Problem with CMake and YARP

[GiacomoBisio]

Sorry for the inconvenience, but I faced different problems in compiling the code and using the yarp server. Note that these problems happened only to me and not to my colleague Luca Pastore.

• First problem:
  When I launch cmake .. inside the build directory, the following error appears:

CMake Error at CMakeLists.txt:6 (find_package):
  By not providing "FindYARP.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "YARP", but
  CMake did not find one.

  Could not find a package configuration file provided by "YARP" with any of
  the following names:

    YARPConfig.cmake
    yarp-config.cmake

  Add the installation prefix of "YARP" to CMAKE_PREFIX_PATH or set
  "YARP_DIR" to a directory containing one of the above files.  If "YARP"
  provides a separate development package or SDK, be sure it has been
  installed.


-- Configuring incomplete, errors occurred!

Note that I followed the binary installation as in link_to_yarp_installation.

• Second problem:

  Every time I launch yarp server, the following error appears:

Call with --help for information on available options
Using port database: :memory:
Using subscription database: :memory:
IP address: default
Port number: 10000
Overriding non-local address for name server
PROBLEM: need to change settings in /home/giaco/.config/yarp/yarp.conf
  Current settings: host 192.168.224.1 port 10000 family yarp
  Desired settings:  host 192.168.235.180 port 10000 family yarp
Please specify '--write' if it is ok to overwrite current settings, or
Please specify '--read' to use the current settings, or
delete /home/giaco/.config/yarp/yarp.conf
[ERROR] Aborting.

Unfortunately, if I change /home/giaco/.config/yarp/yarp.conf with the desired setting it works momentarily, but then if I open a
new terminal, the settings appears unchanged, and so I face the error again and again.

[traversaro]

First problem:

Interesting, can you return the output of the which yarp, which cmake and env commands? Also @lucapa17 installed YARP from .deb packages?

Second problem:
Unfortunately, if I change /home/giaco/.config/yarp/yarp.conf with the desired setting it works momentarily, but then if I open a
new terminal, the settings appears unchanged, and so I face the error again and again.

This happens also if you launch yarp server --write, as suggested by the error message?

[GiacomoBisio]

which yarp:

/usr/bin/yarp

which cmake:

/usr/bin/cmake

env:

SHELL=/bin/bash
WSL2_GUI_APPS_ENABLED=1
CONDA_EXE=/home/giaco/mambaforge/bin/conda
_CE_M=
WSL_DISTRO_NAME=Ubuntu
WT_SESSION=12abdfae-908c-477b-ae78-f7ffc6f29847
NAME=PC-di-Giacomo
PWD=/home/giaco
LOGNAME=giaco
HOME=/home/giaco
LANG=C.UTF-8
WSL_INTEROP=/run/WSL/185_interop
LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
WAYLAND_DISPLAY=wayland-0
WINDOWS_HOST=192.168.224.1
LESSCLOSE=/usr/bin/lesspipe %s %s
TERM=xterm-256color
_CE_CONDA=
LESSOPEN=| /usr/bin/lesspipe %s
USER=giaco
CONDA_SHLVL=0
DISPLAY=:0
SHLVL=1
CONDA_PYTHON_EXE=/home/giaco/mambaforge/bin/python
XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
WSLENV=WT_SESSION::WT_PROFILE_ID
XDG_DATA_DIRS=/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop
PATH=/home/giaco/.local/bin:/home/giaco/mambaforge/condabin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/usr/lib/wsl/lib:/snap/bin
HOSTTYPE=x86_64
PULSE_SERVER=unix:/mnt/wslg/PulseServer
WT_PROFILE_ID={2c4de342-38b7-51cf-b940-2309a097f518}
_=/usr/bin/env

Also @lucapa17 installed YARP from .deb packages?

Yes, we followed the same installation path

Second problem:

This happens also if you launch yarp server --write, as suggested by the error message?

Ok, now it works, but in order to send simple messages using write/read ports I have to do the following commands:

• On first terminal:

  yarp server --write
  

• On second terminal (as usual):

  yarp read /read
  

• On third terminal:

  yarp detect --write
  yarp write /write /read
  

Moreover, I have to use yarp detect --write even when I want to use yarp name list.

[traversaro]

Do you want to quickly debug this together? I am available from 14:00 to 14:30 and 15:00 to 16:00 .

[GiacomoBisio]

It's ok for me! I should be available from 15.15. As usual on Teams right?

[traversaro]

Ok!

[GiacomoBisio]

Problem solved! Thanks again to @traversaro for helping me

[traversaro]

Problem solved! Thanks again to @traversaro for helping me

For future reference, it is a good idea to briefly explain how we solved the problem (to avoid the problem https://xkcd.com/979/):

First problem:

The problem was that project was placed after find_package(YARP). All CMake code should go after cmake_minimu_version_required and project calls.

Second problem:

@GiacomoBisio had in his .bashrc a call to yarp conf, added following the docs in https://github.com/robotology/robotology-superbuild#connect-to-a-yarp-server-on-a-windows-host-on-wsl , that was resetting the expected yarpserver ip address every time a new terminal was opened. However, that is only useful if the yarpserver is running on Windows itself, not on WSL. We opened robotology/robotology-superbuild#1412 to improve the docs.