address conflict in icub

[jimingda]

Hi,

The initial iCubStartup default process "yarprobotinterface" works correctly and the icub can finish the default warm-up instructions,
but my app didn't respond despite the status is normal(green), and it didn't respont to my kill command, so i cancel the yarpmanager manually.

when i relaunch the yarpmanager, and run my app, the icub didn't respond to my request, i checked the yarp log it says address conflict. What does it mean, and how to resolve it? May reboot the laptop and icub is an option but i think its not the best choice.

log_icub-head_yarprobotinterface_2147:

  1  3.344261 <DEBUG> Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/iCub/contexts/gazeboCartesianControl/no_legs.xml
  2  3.348252 <DEBUG> yarprobotinterface: using xml parser for DTD v3.x
  3  3.348305 <DEBUG> Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/iCub/contexts/gazeboCartesianControl/no_legs.xml
  4  3.348332 <DEBUG> Preprocessor complete in:  0.000198603 s
  5  3.348352 <WARNING> *************************************************************************************
  6 * yarprobotinterface 'portprefix' parameter does not follow convention,  *
  7 * it MUST start with a leading '/' since it is used as the full prefix port name    *
  8 *     name:    full port prefix name with leading '/',  e.g.  /robotName      *
  9 * A temporary automatic fix will be done for you, but please fix your config file   *
 10 *************************************************************************************
 11  3.348385 <INFO> Port /icubSim/yarprobotinterface active at tcp://10.0.0.2:10198/
 12  3.348456 <INFO> startup phase starting...
 13  3.348475 <INFO> Opening device torso with parameters [("robotName" = "icubSim"), ("remote" = "/icubSim/torso"), ("local" = "/gazeboCartesianControl/torso"), ("writeStrict" = "on")]
 14  3.348497 <DEBUG> Parameters are (device remote_controlboard) (id torso) (local "/gazeboCartesianControl/torso") (remote "/icubSim/torso") (robotName icubSim) (writeStrict on)
 15  3.348570 <INFO> RemoteControlBoard is ENABLING the writeStrict option for all commands
 16  3.348634 <ERROR> Port /gazeboCartesianControl/torso/rpc:o failed to activate at tcp://10.0.0.2:10199/ (address conflict)
 17  3.354280 <INFO> Port /gazeboCartesianControl/torso/command:o active at tcp://10.0.0.2:10201/
 18  3.364441 <INFO> Port /gazeboCartesianControl/torso/stateExt:i active at tcp://10.0.0.2:10203/
 19  3.374431 <ERROR> Driver <remote_controlboard> was found but could not open

log_icubsrv_tutorial_cartesian-interface-1_68710:

  1  15.011668 <INFO> main
  2  15.012311 <INFO> rf.getHomeContextPath()  /home/icub/.local/share/yarp/contexts
  3  15.012373 <INFO> deg_delta  1
  4  15.012391 <DEBUG> Parameters are (device cartesiancontrollerclient) (local "/cartesian_client/left_arm") (remote "/icub/cartesianController/left_arm")
  5  15.012419 <ERROR> Port /cartesian_client/left_arm/command:o failed to activate at tcp://10.0.0.1:10231/ (address conflict)
  6  15.021742 <ERROR> Port /cartesian_client/left_arm/state:i failed to activate at tcp://10.0.0.1:10232/ (address conflict)
  7  15.031814 <ERROR> Port /cartesian_client/left_arm/events:i failed to activate at tcp://10.0.0.1:10233/ (address conflict)
  8  15.031950 <ERROR> Port /cartesian_client/left_arm/rpc:o failed to activate at tcp://10.0.0.1:10234/ (address conflict)
  9  15.031983 <ERROR> unable to get reply from server!

log_icub-head_yarprobotinterface_2147.log
log_icubsrv_tutorial_cartesian-interface-1_68710.log

[pattacini]

Hi @jimingda

The process probably crashed, and you have to make a "forced kill" using the option -9 of the kill command.
Regarding address conflicts, I'd recommend you read up on the quite extensive post:

• About address conflict, yarp clean etc #181