or share/yarp/plugins/embObjMais.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_hand_mais [WARNING]Cannot open device right_hand_mais [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.6 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.6 [INFO] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 112s 417m 508u: (code 0x00000034, par16 0x0001 par64 0x000000000000000a) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB6 with IP 10.0.1.6 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB6 @ IP 10.0.1.6 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 112s 476m 443u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.6 (EB6) @ 112s 476m 595u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.6 (EB6) @ 112s 477m 564u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 112s 477m 704u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 112s 477m 843u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 112s 477m 982u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.6 (EB6) @ 112s 478m 132u: CAN discovery has detected 4 invalid eobrd_foc boards in CAN1: [ERROR]1 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]4 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 112s 478m 255u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 112s 478m 377u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.6 (EB6) @ 112s 478m 517u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 112s 478m 656u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 112s 478m 796u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.6 (EB6) @ 112s 478m 935u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.6 (EB6) @ 112s 479m 86u: CAN discovery has detected 4 invalid eobrd_foc boards in CAN1: [ERROR]1 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]4 of 4: wrong eobrd_foc BOARD 10.0.1.6:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB6 IP 10.0.1.6 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_upper_leg_mc [WARNING]Cannot open device left_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.7 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.7 [INFO] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 112s 506m 445u: (code 0x00000034, par16 0x0001 par64 0x000000000000000a) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB7 with IP 10.0.1.7 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB7 @ IP 10.0.1.7 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 112s 568m 368u: (code 0x05000015, par16 0x0200 par64 0x0000000000003000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.7 (EB7) @ 112s 568m 520u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.7 (EB7) @ 112s 569m 93u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.7 (EB7) @ 112s 569m 232u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.7 (EB7) @ 112s 569m 381u: CAN discovery has detected 2 invalid eobrd_foc boards in CAN1: [ERROR]1 of 2: wrong eobrd_foc BOARD 10.0.1.7:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 2: wrong eobrd_foc BOARD 10.0.1.7:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB7 IP 10.0.1.7 [ERROR] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 112s 569m 504u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 112s 569m 625u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.7 (EB7) @ 112s 569m 765u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.7 (EB7) @ 112s 569m 905u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.7 (EB7) @ 112s 570m 55u: CAN discovery has detected 2 invalid eobrd_foc boards in CAN1: [ERROR]1 of 2: wrong eobrd_foc BOARD 10.0.1.7:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 2: wrong eobrd_foc BOARD 10.0.1.7:CAN1:2 because it has: WRONG PROTOCOL VERSION yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_lower_leg_mc [WARNING]Cannot open device left_lower_leg_mc [INFO]/icub/left_leg : no ROS initialization required [INFO]/icub/left_leg initting YARP initialization yarp: Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10048/ yarp: Port /icub/left_leg/command:i active at tcp://10.0.0.2:10049/ yarp: Port /icub/left_leg/state:o active at tcp://10.0.0.2:10050/ yarp: Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10051/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.8 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.8 [INFO] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 112s 660m 766u: (code 0x00000034, par16 0x0001 par64 0x000000000000000a) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB8 with IP 10.0.1.8 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB8 @ IP 10.0.1.8 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 112s 721m 443u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.8 (EB8) @ 112s 721m 595u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.8 (EB8) @ 112s 722m 564u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 112s 722m 704u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB8 IP 10.0.1.8 [WARNING] from BOARD 10.0.1.8 (EB8) @ 112s 722m 843u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 112s 722m 982u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.8 (EB8) @ 112s 723m 132u: CAN discovery has detected 4 invalid eobrd_foc boards in CAN1: [ERROR]1 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]4 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:4 because it has: WRONG PROTOCOL VERSION [ERROR] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 112s 723m 255u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 112s 723m 377u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.8 (EB8) @ 112s 723m 517u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 112s 723m 656u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 112s 723m 796u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.8 (EB8) @ 112s 723m 935u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.8 (EB8) @ 112s 724m 87u: CAN discovery has detected 4 invalid eobrd_foc boards in CAN1: [ERROR]1 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR]3 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:3 because it has: WRONG PROTOCOL VERSION [ERROR]4 of 4: wrong eobrd_foc BOARD 10.0.1.8:CAN1:4 because it has: WRONG PROTOCOL VERSION yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_leg_mc [WARNING]Cannot open device right_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.9 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.9 [INFO] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 112s 749m 887u: (code 0x00000034, par16 0x0001 par64 0x000000000000000a) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB9 with IP 10.0.1.9 at 5 ms [INFO]EthResource::askBoardVersion() found BOARD EB9 @ IP 10.0.1.9 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 112s 808m 368u: (code 0x05000015, par16 0x0200 par64 0x0000000000003000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + . [INFO] from BOARD 10.0.1.9 (EB9) @ 112s 808m 520u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.5 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.9 (EB9) @ 112s 809m 93u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD EB9 IP 10.0.1.9 [WARNING] from BOARD 10.0.1.9 (EB9) @ 112s 809m 232u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.9 (EB9) @ 112s 809m 381u: CAN discovery has detected 2 invalid eobrd_foc boards in CAN1: [ERROR]1 of 2: wrong eobrd_foc BOARD 10.0.1.9:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 2: wrong eobrd_foc BOARD 10.0.1.9:CAN1:2 because it has: WRONG PROTOCOL VERSION [ERROR] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 112s 809m 504u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [ERROR] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 112s 809m 625u: (code 0x0500000e, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController cannot be configured. can discovery of 2foc boards fails. see CANdiscovery messages for more details + . [WARNING] from BOARD 10.0.1.9 (EB9) @ 112s 809m 766u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [WARNING] from BOARD 10.0.1.9 (EB9) @ 112s 809m 905u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms [ERROR] from BOARD 10.0.1.9 (EB9) @ 112s 810m 55u: CAN discovery has detected 2 invalid eobrd_foc boards in CAN1: [ERROR]1 of 2: wrong eobrd_foc BOARD 10.0.1.9:CAN1:1 because it has: WRONG PROTOCOL VERSION [ERROR]2 of 2: wrong eobrd_foc BOARD 10.0.1.9:CAN1:2 because it has: WRONG PROTOCOL VERSION yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_leg_mc [WARNING]Cannot open device right_lower_leg_mc [INFO]/icub/right_leg : no ROS initialization required [INFO]/icub/right_leg initting YARP initialization yarp: Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10052/ yarp: Port /icub/right_leg/command:i active at tcp://10.0.0.2:10053/ yarp: Port /icub/right_leg/state:o active at tcp://10.0.0.2:10054/ yarp: Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10055/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. XSensMtX init check: device ok. [INFO]created device . See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10056/ [INFO]Server Inertial : no ROS initialization required [INFO]Starting server Inertial thread [INFO]created wrapper . See C++ class yarp::dev::ServerInertial for documentation. [DEBUG]Writing an Inertial measurement. [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10057/ yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10058/ yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10059/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10060/ [INFO]created device . See C++ class skinWrapper for documentation. [ERROR]Cannot find "canBusSkin" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusSkin.ini or share/yarp/plugins/canBusSkin.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device torso_skin [WARNING]Cannot open device torso_skin [INFO] from BOARD 10.0.1.4 (EB4) @ 113s 129m 378u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (EB4) @ 113s 129m 534u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 113s 129m 685u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 113s 130m 310u: (code 0x0000000b, par16 0x021b par64 0x0080001d00060018) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 113s 135m 370u: (code 0x0000000d, par16 0x015e par64 0x0700008100410006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 113s 145m 482u: (code 0x0000000d, par16 0x01ce par64 0x0700001800aa0007) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_foot : 0 383 0 383 yarp: Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10061/ yarp: Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10062/ yarp: Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10063/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_foot : 0 383 0 383 yarp: Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10064/ yarp: Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10065/ yarp: Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10066/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.10 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.10 [INFO] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 113s 986m 225u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB10 with IP 10.0.1.10 at 3 ms [INFO]EthResource::askBoardVersion() found BOARD EB10 @ IP 10.0.1.10 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [INFO] from BOARD 10.0.1.10 (EB10) @ 114s 26m 605u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.10 (EB10) @ 114s 26m 762u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 114s 26m 919u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.11 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.11 [INFO] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 114s 593m 13u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . [DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB11 with IP 10.0.1.11 at 3 ms [INFO]EthResource::askBoardVersion() found BOARD EB11 @ IP 10.0.1.11 of type ems4 with FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33 [INFO] from BOARD 10.0.1.11 (EB11) @ 114s 631m 886u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.11 (EB11) @ 114s 632m 46u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 114s 632m 203u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO]created device . See C++ class EmbObjSkin for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [WARNING]There was some problem opening one or more devices. Please check the log and your configuration [ERROR]One or more devices failed opening... see previous log messages for more info Segmentation fault icub@pc104:~$ ethLoader Using default port 3333 Using default port 10.0.1.104 Usage: ethLoader --port n --address xxx.xxx.xxx.xxx

(process:1128): Gtk-WARNING **: Locale not supported by C library. Using the fallback 'C' locale. Gtk-Message: Failed to load module "canberra-gtk-module" Discovered a board @ 10.0.1.2: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.1: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.5: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.3: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.4: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.6: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.10: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.7: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.8: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.11: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.9: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.1 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.3 Discovered a board @ 10.0.1.2: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.4: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.5: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.6: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.10: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.7: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.8: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.11: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.9: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.1: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.3: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.2 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.4 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.5 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.6 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.10 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.7 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.8 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.11 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.9 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.1 send command uprot_OPC_DEF2RUN w/ process = eApplication to 10.0.1.3 Discovered a board @ 10.0.1.1: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.2: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.3: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.4: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.5: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.6: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.10: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.7: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.8: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.11: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.9: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.1: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.2: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.3: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.4: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.5: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.6: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.10: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.7: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.8: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.11: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.9: eobrd_ems4 w/ eUpdater v 2.20 running protocol v 1 w/ capabilities = 0x607ffbfa. Discovered a board @ 10.0.1.1: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.2: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.3: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.5: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.6: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.10: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.4: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.7: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.8: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.11: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. Discovered a board @ 10.0.1.9: eobrd_ems4 w/ eApplication v 2.57 running protocol v 2 w/ capabilities = 0x60030030. icub@pc104:~$ yarprobotinterface ||| configuring ||| default config file specified as yarprobotinterface.ini ||| checking [/home/icub/yarprobotinterface.ini] (pwd) ||| checking [/home/icub/.config/yarp/yarprobotinterface.ini] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/yarprobotinterface.ini] (YARP_DATA_HOME) ||| checking [/etc/yarp/yarprobotinterface.ini] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/robots-configuration/iCubNottingham01/yarprobotinterface.ini ||| finding file [config] ||| checking [/home/icub/./icub_no_left_arm.xml] (pwd) ||| checking [/home/icub/.config/yarp/./icub_no_left_arm.xml] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/./icub_no_left_arm.xml] (YARP_DATA_HOME) ||| checking [/etc/yarp/./icub_no_left_arm.xml] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml yarp: Port /log/pc104/yarprobotinterface/1130 active at tcp://10.0.0.2:10068/ LogForwarder error while connecting port /log/pc104/yarprobotinterface/1130 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./icub_no_left_arm.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./cartesian/right_arm-cartesian.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/head-cfw2_can0-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/head-cfw2_can0-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/head-cfw2_can0-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/head-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/torso-ems5-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/torso-ems5-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/torso-ems5-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/torso-ems5-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/torso-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_upper_arm-ems3-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_lower_arm-ems4-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/right_arm-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_arm-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/left_leg-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/right_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/FT/left_foot-FT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_upper_arm-ems3-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/left_upper_leg-ems6-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_upper_leg-ems8-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/left_lower_leg-ems7-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/FT/right_lower_leg-ems9-strain.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/right_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/left_leg-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/right_arm-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/VFT/torso-VFT_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubNottingham01 [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/MAIS/right_hand-ems4-mais.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/left_upper_leg-ems6-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/left_lower_leg-ems7-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/left_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_upper_leg-ems8-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/mechanicals/right_lower_leg-ems9-mec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc-service.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/motorControl/right_leg-mc_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/inertial.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/inertial.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/right_arm-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/torso-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_arm-ems4-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_arm-ems4-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/left_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./wrappers/skin/right_leg-skin_wrapper.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/left_leg-ems10-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/left_lower_leg-ems10-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/left_leg-ems10-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_leg-ems11-skin.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/right_lower_leg-ems11-eln.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/electronics/pc104.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./hardware/skin/right_leg-ems11-skinSpec.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/right_arm-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/left_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/right_leg-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/torso-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./calibrators/head-calib.xml [DEBUG]Reading file /usr/local/src/robot/robots-configuration/iCubNottingham01/./general.xml yarp: Port /icub/yarprobotinterface active at tcp://10.0.0.2:10006/ [INFO]startup phase starting... ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/plugins] (YARP_DATA_DIRS) [INFO] Configuring cartesian controller [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10014/ yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10015/ yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10016/ yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10017/ yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10018/ yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10019/ yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10020/ [INFO]created device . See C++ class ServerCartesianController for documentation. [ERROR]Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device head_mc [WARNING]Cannot open device head_mc [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10021/ yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10022/ yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10023/ yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10024/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.5 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.5 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB5 with IP 10.0.1.5 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB5 with IP 10.0.1.5 even after 20 attempts and 10.0035 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB5 with IP 10.0.1.5 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB5 with IP 10.0.1.5 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB5 with IP 10.0.1.5 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB5 with IP 10.0.1.5 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device torso_mc [WARNING]Cannot open device torso_mc [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10029/ yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10030/ yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10031/ yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10032/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.3 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB3 with IP 10.0.1.3 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB3 with IP 10.0.1.3 even after 20 attempts and 10.0034 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB3 with IP 10.0.1.3 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB3 with IP 10.0.1.3 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_arm_mc [WARNING]Cannot open device right_upper_arm_mc [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.4 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB4 with IP 10.0.1.4 even after 20 attempts and 10.0033 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB4 with IP 10.0.1.4 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB4 with IP 10.0.1.4 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB4 with IP 10.0.1.4 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB4 with IP 10.0.1.4 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_arm_mc [WARNING]Cannot open device right_lower_arm_mc [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10034/ yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10035/ yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10036/ yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10037/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10038/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_leg/analog:o/rpc:i active at tcp://10.0.0.2:10039/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/left_leg/analog:o/rpc:i active at tcp://10.0.0.2:10040/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_foot/analog:o/rpc:i active at tcp://10.0.0.2:10041/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/left_foot/analog:o/rpc:i active at tcp://10.0.0.2:10042/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.config/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_HOME) ||| checking [/etc/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/plugins] (YARP_DATA_DIRS) [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_upper_arm_strain [WARNING]Cannot open device right_upper_arm_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device left_upper_leg_strain [WARNING]Cannot open device left_upper_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_upper_leg_strain [WARNING]Cannot open device right_upper_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device left_lower_leg_strain [WARNING]Cannot open device left_lower_leg_strain [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjStrain.ini or share/yarp/plugins/embObjStrain.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_lower_leg_strain [WARNING]Cannot open device right_lower_leg_strain [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/right_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10043/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name "/icub/joint_vsens/left_leg:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10044/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/icub/joint_vsens/right_arm:i") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10045/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/icub/joint_vsens/torso:i") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10046/ [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10047/ [INFO]AnalogServer : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [ERROR]Cannot find "embObjMais" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/embObjMais.ini or share/yarp/plugins/embObjMais.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device right_hand_mais [WARNING]Cannot open device right_hand_mais [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.6 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.6 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.6 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB6 with IP 10.0.1.6 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB6 with IP 10.0.1.6 even after 20 attempts and 10.0034 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB6 with IP 10.0.1.6 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB6 with IP 10.0.1.6 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB6 with IP 10.0.1.6 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB6 with IP 10.0.1.6 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_upper_leg_mc [WARNING]Cannot open device left_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.7 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.7 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.7 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB7 with IP 10.0.1.7 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB7 with IP 10.0.1.7 even after 20 attempts and 10.0034 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB7 with IP 10.0.1.7 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB7 with IP 10.0.1.7 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB7 with IP 10.0.1.7 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB7 with IP 10.0.1.7 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_lower_leg_mc [WARNING]Cannot open device left_lower_leg_mc [INFO]/icub/left_leg : no ROS initialization required [INFO]/icub/left_leg initting YARP initialization yarp: Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10048/ yarp: Port /icub/left_leg/command:i active at tcp://10.0.0.2:10049/ yarp: Port /icub/left_leg/state:o active at tcp://10.0.0.2:10050/ yarp: Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10051/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.8 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.8 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.8 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB8 with IP 10.0.1.8 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB8 with IP 10.0.1.8 even after 20 attempts and 10.0034 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB8 with IP 10.0.1.8 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB8 with IP 10.0.1.8 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB8 with IP 10.0.1.8 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB8 with IP 10.0.1.8 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_upper_leg_mc [WARNING]Cannot open device right_upper_leg_mc [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1 [DEBUG]CURRENT_CONTROL: using metric_units [DEBUG]CURRENT_CONTROL: using control law motor 2foc_feedback [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.9 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.9 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.9 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB9 with IP 10.0.1.9 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB9 with IP 10.0.1.9 even after 20 attempts and 10.0034 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB9 with IP 10.0.1.9 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB9 with IP 10.0.1.9 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB9 with IP 10.0.1.9 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB9 with IP 10.0.1.9 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_leg_mc [WARNING]Cannot open device right_lower_leg_mc [INFO]/icub/right_leg : no ROS initialization required [INFO]/icub/right_leg initting YARP initialization yarp: Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10052/ yarp: Port /icub/right_leg/command:i active at tcp://10.0.0.2:10053/ yarp: Port /icub/right_leg/state:o active at tcp://10.0.0.2:10054/ yarp: Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10055/ [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.config/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_HOME) ||| checking [/etc/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/plugins] (YARP_DATA_DIRS) XSensMtX init check: device ok. [INFO]created device . See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10056/ [INFO]Server Inertial : no ROS initialization required [INFO]created wrapper . See C++ class yarp::dev::ServerInertial for documentation. [INFO]Starting server Inertial thread [DEBUG]Writing an Inertial measurement. [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10057/ yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10058/ yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10059/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10060/ [INFO]created device . See C++ class skinWrapper for documentation. [ERROR]Cannot find "canBusSkin" plugin (not built in, and no .ini file found for it) [ERROR]Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusSkin.ini or share/yarp/plugins/canBusSkin.ini in it yarpdev: ERROR could not find device [WARNING]Cannot open device torso_skin [WARNING]Cannot open device torso_skin [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.4 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB4 with IP 10.0.1.4 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB4 with IP 10.0.1.4 even after 20 attempts and 10.0034 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB4 with IP 10.0.1.4 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB4 with IP 10.0.1.4 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB4 with IP 10.0.1.4 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB4 with IP 10.0.1.4 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_lower_arm_skin [WARNING]Cannot open device right_lower_arm_skin [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part left_leg_upper mapping port/taxels--> left_foot : 0 383 0 383 yarp: Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10061/ yarp: Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10062/ yarp: Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10063/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_upper : 1152 2495 0 1343 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_leg_lower : 384 1151 0 767 [DEBUG]SkinWrapper part right_leg_upper mapping port/taxels--> right_foot : 0 383 0 383 yarp: Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10064/ yarp: Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10065/ yarp: Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10066/ [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.10 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.10 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.10 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB10 with IP 10.0.1.10 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB10 with IP 10.0.1.10 even after 20 attempts and 10.0035 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB10 with IP 10.0.1.10 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB10 with IP 10.0.1.10 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB10 with IP 10.0.1.10 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB10 with IP 10.0.1.10 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device left_leg_skin [WARNING]Cannot open device left_leg_skin [DEBUG]TheEthManager::initCommunication() has found IP for PC104 = 10.0.1.104:12345 [DEBUG]EthSender is a RateThread with txrate = 1 ms [DEBUG]EthReceiver is a RateThread with rxrate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.11 [DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.11 [DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.11 [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 1 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 2 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 3 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 4 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 5 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 6 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 7 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 8 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 9 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 10 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 11 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 12 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 13 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 14 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 15 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 16 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 17 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 18 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 19 w/ timeout of 0.5 seconds [WARNING]EthResource::verifyBoardPresence() cannot reach BOARD EB11 with IP 10.0.1.11 at attempt # 20 w/ timeout of 0.5 seconds [ERROR]EthResource::verifyBoardPresence() DID NOT have replies from BOARD EB11 with IP 10.0.1.11 even after 20 attempts and 10.0035 seconds: CANNOT PROCEED ANY FURTHER [ERROR]EthResource::verifyEPprotocol() cannot verify BOARD EB11 with IP 10.0.1.11 : cannot proceed any further [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB11 with IP 10.0.1.11 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB11 with IP 10.0.1.11 [WARNING]EthResource::serviceCommand() had a timeout of 0.5 secs when sending an activation request to BOARD EB11 with IP 10.0.1.11 yarpdev: ERROR driver was found but could not open [WARNING]Cannot open device right_leg_skin [WARNING]Cannot open device right_leg_skin ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.config/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_HOME) ||| checking [/etc/yarp/robots/iCubNottingham01] (robot YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/robots/iCubNottingham01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/robots-configuration/iCubNottingham01/plugins] (YARP_DATA_DIRS) [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [WARNING]There was some problem opening one or more devices. Please check the log and your configuration [ERROR]One or more devices failed opening... see previous log messages for more info [INFO]Closing Server Inertial... [INFO]Server Intertial thread finished Segmentation fault

============ icub_no_left_arm.xml===== <?xml version="1.0" encoding="UTF-8" ?> <!DOCTYPE robot PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<robot name="iCubNottingham01" build="1" portprefix="icub">
<params file="hardware/electronics/pc104.xml" />

<!-- CARTESIANS --> 
<devices file="cartesian/right_arm-cartesian.xml" /> 

<!-- HEAD -->   
<devices file="hardware/motorControl/head-cfw2_can0-mc.xml" />
<devices file="wrappers/motorControl/head-mc_wrapper.xml" />

<!-- TORSO --> 
<devices file="hardware/motorControl/torso-ems5-mc.xml" />
<devices file="wrappers/motorControl/torso-mc_wrapper.xml" /> 

<!-- LEFT ARM -->
<!-- RIGHT ARM -->
<devices file="hardware/motorControl/right_upper_arm-ems3-mc.xml" />
<devices file="hardware/motorControl/right_lower_arm-ems4-mc.xml" />
<devices file="wrappers/motorControl/right_arm-mc_wrapper.xml" />

<!-- ANALOG SENSOR FT -->
<devices file="wrappers/FT/right_arm-FT_wrapper.xml" />
<devices file="wrappers/FT/right_leg-FT_wrapper.xml" /> 
<devices file="wrappers/FT/left_leg-FT_wrapper.xml" />
<devices file="wrappers/FT/right_foot-FT_wrapper.xml" /> 
<devices file="wrappers/FT/left_foot-FT_wrapper.xml" />
<devices file="hardware/FT/right_upper_arm-ems3-strain.xml" />
<devices file="hardware/FT/left_upper_leg-ems6-strain.xml" /> 
<devices file="hardware/FT/right_upper_leg-ems8-strain.xml" />
<devices file="hardware/FT/left_lower_leg-ems7-strain.xml" /> 
<devices file="hardware/FT/right_lower_leg-ems9-strain.xml" />

<!-- VIRTUAL ANALOG SENSORS (WRAPPER ONLY-->
<devices file="wrappers/VFT/right_leg-VFT_wrapper.xml" /> 
<devices file="wrappers/VFT/left_leg-VFT_wrapper.xml" />     
<devices file="wrappers/VFT/right_arm-VFT_wrapper.xml" /> 
<devices file="wrappers/VFT/torso-VFT_wrapper.xml" />

<!-- ANALOG SENSOR MAIS -->
<devices file="wrappers/MAIS/right_hand-mais_wrapper.xml" /> 
<devices file="hardware/MAIS/right_hand-ems4-mais.xml" />  

<!-- LEFT LEG -->
<devices file="hardware/motorControl/left_upper_leg-ems6-mc.xml" />
<devices file="hardware/motorControl/left_lower_leg-ems7-mc.xml" />
<devices file="wrappers/motorControl/left_leg-mc_wrapper.xml" /> 

<!-- RIGHT LEG -->
<devices file="hardware/motorControl/right_upper_leg-ems8-mc.xml" />
<devices file="hardware/motorControl/right_lower_leg-ems9-mc.xml" />
<devices file="wrappers/motorControl/right_leg-mc_wrapper.xml" />   

<!-- INERTIAL SENSOR -->
<devices file="hardware/inertial.xml" />

<!--  SKINS  -->
<devices file="wrappers/skin/right_arm-skin_wrapper.xml" />  
<devices file="wrappers/skin/torso-skin_wrapper.xml" /> 
<devices file="hardware/skin/torso-cfw2_can9-skin.xml" />
<devices file="hardware/skin/right_arm-ems4-skin.xml" /> 
<devices file="wrappers/skin/left_leg-skin_wrapper.xml" />
<devices file="wrappers/skin/right_leg-skin_wrapper.xml" />
<devices file="hardware/skin/left_leg-ems10-skin.xml" />
<devices file="hardware/skin/right_leg-ems11-skin.xml" />

<!--  CALIBRATORS -->
<devices file="calibrators/right_arm-calib.xml" /> 
<devices file="calibrators/left_leg-calib.xml" />
<devices file="calibrators/right_leg-calib.xml" />
<devices file="calibrators/torso-calib.xml" />
<devices file="calibrators/head-calib.xml" /> 
</robot>
marcoaccame commented 7 years ago

at first, I suggest to improve readibility of post by attaching long text files rather than cutting and paste them into the window.

then, let me explain some important prints of the log. The rule of thumb is to search for [ERROR] lines because they tell you what is wrong. The [INFO] lines tell you something which can help you.

  1. The device canbusmotion control is not compiled. It is needed by the head. You need to compile it by enabling proper variable in cmake. Follow however, instructions on links already posted by Valentina.

    [ERROR]Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it)
[ERROR]Check that YARP_DATA_DIRS leads to at least one directory with 
plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it
yarpdev: ERROR could not find device

  2. the FW on the EMS board 10.0.1.5 is OK. The [INFO] line tells you that it is running version 2.57, which is the latest version. Do git log icub-firmware-build/ETH/EMS/bin/application/ems.hex to verify. I assume also other EMS boards have the correct FW.

    [INFO]EthResource::askBoardVersion() found BOARD EB5 @ IP 10.0.1.5 of type ems4 with 
FW version = ( 2 , 57 ) and build date 2016 Dec 06 13:33

  3. The FW on 2FOC boards attached to 10.0.1.5 is incompatible. The .xml files specify a FW w/ CAN protocol 1.5 or later w/ any FW version. But yarprobotinterface detects boards w/ protocol 1.4. What you need to do is to update the FW on the 2FOC boards. 

    [INFO] from BOARD 10.0.1.5 (EB5) @ 76s 157m 547u: CAN discovery has started for 3 eobrd_foc 
boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.5 and 
application ver 0.0.0.
[WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 158m 316u: CAN discovery has detected a eobrd_foc 
board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms
[WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 158m 456u: CAN discovery has detected a eobrd_foc
board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms
[WARNING] from BOARD 10.0.1.5 (EB5) @ 76s 158m 595u: CAN discovery has detected a eobrd_foc
board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms
[ERROR] from BOARD 10.0.1.5 (EB5) @ 76s 158m 743u: CAN discovery has detected 3 invalid 
eobrd_foc boards in CAN1:
[ERROR]1 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:1 because it has: WRONG PROTOCOL VERSION
[ERROR]2 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:3 because it has: WRONG PROTOCOL VERSION
[ERROR]3 of 3: wrong eobrd_foc BOARD 10.0.1.5:CAN1:4 because it has: WRONG PROTOCOL VERSION
[ERROR]embObjMotionControl::open() has an error in call of ethResources::serviceVerifyActivate() 
for BOARD EB5 IP 10.0.1.5

  4. The device embObjStrain is not compiled. It is needed to manage the F/T sensors. See point 1 for how to solve.

    [ERROR]Cannot find "embObjStrain" plugin (not built in, and no .ini file found for it)

  5. The devices embObjMais and canBusSkin are not compiled. 

    [ERROR]Cannot find "embObjMais" plugin (not built in, and no .ini file found for it)
[ERROR]Cannot find "canBusSkin" plugin (not built in, and no .ini file found for it)

What to do?

  1. update 2FOC boards. It is not difficult if you follow the instructions on teh wiki and on read.me files in icub-firmware-build. However, if it is your first update, maybe it is better to book a skype/netmeeting session w/ someone who can help you.
  2. compile missing devices.
pedrombmachado commented 7 years ago

Hi @marcoaccame, Many thanks for the support. I would also like to thanks @julijenv because his support was crucial. I made a short video that I would like to share. I hope you like the music.

pedrombmachado commented 7 years ago

Hi @julijenv, @marcoaccame and @valegagge , Many thanks for all the support, all of you were outstanding. The iCubNottingham01 is now up and running. I would like to leave special thanks to @julijenv because without your support it would be almost impossible!