<ERROR> Problem connecting to /icubSim/left_leg

[jimingda]

Hi,

I delete the --config no_legs.xml parameter in yarprobotinterface on yarpmanager gui, but still cann't connect to legs as the error in yarprobotinterface.log below. Shall i modify config somewhere else?

Thanks in advance.

09:22 # cat ~/log_db61dac93e4e_yarprobotinterface_89619 
 4.349416 <DEBUG> Reading file /usr/local/share/iCub/contexts/gazeboCartesianControl/./all.xml
 4.369697 <DEBUG> yarprobotinterface: using xml parser for DTD v3.x
 4.369741 <DEBUG> Preprocessor complete in:  0.00080204 s
 4.369755 <WARNING> *************************************************************************************
* yarprobotinterface 'portprefix' parameter does not follow convention,  *
* it MUST start with a leading '/' since it is used as the full prefix port name    *
*     name:    full port prefix name with leading '/',  e.g.  /robotName      *
* A temporary automatic fix will be done for you, but please fix your config file   *
*************************************************************************************
 4.411170 <INFO> startup phase starting...
 4.421235 <DEBUG> Parameters are (device remote_controlboard) (id torso) (local "/gazeboCartesianControl/torso") (remote "/icubSim/torso") (robotName icubSim) (writeStrict on)
 4.651077 <INFO> Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
 4.651137 <DEBUG> Parameters are (device remote_controlboard) (id left_arm) (local "/gazeboCartesianControl/left_arm") (remote "/icubSim/left_arm") (robotName icubSim) (writeStrict on)
 4.917796 <INFO> Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
 4.917899 <INFO> Opening device right_arm with parameters [("robotName" = "icubSim"), ("remote" = "/icubSim/right_arm"), ("local" = "/gazeboCartesianControl/right_arm"), ("writeStrict" = "on")]
 4.917926 <DEBUG> Parameters are (device remote_controlboard) (id right_arm) (local "/gazeboCartesianControl/right_arm") (remote "/icubSim/right_arm") (robotName icubSim) (writeStrict on)
 4.917964 <INFO> RemoteControlBoard is ENABLING the writeStrict option for all commands
 5.160272 <INFO> Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
 5.160326 <INFO> Opening device left_leg with parameters [("robotName" = "icubSim"), ("remote" = "/icubSim/left_leg"), ("local" = "/gazeboCartesianControl/left_leg"), ("writeStrict" = "on")]
 5.160342 <DEBUG> Parameters are (device remote_controlboard) (id left_leg) (local "/gazeboCartesianControl/left_leg") (remote "/icubSim/left_leg") (robotName icubSim) (writeStrict on)
 5.160364 <INFO> RemoteControlBoard is ENABLING the writeStrict option for all commands
 5.221792 <ERROR> Problem connecting to /icubSim/left_leg/rpc:i, is the remote device available?
 5.231911 <ERROR> Problem connecting to /icubSim/left_leg/command:i, is the remote device available?
 5.231976 <ERROR> Problem connecting to /icubSim/left_leg/stateExt:o, is the remote device available?
 5.231992 <ERROR> Driver <remote_controlboard> was found but could not open

[pattacini]

Hi @jimingda

If you're talking about tutorial_cartesian-interface, then I think that the referenced robot model isn't shipped with controllable legs. Not sure though.
cc @xEnVrE @traversaro.

Alternatively, you may consider relying on a different model, like iCubGazeboV2.7.

[pattacini]

yarpmotorgui displays the name of the joints.

At any rate, the order is 0:pitch, 1:roll, 2:yaw as per:

• https://github.com/robotology/robots-configuration/blob/master/iCubGenova11/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml#L10

[jimingda]

Inside the model.urdf of iCubGazeboV2_5_visuomanip, i found that the yaw angle of r_hip_pitch is -3.14159265359, why not assign the value 0 but -3.14159265359, i mean is there any difference between 0 degree and -360 degree?

  <joint name="r_hip_pitch" type="revolute">
    <origin xyz="0.0064515 0.026 -0.119913" rpy="0 0 -3.14159265359"/>
    <axis xyz="-2.22044604925e-16 -1.0 0.0"/>
    <parent link="root_link"/>
    <child link="r_hip_1"/>
    <limit effort="55.5" lower="-0.785398163397" upper="2.33874119767" velocity="5.1"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>

[pattacini]

$-\pi$ rad is not $-360$ deg but $-180$ deg.

[jimingda]

Hi @pattacini
what shall i do if i want to switch to iCubGazeboV2_7, whether in docker or in the default ubuntu
And there is /usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_7/ in the system, but can't find it in gazebo

[pattacini]

Hi @jimingda

Given that we found recently something to be fixed with iCubGazeboV2_7 (see robotology/icub-models-generator#245), I would suggest that you stick to iCubGazeboV2_5 and/or its visuomanip version for the time being.

That said, there's no much difference between iCubGazeboV2_7 and iCubGazeboV2_5 for your purposes.

[xEnVrE]

I think that the referenced robot model isn't shipped with controllable legs. Not sure though.

Indeed, the legs are disabled for that model.