cannot run yarprobotinterface and iKinCartesianSolver on localhost

[jimingda]

Hi,

I wanted to run the system on yarpmanager, but failed to run yarprobotinterface and iKinCartesianSolver. This app worked correct before. Not sure what's wrong.

Thanks in advance.

[pattacini]

Hi @jimingda

The log seems to state that some required YARP ports, like /icubSim/right_arm/state:o, are not available; thus, those modules cannot start.

The recommendation is always the same. Try to launch the modules composing the app from the command line so that you can inspect the output.

[jimingda]

Thanks @pattacini
It's strange that i cann't launch gzserver after start yarpserver

$ yarpserver

     ==========================
    | __  __ ___  ____   ____  |
    | \ \/ //   ||  _ \ |  _ \ |
    |  \  // /| || |/ / | |/ / |
    |  / // ___ ||  _ \ |  _/  |
    | /_//_/  |_||_| \_\|_|    |
    |                          |
     ==========================

Call with --help for information on available options
Using port database: :memory:
Using subscription database: :memory:
IP address: default
Port number: 10000
[INFO] |yarp.os.Port|/icub| Port /icub active at tcp://172.17.0.1:10000/
Registering name server with itself
 * register "/icub" tcp "172.17.0.1" 10000
   + set "/icub" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icub" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icub" ips "127.0.0.1" "192.168.1.12" "172.18.0.1" "172.17.0.1" "::1" "2409:8a1e:21a2:1110:e012:5615:d0ec:8901" "2409:8a1e:21a2:1110:1405:cee2:63e4:424d" "fe80::483d:48eb:28ae:f92%3"
   + set "/icub" process 60838
 * register fallback mcast "224.2.1.1" 10000
   + set fallback offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set fallback accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set fallback ips "127.0.0.1" "192.168.1.12" "172.18.0.1" "172.17.0.1" "::1" "2409:8a1e:21a2:1110:e012:5615:d0ec:8901" "2409:8a1e:21a2:1110:1405:cee2:63e4:424d" "fe80::483d:48eb:28ae:f92%3"
   + set fallback process 60838
 * set "/icub" nameserver "true"
Name server can be browsed at http://172.17.0.1:10000/
Ok. Ready!
 * register "/icubsrv/gzserver/60846/clock:i"
   + set "/icubsrv/gzserver/60846/clock:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubsrv/gzserver/60846/clock:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubsrv/gzserver/60846/clock:i" ips "127.0.0.1" "192.168.1.12" "172.18.0.1" "172.17.0.1" "::1" "2409:8a1e:21a2:1110:e012:5615:d0ec:8901" "2409:8a1e:21a2:1110:1405:cee2:63e4:424d" "fe80::483d:48eb:28ae:f92%3"
   + set "/icubsrv/gzserver/60846/clock:i" process 60846
-> announce "/icubsrv/gzserver/60846/clock:i"
 * query "/clock"
-> subscribe "tcp://clock" "tcp://icubsrv/gzserver/60846/clock:i"

$ gzserver --verbose tutorial_cartesian-interface.sdf
Gazebo multi-robot simulator, version 11.13.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.12
Warning [parser.cc:833] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:702] Ignoring version 1.9 for model g29 because is newer than this sdf parser (version 1.7)
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
[Msg] Loading world file [/usr/local/src/robot/robotology-superbuild/build/install/share/gazebo/worlds/tutorial_cartesian-interface.sdf]
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[INFO] |yarp.os.Port|/icubsrv/gzserver/60846/clock:i| Port /icubsrv/gzserver/60846/clock:i active at tcp://192.168.1.12:10002/
[INFO] |yarp.os.Network| Success: port-to-port persistent connection added.
[ERROR] |yarp.os.NetworkClock| Cannot find time port "/clock" or a time topic "/clock@"
[INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ...
[INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ...
[INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ...

[pattacini]

Your system may be configured to use the /clock YARP port to synchronize the modules' threads with Gazebo simulation time.

If this is the case, you should check that:

• You launch Gazebo this way:

  gzserver -s libgazebo_yarp_clock.so tutorial_gaze-interface.sdf

• The env variable YARP_CLOCK=/clock is defined prior to launching the modules.

[jimingda]

I found that there is a export YARP_CLOCK=/clock in ~/.bashrc
Tried yarpserver and
gzserver -s libgazebo_yarp_clock.so tutorial_gaze-interface.sdf:

$ gzserver -s libgazebo_yarp_clock.so tutorial_gaze-interface.sdf
[INFO] GazeboYarpClock loaded. Clock port will be  /clock
[INFO] |yarp.os.Port|/clock| Port /clock active at tcp://192.168.101.112:10006/
[INFO] |yarp.os.Port|/clock/rpc| Port /clock/rpc active at tcp://192.168.101.112:10007/
Resetting YARP clock to default
[INFO] |yarp.os.Port|/icubsrv/gzserver/51487/clock:i| Port /icubsrv/gzserver/51487/clock:i active at tcp://192.168.101.112:10008/
[INFO] |yarp.os.Network| Success: port-to-port persistent connection added.
[INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ...
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv/gzserver/51487/clock:i| Receiving input from /clock to /icubsrv/gzserver/51487/clock:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/clock| Sending output from /clock to /icubsrv/gzserver/51487/clock:i using tcp

gzclient:

$ gzclient
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.

libcurl: (35) OpenSSL SSL_connect: SSL_ERROR_SYSCALL in connection to fuel.ignitionrobotics.org:443 

libcurl: (35) OpenSSL SSL_connect: SSL_ERROR_SYSCALL in connection to fuel.gazebosim.org:443 

The icub robot didn't show up in the launched gazebo gui.

[pattacini]

You may consider launching gzserver with --verbose as well.

[jimingda]

Thanks @pattacini
When i add -s libgazebo_yarp_clock.so in command gzserver, the system works as expected.

yarserver
gzserver -s libgazebo_yarp_clock.so tutorial_cartesian-interface.sdf --verbose
gzclient
yarprobotinterface --context gazeboCartesianControl --config no_legs.xml
iKinCartesianSolver --context gazeboCartesianControl --part left_arm
iKinCartesianSolver --context gazeboCartesianControl --part right_arm

Then i add -s libgazebo_yarp_clock.so in gzserver gui parameter item on yarpmanager, the system still works fine.
Shall i add it in other gzserver commands?

[pattacini]

Happy that it worked 👍🏻
Updating the parameter within the yarpmanager GUI is sufficient for your purpose.