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robotology / wearables

Code moved to https://github.com/robotology/human-dynamics-estimation
https://github.com/robotology/human-dynamics-estimation
BSD 3-Clause "New" or "Revised" License
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Replace usage of ``transformClient`` (to be removed in the next release of YARP) #191

Closed S-Dafarra closed 1 year ago

S-Dafarra commented 1 year ago

The frameTransformClient device is going to be removed in the next version of YARP and thus we need to update the code using it. See https://github.com/robotology/yarp/pull/2999

Related issues:

cc @lrapetti

lrapetti commented 1 year ago

Thanks, @S-Dafarra for raising it. Actually it is the transformClient that will be removed and the frameTransformClient should be the replacement, did I understand it correctly (https://github.com/robotology/yarp/pull/2999#issuecomment-1662155403)?

S-Dafarra commented 1 year ago

Yes you are right!

lrapetti commented 1 year ago

Yes you are right!

Thanks! I have changed the title of the issue accordingly

S-Dafarra commented 1 year ago

I think it should be sufficient to edit https://github.com/robotology/wearables/blob/3fe3182e2ecec116549c0556baf312a9edc07ff6/devices/IFrameTransformToIWear/conf/iframetransform_to_iwear.xml#L5-L9 right?

S-Dafarra commented 1 year ago

These are the lines to use:

<device type="frameTransformClient" name="TransformClient">
    <param name="period">0.01</param>
    <param name="filexml_option">ftc_yarp_only.xml</param>
    <param name="ft_client_prefix">/IFrameTransformToIWear/tf</param>
    <param name="local_rpc">/IFrameTransformToIWear/tf/local_rpc</param>
</device>

We also need to edit the HDE files in https://github.com/robotology/human-dynamics-estimation/tree/77c7a024d875956ab05205171109ed1a82dc46e3/conf/xml

S-Dafarra commented 1 year ago

With @davidegorbani we tried today but we had issues. In particular, we had this error continuosly:

[ERROR] |yarp.device.FrameTransformClient| getTransform(): Frames  root_link_desired  and  openxr_head  are not connected
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[ERROR] |yarp.device.FrameTransformClient| getTransform(): Frames  root_link_desired  and  openxr_head  are not connected
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_right_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[ERROR] |yarp.device.FrameTransformClient| getTransform(): Frames  root_link_desired  and  openxr_head  are not connected
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[ERROR] |yarp.device.FrameTransformClient| getTransform(): Frames  root_link_desired  and  openxr_head  are not connected
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::openxr_head
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_right_elbow_pose
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::vive_tracker_right_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::vive_tracker_right_elbow_pose
[WARNING] HumanStateProvider : Failed to read link orientation from virtual link sensor  TransformServer::pose::vive_tracker_left_elbow_pose
[WARNING] HumanStateProvider : Failed to read link position from virtual link sensor  TransformServer::pose::openxr_head

The error is not appearing constantly, but a couple of times per second. The retargeting visualization has some jumps when this happens.

I also tried to launch a frame visualizer on the same Windows machine and I have no issues.

We have the transform server running on a Windows machine, while the client on an Ubuntu machine on the same network. I have tried to edit the timeout (specified in https://github.com/robotology/yarp/blob/65a3a508c0b5147bdf5106ac173370382486004e/src/libYARP_dev/src/yarp/dev/FrameTransformContainer.h#L99 and not set from conf file) from 0.2s to 1.0s on both machines, but nothing changed. I wonder if this problem has been fixed in recent version of yarp. Currently we are using 3.7.2, although I don't see anything particular in the changelog

S-Dafarra commented 1 year ago

We have the transform server running on a Windows machine, while the client on an Ubuntu machine on the same network. I have tried to edit the timeout (specified in https://github.com/robotology/yarp/blob/65a3a508c0b5147bdf5106ac173370382486004e/src/libYARP_dev/src/yarp/dev/FrameTransformContainer.h#L99 and not set from conf file) from 0.2s to 1.0s on both machines, but nothing changed. I wonder if this problem has been fixed in recent version of yarp. Currently we are using 3.7.2, although I don't see anything particular in the changelog

This appeared to be a much deeper issue: https://github.com/robotology/yarp/issues/3038

S-Dafarra commented 1 year ago

After applying the patch to yarp mentioned in https://github.com/robotology/yarp/pull/3041, the errors disappeared and the IK seems to be working fine. I will proceed in opening PRs to edit the configuration files

S-Dafarra commented 1 year ago

Modifications done in: