Couldn't run baseEstimatorV1

I'm trying to run the baseEstimatorV1 device on my setup.

Following the setup instructions of the README file, I did the following:

Start the yarp server
Open Gazebo Classic with the clock plugin
Insert iCubGazeboV2_5 (no hands)
Play the simulation
Run YARP_CLOCK=/clock yarprobotinterface --config launch-fbe-analogsens.xml

Click to expand the full output

``` ~ ❯ YARP_CLOCK=/clock yarprobotinterface --config launch-fbe-analogsens.xml yarp: Port /IITICUBLAP110/yarprobotinterface/31105/clock:i active at tcp://192.168.8.102:10126/ Success: port-to-port persistent connection added. yarp: Waiting for clock server to start broadcasting data ... yarp: Receiving input from /clock to /IITICUBLAP110/yarprobotinterface/31105/clock:i using tcp ||| configuring ||| default config file specified as yarprobotinterface.ini ||| checking [/home/dferigo/yarprobotinterface.ini] (pwd) ||| checking [/iit/sources/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/yarprobotinterface.ini] (robot) ||| checking [/iit/sources/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_5/yarprobotinterface.ini] (robot) ||| checking [/iit/sources/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubGazeboV2_5/yarprobotinterface.ini] (robot) ||| checking [/iit/sources/robotology-superbuild/build/install/share/wbc/robots/iCubGazeboV2_5/yarprobotinterface.ini] (robot) ||| checking [/home/dferigo/.config/yarp/yarprobotinterface.ini] (YARP_CONFIG_HOME) ||| checking [/home/dferigo/.local/share/yarp/yarprobotinterface.ini] (YARP_DATA_HOME) ||| checking [/etc/yarp/yarprobotinterface.ini] (YARP_CONFIG_DIRS) ||| checking [/iit/sources/robotology-superbuild/build/install/share/yarp/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/iit/sources/robotology-superbuild/build/install/share/iCub/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/iit/sources/robotology-superbuild/build/install/share/ICUBcontrib/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/iit/sources/robotology-superbuild/robotology/icub-tests/suites/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/iit/sources/robotology-superbuild/build/install/share/human-gazebo/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/iit/sources/robotology-superbuild/build/install/share/HumanDynamicsEstimation/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/iit/sources/robotology-superbuild/build/install/share/Wearables/yarprobotinterface.ini] (YARP_DATA_DIRS) ||| checking [/iit/sources/robotology-superbuild/build/install/share/wbc/yarprobotinterface.ini] (yarp.d) yarp: cannot read from yarprobotinterface.ini ||| finding file [config] ||| checking [/home/dferigo/launch-fbe-analogsens.xml] (pwd) ||| checking [/iit/sources/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml] (robot) ||| found /iit/sources/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml [DEBUG]Reading file /iit/sources/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml [DEBUG]yarprobotinterface: using xml parser for DTD v3.x [DEBUG]Reading file /iit/sources/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml [DEBUG]Preprocessor complete in: 0 s yarp: Port /baseestimation/yarprobotinterface active at tcp://192.168.8.102:10062/ [INFO]startup phase starting... ||| finding paths [plugins] yarp: Port /baseestimation/torso/rpc:o active at tcp://192.168.8.102:10063/ yarp: Port /baseestimation/torso/command:o active at tcp://192.168.8.102:10064/ yarp: Port /baseestimation/torso/stateExt:i active at tcp://192.168.8.102:10065/ yarp: Sending output from /baseestimation/torso/rpc:o to /icubSim/torso/rpc:i using tcp yarp: Sending output from /baseestimation/torso/command:o to /icubSim/torso/command:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Receiving input from /icubSim/torso/stateExt:o to /baseestimation/torso/stateExt:i using udp yarp: Port /baseestimation/left_arm/rpc:o active at tcp://192.168.8.102:10066/ yarp: Port /baseestimation/left_arm/command:o active at tcp://192.168.8.102:10067/ yarp: Port /baseestimation/left_arm/stateExt:i active at tcp://192.168.8.102:10068/ yarp: Sending output from /baseestimation/left_arm/rpc:o to /icubSim/left_arm/rpc:i using tcp yarp: Sending output from /baseestimation/left_arm/command:o to /icubSim/left_arm/command:i using udp yarp: Receiving input from /icubSim/left_arm/stateExt:o to /baseestimation/left_arm/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/right_arm/rpc:o active at tcp://192.168.8.102:10069/ yarp: Port /baseestimation/right_arm/command:o active at tcp://192.168.8.102:10070/ yarp: Port /baseestimation/right_arm/stateExt:i active at tcp://192.168.8.102:10071/ yarp: Sending output from /baseestimation/right_arm/rpc:o to /icubSim/right_arm/rpc:i using tcp yarp: Sending output from /baseestimation/right_arm/command:o to /icubSim/right_arm/command:i using udp yarp: Receiving input from /icubSim/right_arm/stateExt:o to /baseestimation/right_arm/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/left_leg/rpc:o active at tcp://192.168.8.102:10072/ yarp: Port /baseestimation/left_leg/command:o active at tcp://192.168.8.102:10073/ yarp: Port /baseestimation/left_leg/stateExt:i active at tcp://192.168.8.102:10074/ yarp: Sending output from /baseestimation/left_leg/rpc:o to /icubSim/left_leg/rpc:i using tcp yarp: Sending output from /baseestimation/left_leg/command:o to /icubSim/left_leg/command:i using udp yarp: Receiving input from /icubSim/left_leg/stateExt:o to /baseestimation/left_leg/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/right_leg/rpc:o active at tcp://192.168.8.102:10075/ yarp: Port /baseestimation/right_leg/command:o active at tcp://192.168.8.102:10076/ yarp: Port /baseestimation/right_leg/stateExt:i active at tcp://192.168.8.102:10077/ yarp: Sending output from /baseestimation/right_leg/rpc:o to /icubSim/right_leg/rpc:i using tcp yarp: Sending output from /baseestimation/right_leg/command:o to /icubSim/right_leg/command:i using udp yarp: Receiving input from /icubSim/right_leg/stateExt:o to /baseestimation/right_leg/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/head/rpc:o active at tcp://192.168.8.102:10078/ yarp: Port /baseestimation/head/command:o active at tcp://192.168.8.102:10079/ yarp: Port /baseestimation/head/stateExt:i active at tcp://192.168.8.102:10080/ yarp: Sending output from /baseestimation/head/rpc:o to /icubSim/head/rpc:i using tcp yarp: Sending output from /baseestimation/head/command:o to /icubSim/head/command:i using udp yarp: Receiving input from /icubSim/head/stateExt:o to /baseestimation/head/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. ||| finding paths [plugins] yarp: Port /baseestimation/icubSim/head/rpc:o active at tcp://192.168.8.102:10081/ yarp: Port /baseestimation/icubSim/head/command:o active at tcp://192.168.8.102:10082/ yarp: Port /baseestimation/icubSim/head/stateExt:i active at tcp://192.168.8.102:10083/ yarp: Sending output from /baseestimation/icubSim/head/rpc:o to /icubSim/head/rpc:i using tcp yarp: Sending output from /baseestimation/icubSim/head/command:o to /icubSim/head/command:i using udp yarp: Receiving input from /icubSim/head/stateExt:o to /baseestimation/icubSim/head/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/icubSim/torso/rpc:o active at tcp://192.168.8.102:10084/ yarp: Port /baseestimation/icubSim/torso/command:o active at tcp://192.168.8.102:10085/ yarp: Port /baseestimation/icubSim/torso/stateExt:i active at tcp://192.168.8.102:10086/ yarp: Sending output from /baseestimation/icubSim/torso/rpc:o to /icubSim/torso/rpc:i using tcp yarp: Sending output from /baseestimation/icubSim/torso/command:o to /icubSim/torso/command:i using udp yarp: Receiving input from /icubSim/torso/stateExt:o to /baseestimation/icubSim/torso/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/icubSim/left_arm/rpc:o active at tcp://192.168.8.102:10087/ yarp: Port /baseestimation/icubSim/left_arm/command:o active at tcp://192.168.8.102:10088/ yarp: Port /baseestimation/icubSim/left_arm/stateExt:i active at tcp://192.168.8.102:10089/ yarp: Sending output from /baseestimation/icubSim/left_arm/rpc:o to /icubSim/left_arm/rpc:i using tcp yarp: Sending output from /baseestimation/icubSim/left_arm/command:o to /icubSim/left_arm/command:i using udp yarp: Receiving input from /icubSim/left_arm/stateExt:o to /baseestimation/icubSim/left_arm/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/icubSim/right_arm/rpc:o active at tcp://192.168.8.102:10090/ yarp: Port /baseestimation/icubSim/right_arm/command:o active at tcp://192.168.8.102:10091/ yarp: Port /baseestimation/icubSim/right_arm/stateExt:i active at tcp://192.168.8.102:10092/ yarp: Sending output from /baseestimation/icubSim/right_arm/rpc:o to /icubSim/right_arm/rpc:i using tcp yarp: Sending output from /baseestimation/icubSim/right_arm/command:o to /icubSim/right_arm/command:i using udp yarp: Receiving input from /icubSim/right_arm/stateExt:o to /baseestimation/icubSim/right_arm/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/icubSim/left_leg/rpc:o active at tcp://192.168.8.102:10093/ yarp: Port /baseestimation/icubSim/left_leg/command:o active at tcp://192.168.8.102:10094/ yarp: Port /baseestimation/icubSim/left_leg/stateExt:i active at tcp://192.168.8.102:10095/ yarp: Sending output from /baseestimation/icubSim/left_leg/rpc:o to /icubSim/left_leg/rpc:i using tcp yarp: Sending output from /baseestimation/icubSim/left_leg/command:o to /icubSim/left_leg/command:i using udp yarp: Receiving input from /icubSim/left_leg/stateExt:o to /baseestimation/icubSim/left_leg/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. yarp: Port /baseestimation/icubSim/right_leg/rpc:o active at tcp://192.168.8.102:10096/ yarp: Port /baseestimation/icubSim/right_leg/command:o active at tcp://192.168.8.102:10097/ yarp: Port /baseestimation/icubSim/right_leg/stateExt:i active at tcp://192.168.8.102:10098/ yarp: Sending output from /baseestimation/icubSim/right_leg/rpc:o to /icubSim/right_leg/rpc:i using tcp yarp: Sending output from /baseestimation/icubSim/right_leg/command:o to /icubSim/right_leg/command:i using udp yarp: Receiving input from /icubSim/right_leg/stateExt:o to /baseestimation/icubSim/right_leg/stateExt:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. [INFO]created device . See C++ class RemoteControlBoardRemapper for documentation. ||| finding paths [plugins] yarp: Port /baseestimation/head/imu:i active at tcp://192.168.8.102:10099/ yarp: Receiving input from /icubSim/inertial to /baseestimation/head/imu:i using udp [INFO]created device . See C++ class yarp::dev::GenericSensorClient for documentation. ||| finding paths [plugins] yarp: Port /baseestimation/l_arm_ft_sensor active at tcp://192.168.8.102:10100/ yarp: Port /baseestimation/l_arm_ft_sensor/rpc:o active at tcp://192.168.8.102:10101/ yarp: Receiving input from /icubSim/left_arm/analog:o to /baseestimation/l_arm_ft_sensor using udp yarp: Sending output from /baseestimation/l_arm_ft_sensor/rpc:o to /icubSim/left_arm/analog:o/rpc:i using tcp [INFO]created device . See C++ class AnalogSensorClient for documentation. yarp: Port /baseestimation/r_arm_ft_sensor active at tcp://192.168.8.102:10102/ yarp: Port /baseestimation/r_arm_ft_sensor/rpc:o active at tcp://192.168.8.102:10103/ yarp: Receiving input from /icubSim/right_arm/analog:o to /baseestimation/r_arm_ft_sensor using udp yarp: Sending output from /baseestimation/r_arm_ft_sensor/rpc:o to /icubSim/right_arm/analog:o/rpc:i using tcp [INFO]created device . See C++ class AnalogSensorClient for documentation. yarp: Port /baseestimation/l_leg_ft_sensor active at tcp://192.168.8.102:10104/ yarp: Port /baseestimation/l_leg_ft_sensor/rpc:o active at tcp://192.168.8.102:10105/ yarp: Receiving input from /icubSim/left_leg/analog:o to /baseestimation/l_leg_ft_sensor using udp yarp: Sending output from /baseestimation/l_leg_ft_sensor/rpc:o to /icubSim/left_leg/analog:o/rpc:i using tcp [INFO]created device . See C++ class AnalogSensorClient for documentation. yarp: Port /baseestimation/r_leg_ft_sensor active at tcp://192.168.8.102:10106/ yarp: Port /baseestimation/r_leg_ft_sensor/rpc:o active at tcp://192.168.8.102:10107/ yarp: Receiving input from /icubSim/right_leg/analog:o to /baseestimation/r_leg_ft_sensor using udp yarp: Sending output from /baseestimation/r_leg_ft_sensor/rpc:o to /icubSim/right_leg/analog:o/rpc:i using tcp [INFO]created device . See C++ class AnalogSensorClient for documentation. yarp: Port /baseestimation/l_foot_ft_sensor:i active at tcp://192.168.8.102:10108/ yarp: Port /baseestimation/l_foot_ft_sensor:i/rpc:o active at tcp://192.168.8.102:10109/ yarp: Receiving input from /icubSim/left_foot/analog:o to /baseestimation/l_foot_ft_sensor:i using udp yarp: Sending output from /baseestimation/l_foot_ft_sensor:i/rpc:o to /icubSim/left_foot/analog:o/rpc:i using tcp [INFO]created device . See C++ class AnalogSensorClient for documentation. yarp: Port /baseestimation/r_foot_ft_sensor:i active at tcp://192.168.8.102:10110/ yarp: Port /baseestimation/r_foot_ft_sensor:i/rpc:o active at tcp://192.168.8.102:10111/ yarp: Receiving input from /icubSim/right_foot/analog:o to /baseestimation/r_foot_ft_sensor:i using udp yarp: Sending output from /baseestimation/r_foot_ft_sensor:i/rpc:o to /icubSim/right_foot/analog:o/rpc:i using tcp [INFO]created device . See C++ class AnalogSensorClient for documentation. ||| finding paths [plugins] [INFO]FrameTransformServer: transforms_lifetime set to: 0.2 [INFO]FrameTransformServer: Enabled ROS publisher [INFO]FrameTransformServer: Enabled ROS subscriber yarp: Port /transformServer/rpc active at tcp://192.168.8.102:10112/ yarp: Port /transformServer/transforms:o active at tcp://192.168.8.102:10113/ yarp: Port /tfNode active at tcp://192.168.8.102:10114/ yarp: Port /tf+@/tfNode active at tcp://192.168.8.102:10115/ yarp: Port /tf_static+@/tfNode active at tcp://192.168.8.102:10116/ yarp: Port /tf-@/tfNode active at tcp://192.168.8.102:10117/ yarp: Receiving input from /tf+@/tfNode to /tf-@/tfNode using tcp yarp: Sending output from /tf+@/tfNode to /tf-@/tfNode using tcp yarp: Port /tf_static-@/tfNode active at tcp://192.168.8.102:10118/ [INFO]Transform server started yarp: Receiving input from /tf_static+@/tfNode to /tf_static-@/tfNode using tcp yarp: Sending output from /tf_static+@/tfNode to /tf_static-@/tfNode using tcp [INFO]transformServer: no starting tf found [INFO]created device . See C++ class FrameTransformServer for documentation. ||| finding paths [plugins] yarp: Port /base-estimator/left_foot_cartesian_wrench:i active at tcp://192.168.8.102:10119/ [ERROR]floatingBaseEstimatorV1: could not connect to /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o [ERROR]floatingBaseEstimatorV1: Could not connect to wholebodydynamics yarpdev: ***ERROR*** driver was found but could not open [WARNING]Cannot open device baseestimator [WARNING]Cannot open device baseestimator [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 yarp: Removing input from /tf+@/tfNode to /tf-@/tfNode yarp: Removing output from /tf+@/tfNode to /tf-@/tfNode yarp: Removing input from /tf_static+@/tfNode to /tf_static-@/tfNode yarp: Removing output from /tf_static+@/tfNode to /tf_static-@/tfNode yarp: Removing output from /baseestimation/r_foot_ft_sensor:i/rpc:o to /icubSim/right_foot/analog:o/rpc:i yarp: Removing input from /icubSim/right_foot/analog:o to /baseestimation/r_foot_ft_sensor:i yarp: Removing output from /baseestimation/l_foot_ft_sensor:i/rpc:o to /icubSim/left_foot/analog:o/rpc:i yarp: Removing input from /icubSim/left_foot/analog:o to /baseestimation/l_foot_ft_sensor:i yarp: Removing output from /baseestimation/r_leg_ft_sensor/rpc:o to /icubSim/right_leg/analog:o/rpc:i yarp: Removing input from /icubSim/right_leg/analog:o to /baseestimation/r_leg_ft_sensor yarp: Removing output from /baseestimation/l_leg_ft_sensor/rpc:o to /icubSim/left_leg/analog:o/rpc:i yarp: Removing input from /icubSim/left_leg/analog:o to /baseestimation/l_leg_ft_sensor yarp: Removing output from /baseestimation/r_arm_ft_sensor/rpc:o to /icubSim/right_arm/analog:o/rpc:i yarp: Removing input from /icubSim/right_arm/analog:o to /baseestimation/r_arm_ft_sensor yarp: Removing output from /baseestimation/l_arm_ft_sensor/rpc:o to /icubSim/left_arm/analog:o/rpc:i yarp: Removing input from /icubSim/left_arm/analog:o to /baseestimation/l_arm_ft_sensor yarp: Removing input from /icubSim/inertial to /baseestimation/head/imu:i yarp: Removing output from /baseestimation/icubSim/head/rpc:o to /icubSim/head/rpc:i yarp: Removing output from /baseestimation/icubSim/head/command:o to /icubSim/head/command:i yarp: Removing input from /icubSim/head/stateExt:o to /baseestimation/icubSim/head/stateExt:i yarp: Removing output from /baseestimation/icubSim/torso/rpc:o to /icubSim/torso/rpc:i yarp: Removing output from /baseestimation/icubSim/torso/command:o to /icubSim/torso/command:i yarp: Removing input from /icubSim/torso/stateExt:o to /baseestimation/icubSim/torso/stateExt:i yarp: Removing output from /baseestimation/icubSim/left_arm/rpc:o to /icubSim/left_arm/rpc:i yarp: Removing output from /baseestimation/icubSim/left_arm/command:o to /icubSim/left_arm/command:i yarp: Removing input from /icubSim/left_arm/stateExt:o to /baseestimation/icubSim/left_arm/stateExt:i yarp: Removing output from /baseestimation/icubSim/right_arm/rpc:o to /icubSim/right_arm/rpc:i yarp: Removing output from /baseestimation/icubSim/right_arm/command:o to /icubSim/right_arm/command:i yarp: Removing input from /icubSim/right_arm/stateExt:o to /baseestimation/icubSim/right_arm/stateExt:i yarp: Removing output from /baseestimation/icubSim/left_leg/rpc:o to /icubSim/left_leg/rpc:i yarp: Removing output from /baseestimation/icubSim/left_leg/command:o to /icubSim/left_leg/command:i yarp: Removing input from /icubSim/left_leg/stateExt:o to /baseestimation/icubSim/left_leg/stateExt:i yarp: Removing output from /baseestimation/icubSim/right_leg/rpc:o to /icubSim/right_leg/rpc:i yarp: Removing output from /baseestimation/icubSim/right_leg/command:o to /icubSim/right_leg/command:i yarp: Removing input from /icubSim/right_leg/stateExt:o to /baseestimation/icubSim/right_leg/stateExt:i yarp: Removing output from /baseestimation/head/rpc:o to /icubSim/head/rpc:i yarp: Removing output from /baseestimation/head/command:o to /icubSim/head/command:i yarp: Removing input from /icubSim/head/stateExt:o to /baseestimation/head/stateExt:i yarp: Removing output from /baseestimation/right_leg/rpc:o to /icubSim/right_leg/rpc:i yarp: Removing output from /baseestimation/right_leg/command:o to /icubSim/right_leg/command:i yarp: Removing input from /icubSim/right_leg/stateExt:o to /baseestimation/right_leg/stateExt:i yarp: Removing output from /baseestimation/left_leg/rpc:o to /icubSim/left_leg/rpc:i yarp: Removing output from /baseestimation/left_leg/command:o to /icubSim/left_leg/command:i yarp: Removing input from /icubSim/left_leg/stateExt:o to /baseestimation/left_leg/stateExt:i yarp: Removing output from /baseestimation/right_arm/rpc:o to /icubSim/right_arm/rpc:i yarp: Removing output from /baseestimation/right_arm/command:o to /icubSim/right_arm/command:i yarp: Removing input from /icubSim/right_arm/stateExt:o to /baseestimation/right_arm/stateExt:i yarp: Removing output from /baseestimation/left_arm/rpc:o to /icubSim/left_arm/rpc:i yarp: Removing output from /baseestimation/left_arm/command:o to /icubSim/left_arm/command:i yarp: Removing input from /icubSim/left_arm/stateExt:o to /baseestimation/left_arm/stateExt:i yarp: Removing output from /baseestimation/torso/rpc:o to /icubSim/torso/rpc:i yarp: Removing output from /baseestimation/torso/command:o to /icubSim/torso/command:i yarp: Removing input from /icubSim/torso/stateExt:o to /baseestimation/torso/stateExt:i [ERROR]Error in startup phase... see previous messages for more info [WARNING]Interrupt # 1 # received. [INFO]Interrupt received. Stopping all running threads. [INFO]interrupt1 phase starting... [INFO]interrupt1 phase finished. [INFO]shutdown phase starting... [INFO]Entering action level 2 of phase shutdown [ERROR]baseestimator is not a wrapper, therefore it cannot have detach actions [ERROR]Cannot run detach action on device baseestimator [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. [WARNING]There was some problem running actions for shutdown phase . Please check the log and your configuration [INFO]shutdown phase finished. [ERROR]Error in shutdown phase... see previous messages for more info [INFO]RFModule failed to open. yarp: Destroying network clock Success: port-to-port persistent connection added. yarp: Removing input from /clock to /IITICUBLAP110/yarprobotinterface/31105/clock:i ```

Click to expand the error section

``` [ERROR]floatingBaseEstimatorV1: could not connect to /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o [ERROR]floatingBaseEstimatorV1: Could not connect to wholebodydynamics yarpdev: ***ERROR*** driver was found but could not open [WARNING]Cannot open device baseestimator [WARNING]Cannot open device baseestimator [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 ```

I'm trying to go through the code. It seems that the yarprobotinterface configuration is self-contained and already takes care to open all the depending devices, particularly:

All the remote control boards and control board remapper (I guess used by wbd)
The head IMU device (I guess used by the estimator)
The F/T sensors (I guess used by wbd)

The error is raised by the following code:

https://github.com/robotology/whole-body-estimators/blob/38dc6a269f1b0bce09f31d8ae9c4ca3602e8e46b/devices/baseEstimatorV1/src/fbeRobotInterface.cpp#L432-L438

More details:

Ubuntu 18.04
Gazebo 11
robotology-superbuild updated today

cc @prashanthr05 @traversaro

robotology / whole-body-estimators

Couldn't run baseEstimatorV1 #76