lrapetti
commented
4 years ago I tried also with a different project that connects to multiple robots and I am getting the same error.
Open lrapetti opened 4 years ago
lrapetti
commented
4 years ago I tried also with a different project that connects to multiple robots and I am getting the same error.
lrapetti
commented
4 years ago cc @Yeshasvitvs @diegoferigo
traversaro
commented
4 years ago I think the original intuition by @barbalberto in the comment in https://github.com/robotology/yarp/issues/1850#issuecomment-421978615 may be a good hint.
Nevertheless, to have something more actionable, I think you should proceed as in the following. As nothing changed recently in WB-Toolbox or BlockFactory, indeed a change of YARP can be a good candidate for creating this issue. First of all, find a YARP commit that is working fine, based on your original comment I would try to see if YARP v3.2.2 is working fine instead. If that tag is working fine while v3.3.1 is not working, then we are on a good track. Between v3.2.2 and v3.3.1 there are ~280 commits (see https://github.com/robotology/yarp/compare/v3.2.2...v3.3.1), so by using git bisect it should just take ≈ log2(280) ≈ 9 tests to actually find the commit that introduced the problem.
traversaro
commented
4 years ago For simplify the debugging, it would also be useful to have a Wireshark dump of the loopback traffic when you get this error.
lrapetti
commented
4 years ago From a preliminary test I found out that is not working with YARP 3.2.2 but it is working with YARP 3.2.0. I will try to investigate further about the exact commit.
traversaro
commented
4 years ago From a preliminary test I found out that is not working with YARP
3.2.2but it is working with YARP3.2.0. I will try to investigate further about the exact commit.
If you are taking bets, I would put my money on https://github.com/robotology/yarp/commit/1c1d01b12b284e634ac8eb672202aa198bfae7ad or https://github.com/robotology/yarp/commit/6476dcf14acd3a87d72663be1dd31e162dbf472d .
lrapetti
commented
4 years ago From a preliminary test I found out that is not working with YARP
3.2.2but it is working with YARP3.2.0. I will try to investigate further about the exact commit.
Unfortunately, after moving around with the commits I was no longer able to have it working (not even with 3.2.0, but I am sure at a certain point it was working), which makes me a bit confused about the origin of the problem (or about my focus during those tests).
lrapetti
commented
4 years ago Unfortunately, after moving around with the commits I was no longer able to have it working (not even with
3.2.0, but I am sure at a certain point it was working)
I discovered that if I compile master and then I switch to 3.2.0, then it is working (on 3.2.0). While moving trough intermediate commits and then to 3.2.0 apparently screwed the things.
traversaro
commented
4 years ago Unfortunately, after moving around with the commits I was no longer able to have it working (not even with
3.2.0, but I am sure at a certain point it was working)I discovered that if I compile
masterand then I switch to3.2.0, then it is working (on3.2.0). While moving trough intermediate commits and then to3.2.0apparently screwed the things.
Mhh, it could be something strange in the build system. It is probably a good idea to test each commit from a clean build.
traversaro
commented
4 years ago Two things that I forgot:
ccachelrapetti
commented
4 years ago Mhh, it could be something strange in the build system. It is probably a good idea to test each commit from a clean build.
I did test with clean build of different commits and releases (recompiling YARP, gazebo-yarp-plugins and wb-toolbox) but I was not able to find a properly working commit (I moved from 3.2.0 on).
- It is also possible that the failure is not deterministic itself, so it is possible that it something that may go wrong also in 3.2.0, but in master has an higher probability of failure (for example if it is some kind of race condition or similar).
Unfortunately this seems to me to be the most likely condition, I will report soon the output of some test remaining showing this condition.
lrapetti
commented
4 years ago
- It is also possible that the failure is not deterministic itself, so it is possible that it something that may go wrong also in 3.2.0, but in master has an higher probability of failure (for example if it is some kind of race condition or similar).
Unfortunately this seems to me to be the most likely condition, I will report soon the output of some test remaining showing this condition.
The following results have been obtained, trough different runs in chronoligical order, with YARP3.2.0 (where the coloumns indicate which software have been restarted after the previous try):
| result | Yarp server | Gz | Simulink | Matlab |
|---|---|---|---|---|
| Fail | x | x | x | x |
| Fail | x | |||
| Success | x | x | x | x |
| Success | x | x | ||
| Success | x | x | ||
| Fail | x | x | x | x |
| Fail | x | |||
| Fail | x | |||
| Fail | x | |||
| Fail | x | x | ||
| Fail | x | x | ||
| Fail | x | x | x | |
| Fail | x | x | x | |
| Fail | x | x | x | x |
| Fail | x | x | x | x |
| Fail | x | x | x | x |
| Success | x | x | x | x |
| Success | x | x | x | |
| Fail (Gz crash) | x | x | x | |
| Success | x | x | x | x |
lrapetti
commented
4 years ago Similar with the previous comment, those are some test with YARP3.3.101 (current master)
| result | Yarp server | Gz | Simulink | Matlab |
|---|---|---|---|---|
| Fail | x | x | x | x |
| Fail | x | x | x | x |
| Fail | ||||
| Fail | x | |||
| Fail | x | x | ||
| Success | x | x | x | x |
| Success | x | |||
| Success | x | x | ||
| Success | x | |||
| Success | x | x | ||
| Success | x | x | x | |
| Success | x | x | x | x |
So it doesn't seem to be much related to the YARP version
traversaro
commented
4 years ago At this point, I think the problem is some yarpserver race condition that has been part of yarpserver for a long time, and for some reason (that could also be related to something on your PC) you are noticing it only now.
lrapetti
commented
4 years ago I agree it is some kind of race condition, but would you exclude is something related to wb-toolbox?
I tried to debug a bit understanding where is is failing in initializeRemoteControlBoardRemapper, and I have noticed something strange:
iCub1)iCub2), and in the middle we see the errors and all the ports for the first model (iCub1) are removediCub2), and this times it seems to be completed succesfullyiCub2) are removedyou can see this events in the following output (search for START initializeRemoteControlBoardRemapper and FINISH initializeRemoteControlBoardRemapper)
iCub1 : START initializeRemoteControlBoardRemapper
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/rpc:o active at tcp://10.255.111.23:10087/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/command:o active at tcp://10.255.111.23:10088/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/stateExt:i active at tcp://10.255.111.23:10089/
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/rpc:o to /iCub1/torso/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/command:o to /iCub1/torso/command:i using udp
yarp: Receiving input from /iCub1/torso/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/rpc:o active at tcp://10.255.111.23:10090/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/command:o active at tcp://10.255.111.23:10091/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/stateExt:i active at tcp://10.255.111.23:10092/
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/rpc:o to /iCub1/left_arm/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/command:o to /iCub1/left_arm/command:i using udp
yarp: Receiving input from /iCub1/left_arm/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/rpc:o active at tcp://10.255.111.23:10093/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/command:o active at tcp://10.255.111.23:10094/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/stateExt:i active at tcp://10.255.111.23:10095/
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/rpc:o to /iCub1/right_arm/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/command:o to /iCub1/right_arm/command:i using udp
yarp: Receiving input from /iCub1/right_arm/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/rpc:o active at tcp://10.255.111.23:10096/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/command:o active at tcp://10.255.111.23:10097/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/stateExt:i active at tcp://10.255.111.23:10098/
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/rpc:o to /iCub1/left_leg/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/command:o to /iCub1/left_leg/command:i using udp
yarp: Receiving input from /iCub1/left_leg/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/rpc:o active at tcp://10.255.111.23:10099/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/command:o active at tcp://10.255.111.23:10100/
yarp: Port /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/stateExt:i active at tcp://10.255.111.23:10101/
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/rpc:o to /iCub1/right_leg/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/command:o to /iCub1/right_leg/command:i using udp
yarp: Receiving input from /iCub1/right_leg/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/stateExt:i using udp
iCub1 : FINISH initializeRemoteControlBoardRemapper
iCub2 : START initializeRemoteControlBoardRemapper
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/rpc:o active at tcp://10.255.111.23:10102/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/command:o active at tcp://10.255.111.23:10103/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/stateExt:i active at tcp://10.255.111.23:10104/
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/rpc:o to /iCub2/torso/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/command:o to /iCub2/torso/command:i using udp
yarp: Receiving input from /iCub2/torso/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/rpc:o active at tcp://10.255.111.23:10105/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/command:o active at tcp://10.255.111.23:10106/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/stateExt:i active at tcp://10.255.111.23:10107/
yarp: No connection to nameserver
yarp: *** try running: yarp detect ***
yarp: No connection to nameserver
yarp: *** try running: yarp detect ***
yarp: Receiving input from /iCub2/left_arm/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/stateExt:i using udp
yarp: Removing input from /iCub2/left_arm/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/stateExt:i
yarpdev: ***ERROR*** driver <remote_controlboard> was found but could not open
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/rpc:o to /iCub2/torso/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/command:o to /iCub2/torso/command:i
yarp: Removing input from /iCub2/torso/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/stateExt:i
yarpdev: ***ERROR*** driver <remotecontrolboardremapper> was found but could not open
Failed to open the RemoteControlBoardRemapper with the options passed.
Failed to initialize the RemoteControlBoardRemapper.
Failed to get IEncoders interface.
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/rpc:o to /iCub1/torso/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/command:o to /iCub1/torso/command:i
yarp: Removing input from /iCub1/torso/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/torso/stateExt:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/rpc:o to /iCub1/left_arm/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/command:o to /iCub1/left_arm/command:i
yarp: Removing input from /iCub1/left_arm/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_arm/stateExt:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/rpc:o to /iCub1/right_arm/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/command:o to /iCub1/right_arm/command:i
yarp: Removing input from /iCub1/right_arm/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_arm/stateExt:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/rpc:o to /iCub1/left_leg/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/command:o to /iCub1/left_leg/command:i
yarp: Removing input from /iCub1/left_leg/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/left_leg/stateExt:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/rpc:o to /iCub1/right_leg/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/command:o to /iCub1/right_leg/command:i
yarp: Removing input from /iCub1/right_leg/stateExt:o to /WBT/torqueControlBalancingModel1Robot1Configuration/iCub1/right_leg/stateExt:i
iCub2 : START initializeRemoteControlBoardRemapper
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/rpc:o active at tcp://10.255.111.23:10102/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/command:o active at tcp://10.255.111.23:10103/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/stateExt:i active at tcp://10.255.111.23:10104/
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/rpc:o to /iCub2/torso/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/command:o to /iCub2/torso/command:i using udp
yarp: Receiving input from /iCub2/torso/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/rpc:o active at tcp://10.255.111.23:10105/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/command:o active at tcp://10.255.111.23:10106/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/stateExt:i active at tcp://10.255.111.23:10107/
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/rpc:o to /iCub2/left_arm/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/command:o to /iCub2/left_arm/command:i using udp
yarp: Receiving input from /iCub2/left_arm/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/rpc:o active at tcp://10.255.111.23:10108/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/command:o active at tcp://10.255.111.23:10109/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/stateExt:i active at tcp://10.255.111.23:10110/
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/rpc:o to /iCub2/right_arm/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/command:o to /iCub2/right_arm/command:i using udp
yarp: Receiving input from /iCub2/right_arm/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/rpc:o active at tcp://10.255.111.23:10111/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/command:o active at tcp://10.255.111.23:10112/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/stateExt:i active at tcp://10.255.111.23:10113/
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/rpc:o to /iCub2/left_leg/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/command:o to /iCub2/left_leg/command:i using udp
yarp: Receiving input from /iCub2/left_leg/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/stateExt:i using udp
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/rpc:o active at tcp://10.255.111.23:10114/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/command:o active at tcp://10.255.111.23:10115/
yarp: Port /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/stateExt:i active at tcp://10.255.111.23:10116/
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/rpc:o to /iCub2/right_leg/rpc:i using tcp
yarp: Sending output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/command:o to /iCub2/right_leg/command:i using udp
yarp: Receiving input from /iCub2/right_leg/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/stateExt:i using udp
iCub2 : FINISH initializeRemoteControlBoardRemapper
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/rpc:o to /iCub2/torso/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/command:o to /iCub2/torso/command:i
yarp: Removing input from /iCub2/torso/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/torso/stateExt:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/rpc:o to /iCub2/left_arm/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/command:o to /iCub2/left_arm/command:i
yarp: Removing input from /iCub2/left_arm/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_arm/stateExt:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/rpc:o to /iCub2/right_arm/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/command:o to /iCub2/right_arm/command:i
yarp: Removing input from /iCub2/right_arm/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_arm/stateExt:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/rpc:o to /iCub2/left_leg/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/command:o to /iCub2/left_leg/command:i
yarp: Removing input from /iCub2/left_leg/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/left_leg/stateExt:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/rpc:o to /iCub2/right_leg/rpc:i
yarp: Removing output from /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/command:o to /iCub2/right_leg/command:i
yarp: Removing input from /iCub2/right_leg/stateExt:o to /WBT/torqueControlBalancingModel2Robot2Configuration/iCub2/right_leg/stateExt:iaren't this sequence of events and the fact that the second model is initialized twice, strange? @traversaro @diegoferigo
lrapetti
commented
4 years ago Today I have tested the same code with the following configuration:
OS: Ubuntu 18.04
YARP: 3.2.101
Matlab: R2018a
and I didn't experience the failure. Further investigation should be done in order to understand if the problem is related to Matlab version or OS.
lrapetti
commented
4 years ago Adding some note on debugging the error, the error appears in the open() call for the polyDriver.
The passed arguments seems to be fine:
(REMOTE_CONTROLBOARD_OPTIONS (writeStrict on)) (axesNames (torso_pitch torso_roll torso_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll)) (device remotecontrolboardremapper) (localPortPrefix "/WBT/torqueControlBalancingModel1Robot1Configuration") (remoteControlBoards ("/iCub1/torso" "/iCub1/left_arm" "/iCub1/right_arm" "/iCub1/left_leg" "/iCub1/right_leg")(REMOTE_CONTROLBOARD_OPTIONS (writeStrict on)) (axesNames (torso_pitch torso_roll torso_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll)) (device remotecontrolboardremapper) (localPortPrefix "/WBT/torqueControlBalancingModel2Robot2Configuration") (remoteControlBoards ("/iCub2/torso" "/iCub2/left_arm" "/iCub2/right_arm" "/iCub2/left_leg" "/iCub2/right_leg"))
diegoferigo
commented
4 years ago The configuration seems correct, I confirm. As discussed in the previous days f2f, did you have the chance to extend the test done in https://github.com/robotology/wb-toolbox/issues/186#issuecomment-582464615 and try an Ubuntu machine with the new 2019b Matlab version?
In this way we know that the problem is not related to the Matlab version you have on your computer nor Ubuntu. The only difference therefore is MacOS, and we can limit the debugging to the portions of code (or loaded libraries) of the OS.
Another try, as discussed, could be trying to switch on / off ACE in YARP (I think it's on by default). On Ubuntu I know it can be done and everything should work even without ACE, I'm not sure if it can be done also on MacOS.
lrapetti
commented
4 years ago The configuration seems correct, I confirm. As discussed in the previous days f2f, did you have the chance to extend the test done in #186 (comment) and try an Ubuntu machine with the new 2019b Matlab version?
I will procede with this tests
Another try, as discussed, could be trying to switch on / off ACE in YARP (I think it's on by default). On Ubuntu I know it can be done and everything should work even without ACE, I'm not sure if it can be done also on MacOS.
I don't see any YARP_USE_ACE option in cmake
In addition, I did some check with the debugger, and I have found out that the second initialisation of iCub2 (the succesfully one) that I was seeing in https://github.com/robotology/wb-toolbox/issues/186#issuecomment-582364289 was triggered by the call of getRobotInterface in the block termination
https://github.com/robotology/wb-toolbox/blob/f110c4b641a09a4bb392161db2ab79d0afc0adbe/toolbox/library/src/SetReferences.cpp#L276-L282
this explain hence the presence of two initializations for iCub2
traversaro
commented
4 years ago Another try, as discussed, could be trying to switch on / off ACE in YARP (I think it's on by default). On Ubuntu I know it can be done and everything should work even without ACE, I'm not sure if it can be done also on MacOS.
I don't see any
YARP_USE_ACEoption in cmake
The option is SKIP_ACE .
diegoferigo
commented
4 years ago In addition, I did some check with the debugger, and I have found out that the second initialisation of iCub2 (the succesfully one) that I was seeing in #186 (comment) was triggered by the call of getRobotInterface in the block termination
Good catch! Thanks GDB :)
lrapetti
commented
4 years ago @diegoferigo
Good catch! Thanks
GDBLLDB :)
lrapetti
commented
4 years ago Another try, as discussed, could be trying to switch on / off ACE in YARP (I think it's on by default). On Ubuntu I know it can be done and everything should work even without ACE, I'm not sure if it can be done also on MacOS.
I don't see any
YARP_USE_ACEoption in cmakeThe option is
SKIP_ACE.
The compilation is failing when SKIP_ACE is on.
[ 2%] Building CXX object src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/Carrier.cpp.o
In file included from /Users/lorenzorapetti/Software/robotology-superbuild/robotology/YARP/src/libYARP_os/src/yarp/os/Carrier.cpp:11:
In file included from /Users/lorenzorapetti/Software/robotology-superbuild/robotology/YARP/src/libYARP_os/src/yarp/os/impl/TcpFace.h:17:
/Users/lorenzorapetti/Software/robotology-superbuild/robotology/YARP/src/libYARP_os/src/yarp/os/impl/TcpAcceptor.h:22:1: error:
Cannot implement TcpAcceptor on this platform
YARP_COMPILER_ERROR(Cannot implement TcpAcceptor on this platform)
^
/Users/lorenzorapetti/Software/robotology-superbuild/build/robotology/YARP/src/libYARP_conf/src/yarp/conf/system.h:109:35: note:
expanded from macro 'YARP_COMPILER_ERROR'
#define YARP_COMPILER_ERROR(x) __YARP_DO_PRAGMA(GCC error #x)
^
/Users/lorenzorapetti/Software/robotology-superbuild/build/robotology/YARP/src/libYARP_conf/src/yarp/conf/system.h:106:31: note:
expanded from macro '__YARP_DO_PRAGMA'
#define __YARP_DO_PRAGMA(x) _Pragma (#x)
^
<scratch space>:210:6: note: expanded from here
GCC error "Cannot implement TcpAcceptor on this platform"
^
In file included from /Users/lorenzorapetti/Software/robotology-superbuild/robotology/YARP/src/libYARP_os/src/yarp/os/Carrier.cpp:11:
/Users/lorenzorapetti/Software/robotology-superbuild/robotology/YARP/src/libYARP_os/src/yarp/os/impl/TcpFace.h:51:21: error:
no type named 'TcpAcceptor' in namespace 'yarp::os::impl'
yarp::os::impl::TcpAcceptor peerAcceptor;
~~~~~~~~~~~~~~~~^
/Users/lorenzorapetti/Software/robotology-superbuild/robotology/YARP/src/libYARP_os/src/yarp/os/Carrier.cpp:130:12: error:
cannot initialize return object of type 'yarp::os::Face *' with an rvalue
of type 'yarp::os::impl::TcpFace *'
return new yarp::os::impl::TcpFace();
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
3 errors generated.
make[2]: *** [src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/Carrier.cpp.o] Error 1
make[1]: *** [src/libYARP_os/src/CMakeFiles/YARP_os.dir/all] Error 2
make: *** [all] Error 2Ok, in MacOS you must have ACE. It was worth trying.
lrapetti
commented
3 years ago Further investigation should be done in order to understand if the problem is related to Matlab version or OS.
Jumping back in this old issue, I have now worked for some time on Simulink models with multiple remotecontrolboard with different OS and Matlab version. I keep experiencing the same problem on MacOS, while it never happened on Ubunt. Indeed, I think we can say the problem is OS-related, and I have update the title accordingly.
lrapetti
commented
3 years ago Actually, I think the same problem is happening also in presence of a single robot but with "heavy" models.
Today I was running a model which attaches to the control-board of a single icub running in simulation, runs a state-machine and a QP-based controller, and opens other yarp port using WB-toolbox block, and I was getting the following error in the Simulink diagnostic, which seems same as what observed above.
...
INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o active at tcp://10.255.111.45:10070/
[INFO] |yarp.os.impl.NameClient| No connection to nameserver
[INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
[INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o active at tcp://10.255.111.45:10071/
[INFO] |yarp.os.impl.NameClient| No connection to nameserver
[INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
[INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i active at tcp://10.255.111.45:10072/
[INFO] |yarp.os.impl.NameClient| No connection to nameserver
[INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
[ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/rpc:i, is the remote device available?
[INFO] |yarp.os.impl.NameClient| No connection to nameserver
[INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
[ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/command:i, is the remote device available?
[INFO] |yarp.os.impl.NameClient| No connection to nameserver
[INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
[ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/stateExt:o, is the remote device available?
[ERROR] |yarp.dev.PolyDriver| Driver <remote_controlboard> was found but could not open
[ERROR] |yarp.device.remotecontrolboardremapper| Opening remote_controlboard with remote " /icubSim/right_leg ", opening the device failed.
[ERROR] |yarp.dev.PolyDriver| Driver <remotecontrolboardremapper> was found but could not open
...Here are the full logs:
@nunoguedelha I don't know if you followed the discussion back in time. As a MacOS user, have you ever experienced this problem?
nunoguedelha
commented
3 years ago Hi @lrapetti , just saw your comment now, sorry. I had indeed an issue last year, somewhat similar, not sure it's the same though. I'll send you the link. We can discuss on Monday.
lrapetti
commented
3 years ago Hi @lrapetti , just saw your comment now, sorry. I had indeed an issue last year, somewhat similar, not sure it's the same though. I'll send you the link. We can discuss on Monday.
Thanks @nunoguedelha, let me know if you want to have a chat regarding this issue
Description
I am trying to run a Simulink project using WBToolbox to control two robots in a Gazebo simulation. The project was working a couple of months ago (in the middle for sure I updated
YARPto more recent versions, and eventually other folders, not sure of all the changes) but now I am no longer able to have it running. Commenting out one or the other robot the project is working, but when I try to run it with both the robots, it is failing giving following errors:(full terminal and Simulink diagnostic output can be found below)
The problem is somehow similar to https://github.com/robotology/yarp/issues/1850.
Additional context
Simulink configuration Outer view of the Simulink project:
Each robot block contains the 
Configand the WBtoolbox boxes as in the following pictureFor each robot I have a different configuration:
Robot 1
Robot 2
terminals outputs Matlab terminal:
Simulink diagnostic
yarp name list. outputAdditional information
MacOS 10.14.63.3.1master(114ac0e76068399c51150cb55c5922634d199ad3)2019b