how can I resolve the "Reply from iCubSim: [fail] "could not set index" error"?

[bionicsgirl]

Hi there! I have to create a thread of a sphere that moves first on the right to reach the end of a radius in 2 seconds of time and then move in circle with a frequency of 0.2 Hz in Yarp and iCub simulator programming in C++. This is my code and, after initializing the sphere correctly i get this error: Reply from iCubSim: [fail] "could not set index" How can i resolve this? Thank you in advance!

#include <iostream>
#include <yarp/os/all.h>
#include <yarp/sig/all.h>
#include <yarp/dev/all.h>

using namespace yarp::os;
using namespace yarp::dev;
using namespace yarp::sig;
using namespace std;

class SphereThread: public PeriodicThread {

    public: 

             SphereThread(double p):PeriodicThread(p){

            bool ok  = sphere_port.open("/sphere-client");
                if (!ok) {
                    std::cerr << "Failed to open port" << std::endl;
                    return;
                }
            // Connect the client to the RPC Server of iCub_SIM
            yarp.connect("/sphere-client", "/icubSim/world");
            }

    protected:

            bool threadInit(){

            req.addString("world");
            req.addString("mk");
            req.addString("ssph");
            req.addFloat64(0.04);
            req.addFloat64(0.02);
            req.addFloat64(0.9);
            req.addFloat64(0.8);
            req.addFloat64(1);
            req.addFloat64(0);
            req.addFloat64(0);  
            sphere_port.write(req,reply);
            cout << "Reply from iCubSim: " << reply.toString() << endl;
                    return true;

        }

        void run() {
            double initial_time = Time::now();
                while (Time::now() - initial_time < 2.0){
                    double t = Time::now() - initial_time;
                    double xPos = 0.02 + 0.4*(t/2.0);
                    double yPos = 0.9;
                    setPosition(xPos, yPos);
                }
                while (Time::now() < initial_time+2) {

                    double t = Time::now() - initial_time;
                    double theta = 2.0*M_PI*0.2*t;
                    double xPos = 0.02 + 0.4*cos(theta);
                    double yPos = 0.9  + 0.4*sin(theta);
                    setPosition(xPos, yPos);

                }

            }

        void threadRelease() {
            yarp.disconnect("/sphere-client", "/icubSim/world");
                    sphere_port.close();
            cout << "Done, goodbye from myThread." << endl;
        }

    private:

        Network yarp;  //initialize the network
                RpcClient sphere_port;  // create rpc client for the sphere
        Bottle req, reply;

        void setPosition(double x, double y){
            req.clear();
            req.addString("world");
            req.addString("set");
            req.addString("ssph");
            req.addFloat64(1);
            req.addFloat64(x);
            req.addFloat64(y);
            req.addFloat64(0.8);
            sphere_port.write(req, reply);
            cout << "Reply from iCubSim: " << reply.toString() << endl;
        }

};

int main(int argc, char *argv[]) {

    Network yarp;
    srand(time(NULL));
    SphereThread mt(0.2/0.1);
    mt.start();

    Time::delay(20);
    mt.stop();

    return 0;

};

[pattacini]

Hi @bionicsgirl

You already filed a discussion on the same topic. See https://github.com/orgs/robotology/discussions/677.

Please, avoid double posting.

cc @randaz81

[bionicsgirl]

okay, i'm sorry, but thank you!