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Ports prefix conflict while spawning multiple composite models #118

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yeshasvitirupachuri opened this issue Jan 30, 2018 · 4 comments
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@yeshasvitirupachuri
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As mentioned in this issue while spawning multiple icub robots into gazebo gazeboYarpPluginsRobotName icubSim inside gazebo_icub_robotname.ini is commented out.

All the FT sensor ports and inertial ports open correctly while spawning two base icub models inside gazebo

registration name /iCub/left_arm/analog:o ip 10.255.54.112 port 10008 type tcp
registration name /iCub/left_arm/analog:o/rpc:i ip 10.255.54.112 port 10007 type tcp
registration name /iCub/left_foot/analog:o ip 10.255.54.112 port 10191 type tcp
registration name /iCub/left_foot/analog:o/rpc:i ip 10.255.54.112 port 10190 type tcp
registration name /iCub/left_leg/analog:o ip 10.255.54.112 port 10189 type tcp
registration name /iCub/left_leg/analog:o/rpc:i ip 10.255.54.112 port 10188 type tcp
registration name /iCub/right_arm/analog:o ip 10.255.54.112 port 10010 type tcp
registration name /iCub/right_arm/analog:o/rpc:i ip 10.255.54.112 port 10009 type tcp
registration name /iCub/right_foot/analog:o ip 10.255.54.112 port 10195 type tcp
registration name /iCub/right_foot/analog:o/rpc:i ip 10.255.54.112 port 10194 type tcp
registration name /iCub/right_leg/analog:o ip 10.255.54.112 port 10193 type tcp
registration name /iCub/right_leg/analog:o/rpc:i ip 10.255.54.112 port 10192 type tcp
registration name /iCub_0/left_arm/analog:o ip 10.255.54.112 port 10230 type tcp
registration name /iCub_0/left_arm/analog:o/rpc:i ip 10.255.54.112 port 10229 type tcp
registration name /iCub_0/left_foot/analog:o ip 10.255.54.112 port 10224 type tcp
registration name /iCub_0/left_foot/analog:o/rpc:i ip 10.255.54.112 port 10223 type tcp
registration name /iCub_0/left_leg/analog:o ip 10.255.54.112 port 10222 type tcp
registration name /iCub_0/left_leg/analog:o/rpc:i ip 10.255.54.112 port 10221 type tcp
registration name /iCub_0/right_arm/analog:o ip 10.255.54.112 port 10232 type tcp
registration name /iCub_0/right_arm/analog:o/rpc:i ip 10.255.54.112 port 10231 type tcp
registration name /iCub_0/right_foot/analog:o ip 10.255.54.112 port 10228 type tcp
registration name /iCub_0/right_foot/analog:o/rpc:i ip 10.255.54.112 port 10227 type tcp
registration name /iCub_0/right_leg/analog:o ip 10.255.54.112 port 10226 type tcp
registration name /iCub_0/right_leg/analog:o/rpc:i ip 10.255.54.112 port 10225 type tcp

But when iCub (fixed) model, which uses composite icub_with_hands model is spawnned in gazebo the ports opened are not correct

  • The FT ports of the arms are opened with /iCub prefix
  • The FT ports of the hands are opened with /iCub_fixed prefix
  • The FT ports of the legs are opened without any prefx
registration name /iCub/left_arm/analog:o ip 10.255.54.112 port 10008 type tcp
registration name /iCub/left_arm/analog:o/rpc:i ip 10.255.54.112 port 10007 type tcp
registration name /iCub/right_arm/analog:o ip 10.255.54.112 port 10010 type tcp
registration name /iCub/right_arm/analog:o/rpc:i ip 10.255.54.112 port 10009 type tcp
registration name /iCub_fixed/left_hand/analog:o ip 10.255.54.112 port 10101 type tcp
registration name /iCub_fixed/left_hand/analog:o/rpc:i ip 10.255.54.112 port 10100 type tcp
registration name /iCub_fixed/right_hand/analog:o ip 10.255.54.112 port 10103 type tcp
registration name /iCub_fixed/right_hand/analog:o/rpc:i ip 10.255.54.112 port 10102 type tcp
registration name /l_leg/left_foot/analog:o ip 10.255.54.112 port 10014 type tcp
registration name /l_leg/left_foot/analog:o/rpc:i ip 10.255.54.112 port 10013 type tcp
registration name /l_leg/left_leg/analog:o ip 10.255.54.112 port 10012 type tcp
registration name /l_leg/left_leg/analog:o/rpc:i ip 10.255.54.112 port 10011 type tcp
registration name /r_leg/right_foot/analog:o ip 10.255.54.112 port 10018 type tcp
registration name /r_leg/right_foot/analog:o/rpc:i ip 10.255.54.112 port 10017 type tcp
registration name /r_leg/right_leg/analog:o ip 10.255.54.112 port 10016 type tcp
registration name /r_leg/right_leg/analog:o/rpc:i ip 10.255.54.112 port 10015 type tcp

When the second icub_with_hands model is spawnned into gazebo all the FT ports and inertial ports are started with the same names leading to address conflict

NOTE: The same behavior is observed with inertial sensor port

Later tried iCub (fixed) model, using base icub model. In this case also FT and inertial ports are not opened correctly

registration name /iCub/inertial ip 10.255.54.112 port 10004 type tcp
registration name /iCub/left_arm/analog:o ip 10.255.54.112 port 10008 type tcp
registration name /iCub/left_arm/analog:o/rpc:i ip 10.255.54.112 port 10007 type tcp
registration name /iCub/left_foot/analog:o ip 10.255.54.112 port 10191 type tcp
registration name /iCub/left_foot/analog:o/rpc:i ip 10.255.54.112 port 10190 type tcp
registration name /iCub/left_leg/analog:o ip 10.255.54.112 port 10189 type tcp
registration name /iCub/left_leg/analog:o/rpc:i ip 10.255.54.112 port 10188 type tcp
registration name /iCub/right_arm/analog:o ip 10.255.54.112 port 10010 type tcp
registration name /iCub/right_arm/analog:o/rpc:i ip 10.255.54.112 port 10009 type tcp
registration name /iCub/right_foot/analog:o ip 10.255.54.112 port 10195 type tcp
registration name /iCub/right_foot/analog:o/rpc:i ip 10.255.54.112 port 10194 type tcp
registration name /iCub/right_leg/analog:o ip 10.255.54.112 port 10193 type tcp
registration name /iCub/right_leg/analog:o/rpc:i ip 10.255.54.112 port 10192 type tcp
registration name /iCub_fixed/head/command:i ip 10.255.54.112 port 10080 type tcp
registration name /iCub_fixed/head/rpc:i ip 10.255.54.112 port 10079 type tcp
registration name /iCub_fixed/head/state:o ip 10.255.54.112 port 10081 type tcp
registration name /iCub_fixed/head/stateExt:o ip 10.255.54.112 port 10082 type tcp
registration name /iCub_fixed/left_arm/command:i ip 10.255.54.112 port 10093 type tcp
registration name /iCub_fixed/left_arm/rpc:i ip 10.255.54.112 port 10092 type tcp
registration name /iCub_fixed/left_arm/state:o ip 10.255.54.112 port 10094 type tcp
registration name /iCub_fixed/left_arm/stateExt:o ip 10.255.54.112 port 10095 type tcp
registration name /iCub_fixed/left_leg/command:i ip 10.255.54.112 port 10020 type tcp
registration name /iCub_fixed/left_leg/rpc:i ip 10.255.54.112 port 10019 type tcp
registration name /iCub_fixed/left_leg/state:o ip 10.255.54.112 port 10021 type tcp
registration name /iCub_fixed/left_leg/stateExt:o ip 10.255.54.112 port 10022 type tcp
registration name /iCub_fixed/right_arm/command:i ip 10.255.54.112 port 10097 type tcp
registration name /iCub_fixed/right_arm/rpc:i ip 10.255.54.112 port 10096 type tcp
registration name /iCub_fixed/right_arm/state:o ip 10.255.54.112 port 10098 type tcp
registration name /iCub_fixed/right_arm/stateExt:o ip 10.255.54.112 port 10099 type tcp
registration name /iCub_fixed/right_leg/command:i ip 10.255.54.112 port 10024 type tcp
registration name /iCub_fixed/right_leg/rpc:i ip 10.255.54.112 port 10023 type tcp
registration name /iCub_fixed/right_leg/state:o ip 10.255.54.112 port 10025 type tcp
registration name /iCub_fixed/right_leg/stateExt:o ip 10.255.54.112 port 10026 type tcp
registration name /iCub_fixed/torso/command:i ip 10.255.54.112 port 10076 type tcp
registration name /iCub_fixed/torso/rpc:i ip 10.255.54.112 port 10075 type tcp
registration name /iCub_fixed/torso/state:o ip 10.255.54.112 port 10077 type tcp
registration name /iCub_fixed/torso/stateExt:o ip 10.255.54.112 port 10078 type tcp
registration name /iCub_fixed_0/head/command:i ip 10.255.54.112 port 10165 type tcp
registration name /iCub_fixed_0/head/rpc:i ip 10.255.54.112 port 10164 type tcp
registration name /iCub_fixed_0/head/state:o ip 10.255.54.112 port 10166 type tcp
registration name /iCub_fixed_0/head/stateExt:o ip 10.255.54.112 port 10167 type tcp
registration name /iCub_fixed_0/left_arm/command:i ip 10.255.54.112 port 10177 type tcp
registration name /iCub_fixed_0/left_arm/rpc:i ip 10.255.54.112 port 10176 type tcp
registration name /iCub_fixed_0/left_arm/state:o ip 10.255.54.112 port 10178 type tcp
registration name /iCub_fixed_0/left_arm/stateExt:o ip 10.255.54.112 port 10179 type tcp
registration name /iCub_fixed_0/left_leg/command:i ip 10.255.54.112 port 10105 type tcp
registration name /iCub_fixed_0/left_leg/rpc:i ip 10.255.54.112 port 10104 type tcp
registration name /iCub_fixed_0/left_leg/state:o ip 10.255.54.112 port 10106 type tcp
registration name /iCub_fixed_0/left_leg/stateExt:o ip 10.255.54.112 port 10107 type tcp
registration name /iCub_fixed_0/right_arm/command:i ip 10.255.54.112 port 10181 type tcp
registration name /iCub_fixed_0/right_arm/rpc:i ip 10.255.54.112 port 10180 type tcp
registration name /iCub_fixed_0/right_arm/state:o ip 10.255.54.112 port 10182 type tcp
registration name /iCub_fixed_0/right_arm/stateExt:o ip 10.255.54.112 port 10183 type tcp
registration name /iCub_fixed_0/right_leg/command:i ip 10.255.54.112 port 10109 type tcp
registration name /iCub_fixed_0/right_leg/rpc:i ip 10.255.54.112 port 10108 type tcp
registration name /iCub_fixed_0/right_leg/state:o ip 10.255.54.112 port 10110 type tcp
registration name /iCub_fixed_0/right_leg/stateExt:o ip 10.255.54.112 port 10111 type tcp
registration name /iCub_fixed_0/torso/command:i ip 10.255.54.112 port 10161 type tcp
registration name /iCub_fixed_0/torso/rpc:i ip 10.255.54.112 port 10160 type tcp
registration name /iCub_fixed_0/torso/state:o ip 10.255.54.112 port 10162 type tcp
registration name /iCub_fixed_0/torso/stateExt:o ip 10.255.54.112 port 10163 type tcp

@traversaro

@yeshasvitirupachuri yeshasvitirupachuri changed the title Port naming problem while pawning multiple composite models Ports prefix conflict while pawning multiple composite models Jan 30, 2018
@yeshasvitirupachuri yeshasvitirupachuri changed the title Ports prefix conflict while pawning multiple composite models Ports prefix conflict while spawning multiple composite models Jan 31, 2018
@traversaro
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Hi @Yeshasvitvs , was this fixed? Can you leave a line explaining why this issue can be closed? Thanks!

@yeshasvitirupachuri
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@traversaro My bad, I thought this issue is a duplicate of this issue

@traversaro
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Not sure if this is still an issue (@lrapetti ?), but in any case it is more appropriate to have this in icub-models.

@traversaro traversaro transferred this issue from robotology-legacy/icub-gazebo-legacy Jan 13, 2022
@lrapetti
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Not sure if this is still an issue (@lrapetti ?), but in any case it is more appropriate to have this in icub-models.

I guess the problem is still there, I will try to double-check soon and give a feedback

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