iCubShanghai01 S/N:049 – cann't launch wholeBodyDynamics due to a potential board connection problem

[jimingda]

Robot Name 🤖

iCubShanghai01 S/N:049

Request/Failure description

Hi,

I encountered difficulties launching wholeBodyDynamics due to a potential board connection problem. However, I'm uncertain whether this issue stems from a genuine hardware malfunction or another underlying cause. Allow me to provide further details below.

Thanks in advance.

Detailed context

As the left arm is currently undergoing repairs, I have followed the instructions to launch the iCub. Under the icub-head directory: /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01/, I have commented out the left-arm configuration in icub_all.xml to create icub_all_no_left_arm.xml. Subsequently, I modified the content of yarprobotinterface.ini from config ./icub_all.xml to config ./icub_all_no_left_arm.xml. I have attached the icub_all_no_left_arm.xml for reference.
icub_all_no_left_arm.txt

Following these steps, I restarted the iCub, connecting nodes icubsrv and icub-head on the yarpmanager gui. However, when attempting to launch wholeBodyDynamics of iCubStartup applications, the process failed. The sequence I followed was yarplogger&yarprobotinterface -> wholeBodyDynamics -> gravityCompensator -> iKinCartesianSolver & iKinGazeCtrl. The log on yarplogger indicated connection problems with the BOARD torso-eb5-j0_2 IP 10.0.1.5 and BOARD right_arm-eb3-j0_3 IP 10.0.1.3 etc. Despite having disabled the left arm, I am still encountering errors related to BOARD left_arm-eb24-j4_7 IP 10.0.1.24, and I am unsure how to investigate this issue.

log_icub-head_yarprobotinterface_2560.txt

Additional context

None

How does it affect you?

No response

[jimingda]

I have added the --config icub_all_no_left_arm.xml configuration in the yarprobotinterface module of iCubStartup_headV2_6.xml, as shown below. Now, the error related to the left arm when launching wholeBodyDynamics has been resolved, but other connection errors still persist.

    <module>
            <name>yarprobotinterface</name>
            <parameters>--config icub_all_no_left_arm.xml</parameters>
            <node>icub-head</node>
            <workdir>/usr/local/src/robot/robots-configuration/iCubShanghai01</workdir>
    </module>

log_icub-head_yarprobotinterface_2565.txt