Failed with yarprobotinterface routine after robotology-superbuild update

[justdiandes]

We tried to update the iCub from commit 683ef9669c7224046b28044005edecb61e476e52 to the v2024.02.0 in both a backup laptop and icub-head. In that configuration it's possible to establish connections in both icub-head and icubsrv, but when the yarprobotinterface module is initialized from yarpmanager, the iCub does not respond. For more information related to the robot, our iCub is iCubValparaiso01, and we never made some kind of update related to the robotology-superbuild packages.

The yarplogger shows the following errors:

And the same messages for every part of the body, so the question here is if this issue is related to some firmware update that we need to do first, or if some problem related to the laptop configuration. We also noted that the wrappers files for the FT sensors changed from the oldest version that we had, so we were wondering if these configurations are setting up automatically or if we need to edit some files.

We also wanted to know if there is a way to make sure that the robot is correctly updated. Our aim is to make sure that if the communication between the laptop and icub persists, could be related to the laptop rather than the iCub per se.

[Nicogene]

Hi @justdiandes,

could you please post the txt file of the log?
From the screenshot is difficult to understand the error, my hunch is that after upgrading the software in icub-head you have triggered an incompatibility with/ the firmware.

If you want to use that distro you need to upgrade the firmware accordingly. You can do it via FirmwareUpdater:

• https://icub-tech-iit.github.io/documentation/icub_firmware/firmwareupdater/firmwareupdater/

Or you can try the automatic procedure that has been recently revamped (cc @valegagge @davidetome)

[justdiandes]

Hi @Nicogene!

As an update of the situation, we updated the firmware and the robot responded correctly to the yarprobotinterface routine and also we could initialized the other modules, such as the wholeBodyDynamics, that cause some errors earlier. But now we are facing kind of the same issue as the #621, with the cameras. We tried to update the XML of the App and the cameras only show the first frame that they can take and then it freeze. If you have any recommendations that would be helpfull. Otherwise, we are going to continue with the updating process of the module trying to fix this issue

[justdiandes]

Well, from the previous issue we managed to fix the problem of the cameras by updating the cameras_calib.xml in the yarpdev parts. Also we needed to change the connection that was initially in udp protocol, to tcp. This fix the issue and the image from the cameras is working correctly.

From that thing, we had problemas in all Apps, in the following one, the emotions, we fix that also updating the XML by changing the yarpdev module to a yarprobotinterface one, as the suggestion in this issue. It works but makes me wonder if there's any way to update all this Apps to the corresponding version, because now we have some issues with the skinManager, where the parameters of the module are the following:

<parameters>--from skinManAllPlusLegs.ini --context skinGui</parameters>

so now we cannot make the connection between the skin sensors and the skinGui.

Also something else that we saw is that the ports wholeBodyDynamics/right_arm/FT:i and wholeBodyDynamics/left_armFT:i are not initialized, so the Red-Ball_Demo is working with problems and we don't know if it is related in som kind of way.

Like we mentioned before, we updated the robotology-superbuild to the version v2024.02.0 and we don't know if this issue is related to this or some other problem.

[Nicogene]

It works but makes me wonder if there's any way to update all this Apps to the corresponding version, because now we have some issues with the skinManager,

Unfortunately, there is not, but for the skinManager you do not need yarprobotinterface, it can be launched as a standalone executable.

You are experiencing issues on a lot of executables it is complicated to understand the source of the error without the logs, could you please post the log of all the failing processes?

[justdiandes]

Hi,
I understand, I'm gonna get the log output from this apps, but we are facing some issues related to the calibration steps in here. This issue is new to us and could be related to the previews updating that we did, 'cause we didn't have the problem in the old robotology-superbuild version.

The output in this steps are the following:

out.txt

I hope that this txt is enough to scan the issue.

For the problems related to the Apps, I did some edits on the xml files and some Apps are now working just fine.

[Nicogene]

but we are facing some issues related to the calibration steps in here

Why are you re-doing the robot calibration? Usually, this is a procedure that is done in the production, that has to be done in case of problems in the calibration.

In particular, what issue are you facing? The problem is that yarprobotinterface is not starting?
The curious thing that I see from your log is that there are no errors.

cc @valegagge @marcoaccame