/iCubGenova02(devel)$ yarprobotinterface --config icub_wbd.xml [DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/robotology/robots-configuration/iCubGenova02/icub_wbd.xml [DEBUG] yarprobotinterface: using xml parser for DTD v3.x [DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/robotology/robots-configuration/iCubGenova02/icub_wbd.xml [DEBUG] Preprocessor complete in: 0.0375211 s [INFO] |yarp.os.Port| Port /icub/yarprobotinterface active at tcp://10.0.0.2:10011/ [INFO] startup phase starting... [DEBUG] eth::parser::print(pc104Data) for PC104: [DEBUG] PC104/PC104IpAddress:PC104IpPort = 10.0.1.104:12345 [DEBUG] PC104/PC104TXrate = 1 [DEBUG] PC104/PC104RXrate = 5 [DEBUG] EthSender is a PeriodicThread with txrate = 1 ms [DEBUG] EthReceiver is a PeriodicThread with rxrate = 5 ms [WARNING] in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE= [DEBUG] eth::parser::print(boardData) for BOARD head-eb20-j0_1 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.20 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb20-j0_1 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.20 (head-eb20-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.20 [WARNING] embObjMC BOARD head-eb20-j0_1 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [DEBUG] EthResource::verifyBoardPresence() found BOARD head-eb20-j0_1 with IP 10.0.1.20 after 0.00337386 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb20-j0_1 with IP 10.0.1.20 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb20-j0_1 with IP 10.0.1.20 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD head-eb20-j0_1 with IP 10.0.1.20 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD head-eb20-j0_1 @ IP 10.0.1.20 of type mc4plus with FW = ver 3.23 built on 2019 Dec 13 16:30 [DEBUG] from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 72s 237m 339u: (code 0x05000015, par16 0x2000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [DEBUG] from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 72s 238m 404u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG] eth::parser::print(boardData) for BOARD head-eb21-j2_5 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.21 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb21-j2_5 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.21 (head-eb21-j2_5) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.21 [WARNING] embObjMC BOARD head-eb21-j2_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [DEBUG] EthResource::verifyBoardPresence() found BOARD head-eb21-j2_5 with IP 10.0.1.21 after 0.00357771 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb21-j2_5 with IP 10.0.1.21 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb21-j2_5 with IP 10.0.1.21 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD head-eb21-j2_5 with IP 10.0.1.21 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD head-eb21-j2_5 @ IP 10.0.1.21 of type mc4plus with FW = ver 3.23 built on 2019 Dec 13 16:30 [DEBUG] from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 72s 386m 352u: (code 0x05000015, par16 0x4000 par64 0x000000000000ff00) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [DEBUG] from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 72s 387m 439u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [INFO] |yarp.devices.ControlBoardWrapper| /icub/head : no ROS initialization required [INFO] |yarp.devices.ControlBoardWrapper| /icub/head initting YARP initialization [INFO] |yarp.os.Port| Port /icub/head/rpc:i active at tcp://10.0.0.2:10012/ [INFO] |yarp.os.Port| Port /icub/head/command:i active at tcp://10.0.0.2:10013/ [INFO] |yarp.os.Port| Port /icub/head/state:o active at tcp://10.0.0.2:10014/ [INFO] |yarp.os.Port| Port /icub/head/stateExt:o active at tcp://10.0.0.2:10015/ [INFO] created wrapper . See C++ class ControlBoardWrapper for documentation. [DEBUG] eth::parser::print(boardData) for BOARD face-eb22-j0 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.22 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = face-eb22-j0 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.22 (face-eb22-j0) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.22 [WARNING] embObjMC BOARD face-eb22-j0 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [DEBUG] EthResource::verifyBoardPresence() found BOARD face-eb22-j0 with IP 10.0.1.22 after 0.00158954 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD face-eb22-j0 with IP 10.0.1.22 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD face-eb22-j0 with IP 10.0.1.22 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD face-eb22-j0 with IP 10.0.1.22 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle [INFO] EthResource::askBoardVersion() found BOARD face-eb22-j0 @ IP 10.0.1.22 of type mc4plus with FW = ver 3.23 built on 2019 Dec 13 16:30 [DEBUG] from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 72s 697m 258u: (code 0x05000015, par16 0x1000 par64 0x00000000000f0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [DEBUG] from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 72s 698m 241u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [INFO] |yarp.devices.ControlBoardWrapper| /icub/face : no ROS initialization required [INFO] |yarp.devices.ControlBoardWrapper| /icub/face initting YARP initialization [INFO] |yarp.os.Port| Port /icub/face/rpc:i active at tcp://10.0.0.2:10016/ [INFO] |yarp.os.Port| Port /icub/face/command:i active at tcp://10.0.0.2:10017/ [INFO] |yarp.os.Port| Port /icub/face/state:o active at tcp://10.0.0.2:10018/ [INFO] |yarp.os.Port| Port /icub/face/stateExt:o active at tcp://10.0.0.2:10019/ [INFO] created wrapper . See C++ class ControlBoardWrapper for documentation. [DEBUG] eth::parser::print(boardData) for BOARD torso-eb5-j0_2 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.5 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = torso-eb5-j0_2 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.5 (torso-eb5-j0_2) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 [WARNING] embObjMC BOARD torso-eb5-j0_2 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] Verbose parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) [WARNING] In torso-eb5-j0_2 there isn't 2FOC.Verbose filed. For default it is enabled [WARNING] AutoCalibration parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) [WARNING] In torso-eb5-j0_2 there isn't 2FOC.AutoCalibration filed. For default it is disabled [DEBUG] EthResource::verifyBoardPresence() found BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 0.00450635 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD torso-eb5-j0_2 with IP 10.0.1.5 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD torso-eb5-j0_2 with IP 10.0.1.5 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD torso-eb5-j0_2 with IP 10.0.1.5 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD torso-eb5-j0_2 @ IP 10.0.1.5 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 72s 658m 412u: (code 0x05000015, par16 0x3000 par64 0x000000000fff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 72s 658m 566u: CAN discovery has started for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 72s 659m 326u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 72s 659m 464u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 72s 659m 602u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 72s 659m 750u: CAN discovery is OK for 3 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 72s 660m 162u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 2, time 72s 730m 167u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 2, time 72s 730m 266u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 72s 745m 363u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 72s 745m 462u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 72s 760m 476u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 72s 760m 576u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [INFO] |yarp.devices.ControlBoardWrapper| /icub/torso : no ROS initialization required [INFO] |yarp.devices.ControlBoardWrapper| /icub/torso initting YARP initialization [INFO] |yarp.os.Port| Port /icub/torso/rpc:i active at tcp://10.0.0.2:10020/ [INFO] |yarp.os.Port| Port /icub/torso/command:i active at tcp://10.0.0.2:10021/ [INFO] |yarp.os.Port| Port /icub/torso/state:o active at tcp://10.0.0.2:10022/ [INFO] |yarp.os.Port| Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10023/ [INFO] created wrapper . See C++ class ControlBoardWrapper for documentation. [DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb1-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.1 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb1-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.1 (left_arm-eb1-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.1 [WARNING] embObjMC BOARD left_arm-eb1-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] Verbose parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In left_arm-eb1-j0_3 there isn't 2FOC.Verbose filed. For default it is enabled [WARNING] AutoCalibration parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In left_arm-eb1-j0_3 there isn't 2FOC.AutoCalibration filed. For default it is disabled [DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 after 0.00561213 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_arm-eb1-j0_3 @ IP 10.0.1.1 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 72s 927m 450u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 72s 927m 603u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 72s 928m 559u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 72s 928m 697u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 72s 928m 835u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 72s 928m 974u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 72s 929m 124u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 72s 929m 574u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 73s 14m 651u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 73s 14m 750u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 1, time 73s 29m 604u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 1, time 73s 29m 704u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 2, time 73s 44m 544u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 2, time 73s 44m 644u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 3, time 73s 60m 663u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 3, time 73s 60m 762u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb2-j4_15 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.2 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb2-j4_15 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.2 (left_arm-eb2-j4_15) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.2 [WARNING] embObjMC BOARD left_arm-eb2-j4_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb2-j4_15 with IP 10.0.1.2 after 0.00514817 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb2-j4_15 with IP 10.0.1.2 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb2-j4_15 with IP 10.0.1.2 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb2-j4_15 with IP 10.0.1.2 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_arm-eb2-j4_15 @ IP 10.0.1.2 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 137m 703u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 138m 665u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.3 Search time was 0 ms [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 138m 811u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.2 (left_arm-eb2-j4_15), src LOCAL, adr 0, time 73s 138m 930u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 139m 87u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.6 and application ver 0.0.0. [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 140m 877u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 141m 18u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 1 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 141m 156u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 141m 294u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 141m 432u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 141m 571u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 73s 141m 718u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.6 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.2 (left_arm-eb2-j4_15), src LOCAL, adr 0, time 73s 142m 97u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + . [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [INFO] |yarp.devices.ControlBoardWrapper| /icub/left_arm : no ROS initialization required [INFO] |yarp.devices.ControlBoardWrapper| /icub/left_arm initting YARP initialization [INFO] |yarp.os.Port| Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10024/ [INFO] |yarp.os.Port| Port /icub/left_arm/command:i active at tcp://10.0.0.2:10025/ [INFO] |yarp.os.Port| Port /icub/left_arm/state:o active at tcp://10.0.0.2:10026/ [INFO] |yarp.os.Port| Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10027/ [INFO] created wrapper . See C++ class ControlBoardWrapper for documentation. [DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb3-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.3 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb3-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.3 (right_arm-eb3-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.3 [WARNING] embObjMC BOARD right_arm-eb3-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] Verbose parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In right_arm-eb3-j0_3 there isn't 2FOC.Verbose filed. For default it is enabled [WARNING] AutoCalibration parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In right_arm-eb3-j0_3 there isn't 2FOC.AutoCalibration filed. For default it is disabled [DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 after 0.00111055 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_arm-eb3-j0_3 @ IP 10.0.1.3 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 73s 676m 449u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 73s 676m 603u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 73s 677m 559u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 73s 677m 698u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 73s 677m 836u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 73s 677m 974u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 73s 678m 150u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 73s 678m 599u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 73s 762m 971u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 73s 763m 73u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 1, time 73s 777m 0u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 1, time 73s 778m 102u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 2, time 73s 792m 829u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 2, time 73s 792m 928u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 3, time 73s 808m 826u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 3, time 73s 808m 925u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb4-j4_15 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb4-j4_15 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.4 (right_arm-eb4-j4_15) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.4 [WARNING] embObjMC BOARD right_arm-eb4-j4_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb4-j4_15 with IP 10.0.1.4 after 0.00400567 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb4-j4_15 with IP 10.0.1.4 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb4-j4_15 with IP 10.0.1.4 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb4-j4_15 with IP 10.0.1.4 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_arm-eb4-j4_15 @ IP 10.0.1.4 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 873m 959u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 875m 264u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.3 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 875m 410u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.4 (right_arm-eb4-j4_15), src LOCAL, adr 0, time 73s 875m 529u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 875m 683u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.6 and application ver 0.0.0. [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 877m 431u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 877m 569u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 877m 707u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 877m 846u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 877m 984u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 878m 125u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 73s 878m 272u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.6 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.4 (right_arm-eb4-j4_15), src LOCAL, adr 0, time 73s 878m 649u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + . [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [INFO] |yarp.devices.ControlBoardWrapper| /icub/right_arm : no ROS initialization required [INFO] |yarp.devices.ControlBoardWrapper| /icub/right_arm initting YARP initialization [INFO] |yarp.os.Port| Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10028/ [INFO] |yarp.os.Port| Port /icub/right_arm/command:i active at tcp://10.0.0.2:10029/ [INFO] |yarp.os.Port| Port /icub/right_arm/state:o active at tcp://10.0.0.2:10030/ [INFO] |yarp.os.Port| Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10031/ [INFO] created wrapper . See C++ class ControlBoardWrapper for documentation. [DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb6-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.6 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_leg-eb6-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.6 (left_leg-eb6-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.6 [WARNING] embObjMC BOARD left_leg-eb6-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] Verbose parameter not found for board left_leg-eb6-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In left_leg-eb6-j0_3 there isn't 2FOC.Verbose filed. For default it is enabled [WARNING] AutoCalibration parameter not found for board left_leg-eb6-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In left_leg-eb6-j0_3 there isn't 2FOC.AutoCalibration filed. For default it is disabled [DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 after 0.00160885 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_leg-eb6-j0_3 @ IP 10.0.1.6 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 0, time 74s 416m 444u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 74s 416m 598u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 74s 417m 554u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 74s 417m 692u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 74s 417m 831u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 74s 417m 969u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 74s 418m 119u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 0, time 74s 418m 572u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 0, time 74s 502m 686u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 0, time 74s 502m 785u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 1, time 74s 518m 683u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 1, time 74s 518m 783u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 2, time 74s 533m 801u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 2, time 74s 533m 901u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 3, time 74s 548m 662u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 3, time 74s 548m 762u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb7-j4_5 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.7 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_leg-eb7-j4_5 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.7 (left_leg-eb7-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.7 [WARNING] embObjMC BOARD left_leg-eb7-j4_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] Verbose parameter not found for board left_leg-eb7-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8) [WARNING] In left_leg-eb7-j4_5 there isn't 2FOC.Verbose filed. For default it is enabled [WARNING] AutoCalibration parameter not found for board left_leg-eb7-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8) [WARNING] In left_leg-eb7-j4_5 there isn't 2FOC.AutoCalibration filed. For default it is disabled [DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 after 0.00552773 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_leg-eb7-j4_5 @ IP 10.0.1.7 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 0, time 74s 641m 373u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 74s 641m 526u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 74s 642m 96u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 74s 642m 234u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 74s 642m 382u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 0, time 74s 642m 754u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 0, time 74s 697m 997u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 0, time 74s 698m 98u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 1, time 74s 712m 852u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 1, time 74s 712m 952u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [INFO] |yarp.devices.ControlBoardWrapper| /icub/left_leg : no ROS initialization required [INFO] |yarp.devices.ControlBoardWrapper| /icub/left_leg initting YARP initialization [INFO] |yarp.os.Port| Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10032/ [INFO] |yarp.os.Port| Port /icub/left_leg/command:i active at tcp://10.0.0.2:10033/ [INFO] |yarp.os.Port| Port /icub/left_leg/state:o active at tcp://10.0.0.2:10034/ [INFO] |yarp.os.Port| Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10035/ [INFO] created wrapper . See C++ class ControlBoardWrapper for documentation. [DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb8-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.8 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_leg-eb8-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.8 (right_leg-eb8-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.8 [WARNING] embObjMC BOARD right_leg-eb8-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] Verbose parameter not found for board right_leg-eb8-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In right_leg-eb8-j0_3 there isn't 2FOC.Verbose filed. For default it is enabled [WARNING] AutoCalibration parameter not found for board right_leg-eb8-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In right_leg-eb8-j0_3 there isn't 2FOC.AutoCalibration filed. For default it is disabled [DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 after 0.00557661 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_leg-eb8-j0_3 @ IP 10.0.1.8 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 0, time 74s 878m 449u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 74s 878m 603u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 74s 879m 559u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 74s 879m 698u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 74s 879m 836u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 74s 879m 974u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 74s 880m 124u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 0, time 74s 880m 578u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 0, time 74s 964m 90u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 0, time 74s 964m 190u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 1, time 74s 979m 707u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 1, time 74s 979m 807u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 2, time 74s 994m 607u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 2, time 74s 994m 707u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 3, time 75s 9m 623u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 3, time 75s 9m 721u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb9-j4_5 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.9 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_leg-eb9-j4_5 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.9 (right_leg-eb9-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.9 [WARNING] embObjMC BOARD right_leg-eb9-j4_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] Verbose parameter not found for board right_leg-eb9-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8) [WARNING] In right_leg-eb9-j4_5 there isn't 2FOC.Verbose filed. For default it is enabled [WARNING] AutoCalibration parameter not found for board right_leg-eb9-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8) [WARNING] In right_leg-eb9-j4_5 there isn't 2FOC.AutoCalibration filed. For default it is disabled [DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 after 0.00441742 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_leg-eb9-j4_5 @ IP 10.0.1.9 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 0, time 75s 95m 373u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . [INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 75s 95m 526u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 75s 96m 95u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 75s 96m 233u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms [INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 75s 96m 381u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 0, time 75s 96m 752u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . [DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 0, time 75s 151m 91u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 0, time 75s 151m 190u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 1, time 75s 166m 879u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID [DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 1, time 75s 166m 979u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID [INFO] created device . See C++ class yarp::dev::embObjMotionControl for documentation. [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax [INFO] |yarp.devices.ControlBoardWrapper| /icub/right_leg : no ROS initialization required [INFO] |yarp.devices.ControlBoardWrapper| /icub/right_leg initting YARP initialization [INFO] |yarp.os.Port| Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10036/ [INFO] |yarp.os.Port| Port /icub/right_leg/command:i active at tcp://10.0.0.2:10037/ [INFO] |yarp.os.Port| Port /icub/right_leg/state:o active at tcp://10.0.0.2:10038/ [INFO] |yarp.os.Port| Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10039/ [INFO] created wrapper . See C++ class ControlBoardWrapper for documentation. [INFO] created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Finish PassThroughInertial::open [INFO] |yarp.os.Port| Port /imuFilter/bias:o active at tcp://10.0.0.2:10040/ [INFO] created device . See C++ class yarp::dev::ImuFilter for documentation. [INFO] created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] |yarp.devices.ServerInertial| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/inertial active at tcp://10.0.0.2:10041/ [INFO] |yarp.devices.ServerInertial| Server Inertial : no ROS initialization required [INFO] created wrapper . See C++ class ServerInertial for documentation. [WARNING] Bosch BNO055 IMU - Parameter "sensor_name" not set. Using default value " sensor_imu_bosch_bno055 " for this parameter. [WARNING] Bosch BNO055 IMU - Parameter "frame_name" not set. Using the same value as "sensor_name" for this parameter. [INFO] created device . See C++ class BoschIMU for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10042/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10043/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] The embObjMais device using BOARD left_arm-eb2-j4_15 w/ IP 10.0.1.2 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - MAIS named id_l_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] created device . See C++ class yarp::dev::embObjMais for documentation. [INFO] The embObjMais device using BOARD right_arm-eb4-j4_15 w/ IP 10.0.1.4 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - MAIS named id_r_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] created device . See C++ class yarp::dev::embObjMais for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [DEBUG] |yarp.devices.AnalogWrapper| --> 0 191 0 191 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_hand [DEBUG] |yarp.devices.AnalogWrapper| --> 192 575 0 383 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_forearm [DEBUG] |yarp.devices.AnalogWrapper| --> 576 1343 0 767 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_arm [INFO] |yarp.os.Port| Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10044/ [INFO] |yarp.os.Port| Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10045/ [INFO] |yarp.os.Port| Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10046/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] created device . See C++ class skinWrapper for documentation. [INFO] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 75s 809m 821u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.2 (left_arm-eb2-j4_15) @ 75s 809m 980u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.2 (left_arm-eb2-j4_15), src LOCAL, adr 0, time 75s 810m 140u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.2 (left_arm-eb2-j4_15), src LOCAL, adr 0, time 75s 810m 742u: (code 0x0000000b, par16 0x025b par64 0x0084004200080017) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.2 (left_arm-eb2-j4_15), src LOCAL, adr 0, time 75s 814m 803u: (code 0x0000000d, par16 0x015e par64 0x07000017005f0008) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.2 (left_arm-eb2-j4_15), src LOCAL, adr 0, time 75s 825m 919u: (code 0x0000000d, par16 0x01ce par64 0x07000018006e0008) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO] created device . See C++ class EmbObjSkin for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [DEBUG] |yarp.devices.AnalogWrapper| --> 0 191 0 191 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_hand [DEBUG] |yarp.devices.AnalogWrapper| --> 192 575 0 383 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_forearm [DEBUG] |yarp.devices.AnalogWrapper| --> 576 1343 0 767 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_arm [INFO] |yarp.os.Port| Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10047/ [INFO] |yarp.os.Port| Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10048/ [INFO] |yarp.os.Port| Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10049/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] created device . See C++ class skinWrapper for documentation. [INFO] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 76s 617m 159u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.4 (right_arm-eb4-j4_15) @ 76s 617m 316u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.4 (right_arm-eb4-j4_15), src LOCAL, adr 0, time 76s 617m 473u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.4 (right_arm-eb4-j4_15), src LOCAL, adr 0, time 76s 618m 87u: (code 0x0000000b, par16 0x0221 par64 0x0018002600070082) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.4 (right_arm-eb4-j4_15), src LOCAL, adr 0, time 76s 623m 147u: (code 0x0000000d, par16 0x0162 par64 0x0700001800500007) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [WARNING] from BOARD 10.0.1.4 (right_arm-eb4-j4_15), src LOCAL, adr 0, time 76s 633m 260u: (code 0x0000000d, par16 0x01d2 par64 0x0700008300510007) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . [INFO] created device . See C++ class EmbObjSkin for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [DEBUG] |yarp.devices.AnalogWrapper| --> 1152 2495 0 1343 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_leg_upper [DEBUG] |yarp.devices.AnalogWrapper| --> 384 1151 0 767 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_leg_lower [DEBUG] |yarp.devices.AnalogWrapper| --> 0 383 0 383 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_foot [INFO] |yarp.os.Port| Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10050/ [INFO] |yarp.os.Port| Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10051/ [INFO] |yarp.os.Port| Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10052/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] created device . See C++ class skinWrapper for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [DEBUG] |yarp.devices.AnalogWrapper| --> 1152 2495 0 1343 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_leg_upper [DEBUG] |yarp.devices.AnalogWrapper| --> 384 1151 0 767 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_leg_lower [DEBUG] |yarp.devices.AnalogWrapper| --> 0 383 0 383 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_foot [INFO] |yarp.os.Port| Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10053/ [INFO] |yarp.os.Port| Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10054/ [INFO] |yarp.os.Port| Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10055/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] created device . See C++ class skinWrapper for documentation. [DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb10-skin [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.10 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_leg-eb10-skin [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.10 (left_leg-eb10-skin) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.10 [DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb10-skin with IP 10.0.1.10 after 0.00452542 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb10-skin with IP 10.0.1.10 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb10-skin with IP 10.0.1.10 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb10-skin with IP 10.0.1.10 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_leg-eb10-skin @ IP 10.0.1.10 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [INFO] from BOARD 10.0.1.10 (left_leg-eb10-skin) @ 77s 535m 247u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.10 (left_leg-eb10-skin) @ 77s 535m 405u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.10 (left_leg-eb10-skin), src LOCAL, adr 0, time 77s 535m 578u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO] created device . See C++ class EmbObjSkin for documentation. [DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb11-skin [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.11 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_leg-eb11-skin [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.11 (right_leg-eb11-skin) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.11 [DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb11-skin with IP 10.0.1.11 after 0.00515079 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb11-skin with IP 10.0.1.11 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb11-skin with IP 10.0.1.11 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb11-skin with IP 10.0.1.11 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_leg-eb11-skin @ IP 10.0.1.11 of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31 [INFO] from BOARD 10.0.1.11 (right_leg-eb11-skin) @ 78s 128m 980u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.11 (right_leg-eb11-skin) @ 78s 129m 139u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.11 (right_leg-eb11-skin), src LOCAL, adr 0, time 78s 129m 312u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [INFO] created device . See C++ class EmbObjSkin for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [DEBUG] |yarp.devices.AnalogWrapper| --> 0 767 0 767 [DEBUG] |yarp.devices.AnalogWrapper| opening port torso [INFO] |yarp.os.Port| Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10056/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] created device . See C++ class skinWrapper for documentation. [INFO] from BOARD 10.0.1.22 (face-eb22-j0) @ 78s 951m 52u: CAN discovery has started for 4 eobrd_mtb boards on (can1map, can2map) = (0x0780, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.22 (face-eb22-j0) @ 78s 951m 212u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 4 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 78s 951m 364u: (code 0x05000005, par16 0x0001 par64 0x0000078000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . [WARNING] from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 78s 951m 972u: (code 0x0000000b, par16 0x0228 par64 0x0018001400290018) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [INFO] created device . See C++ class EmbObjSkin for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/left_arm/analog:o/rpc:i active at tcp://10.0.0.2:10057/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10058/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/right_leg/analog:o/rpc:i active at tcp://10.0.0.2:10059/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/left_leg/analog:o/rpc:i active at tcp://10.0.0.2:10060/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/right_foot/analog:o/rpc:i active at tcp://10.0.0.2:10061/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port| Port /icub/left_foot/analog:o/rpc:i active at tcp://10.0.0.2:10062/ [INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required [INFO] created wrapper . See C++ class AnalogWrapper for documentation. [INFO] The embObjStrain device using BOARD left_arm-eb1-j0_3 w/ IP 10.0.1.1 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 79s 436m 283u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 79s 437m 290u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.6 Search time was 0 ms [INFO] The embObjStrain device using BOARD left_arm-eb1-j0_3 w/ IP 10.0.1.1 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 79s 437m 435u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 79s 437m 578u: (code 0x05000008, par16 0x010d par64 0x0000000101000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [WARNING] from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 79s 438m 207u: (code 0x0000000b, par16 0x020d par64 0x0020012600950063) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [INFO] created device . See C++ class yarp::dev::embObjStrain for documentation. [INFO] The embObjStrain device using BOARD right_arm-eb3-j0_3 w/ IP 10.0.1.3 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 80s 477m 451u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 80s 478m 458u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.6 Search time was 0 ms [INFO] The embObjStrain device using BOARD right_arm-eb3-j0_3 w/ IP 10.0.1.3 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 80s 478m 603u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 80s 478m 747u: (code 0x05000008, par16 0x010d par64 0x0000000101000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [WARNING] from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 80s 479m 376u: (code 0x0000000b, par16 0x020d par64 0x008f012600950069) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [INFO] created device . See C++ class yarp::dev::embObjStrain for documentation. [INFO] The embObjStrain device using BOARD left_leg-eb6-j0_3 w/ IP 10.0.1.6 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain2 named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7) [INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 81s 518m 381u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.7. [WARNING] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 81s 520m 402u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms [ERROR] embObjStrain::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 [INFO] The embObjStrain device using BOARD left_leg-eb6-j0_3 w/ IP 10.0.1.6 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain2 named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7) [ERROR] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 81s 520m 547u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2: [ERROR] 1 of 1: wrong eobrd_strain2 BOARD 10.0.1.6:CAN2:13 because it has: WRONG APPLICATION VERSION [ERROR] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 0, time 81s 520m 685u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [ERROR] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 0, time 81s 520m 814u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [WARNING] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 81s 520m 967u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms [ERROR] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) @ 81s 521m 115u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2: [ERROR] 1 of 1: wrong eobrd_strain2 BOARD 10.0.1.6:CAN2:13 because it has: WRONG APPLICATION VERSION [WARNING] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 0, time 81s 521m 555u: (code 0x0000000b, par16 0x03c7 par64 0x0062003300980020) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.6 (left_leg-eb6-j0_3), src LOCAL, adr 0, time 81s 522m 305u: (code 0x0000000b, par16 0x01d9 par64 0x002003c702e10225) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . yarpdev: ***ERROR*** driver was found but could not open [WARNING] Cannot open device left_leg-eb6-j0_3-strain [WARNING] Cannot open device left_leg-eb6-j0_3-strain [INFO] The embObjStrain device using BOARD left_leg-eb7-j4_5 w/ IP 10.0.1.7 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain2 named id_l_lower_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7) [INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 81s 539m 168u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.7. [WARNING] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 81s 541m 171u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 1 ms [ERROR] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 81s 541m 318u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2: [ERROR] embObjStrain::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 [ERROR] 1 of 1: wrong eobrd_strain2 BOARD 10.0.1.7:CAN2:13 because it has: WRONG APPLICATION VERSION [INFO] The embObjStrain device using BOARD left_leg-eb7-j4_5 w/ IP 10.0.1.7 has the following service config: [ERROR] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 0, time 81s 541m 454u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [INFO] - acquisitionrate = 10 [ERROR] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 0, time 81s 541m 580u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [INFO] - useCalibration = true [INFO] - STRAIN of type strain2 named id_l_lower_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7) [WARNING] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 81s 541m 730u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 1 ms [ERROR] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) @ 81s 541m 872u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2: [ERROR] 1 of 1: wrong eobrd_strain2 BOARD 10.0.1.7:CAN2:13 because it has: WRONG APPLICATION VERSION [WARNING] from BOARD 10.0.1.7 (left_leg-eb7-j4_5), src LOCAL, adr 0, time 81s 542m 230u: (code 0x0000000b, par16 0x03a6 par64 0x00630021005e0069) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . yarpdev: ***ERROR*** driver was found but could not open [WARNING] Cannot open device left_leg-eb7-j4_5-strain [WARNING] Cannot open device left_leg-eb7-j4_5-strain [INFO] The embObjStrain device using BOARD right_leg-eb8-j0_3 w/ IP 10.0.1.8 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain2 named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7) [INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 81s 562m 209u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.7. [WARNING] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 81s 564m 230u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms [ERROR] embObjStrain::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 [INFO] The embObjStrain device using BOARD right_leg-eb8-j0_3 w/ IP 10.0.1.8 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain2 named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7) [ERROR] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 81s 564m 377u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2: [ERROR] 1 of 1: wrong eobrd_strain2 BOARD 10.0.1.8:CAN2:13 because it has: WRONG APPLICATION VERSION [ERROR] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 0, time 81s 564m 515u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [ERROR] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 0, time 81s 564m 644u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [WARNING] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 81s 564m 797u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms [ERROR] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) @ 81s 564m 943u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2: [ERROR] 1 of 1: wrong eobrd_strain2 BOARD 10.0.1.8:CAN2:13 because it has: WRONG APPLICATION VERSION [WARNING] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 0, time 81s 565m 382u: (code 0x0000000b, par16 0x03c2 par64 0x0069003400a30076) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . [WARNING] from BOARD 10.0.1.8 (right_leg-eb8-j0_3), src LOCAL, adr 0, time 81s 566m 135u: (code 0x0000000b, par16 0x01d0 par64 0x007603c202e00222) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . yarpdev: ***ERROR*** driver was found but could not open [WARNING] Cannot open device right_leg-eb8-j0_3-strain [WARNING] Cannot open device right_leg-eb8-j0_3-strain [INFO] The embObjStrain device using BOARD right_leg-eb9-j4_5 w/ IP 10.0.1.9 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - useCalibration = true [INFO] - STRAIN of type strain2 named id_r_lower_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7) [INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 81s 576m 268u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.7. [WARNING] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 81s 578m 270u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 1 ms [ERROR] embObjStrain::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 [ERROR] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 81s 578m 417u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2: [INFO] The embObjStrain device using BOARD right_leg-eb9-j4_5 w/ IP 10.0.1.9 has the following service config: [ERROR] 1 of 1: wrong eobrd_strain2 BOARD 10.0.1.9:CAN2:13 because it has: WRONG APPLICATION VERSION [INFO] - acquisitionrate = 10 [ERROR] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 0, time 81s 578m 553u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [INFO] - useCalibration = true [ERROR] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 0, time 81s 578m 679u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . [INFO] - STRAIN of type strain2 named id_r_lower_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7) [WARNING] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 81s 578m 829u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 1 ms [ERROR] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) @ 81s 578m 971u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2: [ERROR] 1 of 1: wrong eobrd_strain2 BOARD 10.0.1.9:CAN2:13 because it has: WRONG APPLICATION VERSION [WARNING] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL, adr 0, time 81s 579m 329u: (code 0x0000000b, par16 0x03a4 par64 0x00630021005d0020) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . yarpdev: ***ERROR*** driver was found but could not open [WARNING] Cannot open device right_leg-eb9-j4_5-strain [WARNING] Cannot open device right_leg-eb9-j4_5-strain [DEBUG] (FirstSetOfJoints 0 3 0 3) (SecondSetOfJoints 4 6 0 2) (channels 7) (device virtualAnalogServer) (name "/icub/joint_vsens/left_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) [DEBUG] Using VirtualAnalogServer [INFO] |yarp.os.Port| Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10063/ [INFO] created wrapper . See C++ class VirtualAnalogWrapper for documentation. [DEBUG] (FirstSetOfJoints 0 3 0 3) (SecondSetOfJoints 4 5 0 1) (channels 6) (device virtualAnalogServer) (name "/icub/joint_vsens/right_leg:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) [DEBUG] Using VirtualAnalogServer [INFO] |yarp.os.Port| Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10064/ [INFO] created wrapper . See C++ class VirtualAnalogWrapper for documentation. [DEBUG] (FirstSetOfJoints 0 3 0 3) (SecondSetOfJoints 4 5 0 1) (channels 6) (device virtualAnalogServer) (name "/icub/joint_vsens/left_leg:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) [DEBUG] Using VirtualAnalogServer [INFO] |yarp.os.Port| Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10065/ [INFO] created wrapper . See C++ class VirtualAnalogWrapper for documentation. [DEBUG] (FirstSetOfJoints 0 3 0 3) (SecondSetOfJoints 4 6 0 2) (channels 7) (device virtualAnalogServer) (name "/icub/joint_vsens/right_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) [DEBUG] Using VirtualAnalogServer [INFO] |yarp.os.Port| Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10066/ [INFO] created wrapper . See C++ class VirtualAnalogWrapper for documentation. [DEBUG] (FirstSetOfJoints 0 2 0 2) (channels 3) (device virtualAnalogServer) (name "/icub/joint_vsens/torso:i") (networks (FirstSetOfJoints)) (period 10) (robotName icub) [DEBUG] Using VirtualAnalogServer [INFO] |yarp.os.Port| Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10067/ [INFO] created wrapper . See C++ class VirtualAnalogWrapper for documentation. [INFO] created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] ***** Configuring cartesian controller ***** [INFO] Acquiring options for group GENERAL... [INFO] Acquiring options for group DRIVER_0... [INFO] Acquiring options for group DRIVER_1... [INFO] PLANT_MODEL group detected [INFO] DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A 0.0233646999999999986641) (D -0.143300000000000010703) (alpha -90.0) (offset 105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D 0.107740000000000002434) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A 0.0149999999999999994449) (D 0.152279999999999998694) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D 0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D -0.0259799999999999996214) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (numLinks 10) (type left_v2) [INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10068/ [INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10069/ [INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10070/ [INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10071/ [INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10072/ [INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10073/ [INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10074/ [INFO] created device . See C++ class ServerCartesianController for documentation. [INFO] ***** Configuring cartesian controller ***** [INFO] Acquiring options for group GENERAL... [INFO] Acquiring options for group DRIVER_0... [INFO] Acquiring options for group DRIVER_1... [INFO] PLANT_MODEL group detected [INFO] DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A -0.0233646999999999986641) (D -0.143300000000000010703) (alpha 90.0) (offset -105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D -0.107740000000000002434) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A -0.0149999999999999994449) (D -0.152279999999999998694) (alpha -90.0) (offset -105.000000000000014211) (min -37.0) (max 100.0)) (link_6 (A 0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D -0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D 0.0259799999999999996214) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (numLinks 10) (type right_v2) [INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10075/ [INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10076/ [INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10077/ [INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10078/ [INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10079/ [INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10080/ [INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10081/ [INFO] created device . See C++ class ServerCartesianController for documentation. [WARNING] There was some problem opening one or more devices. Please check the log and your configuration [ERROR] One or more devices failed opening... see previous log messages for more info [ERROR] yarprobotinterface intercepted a segmentation fault caused by a faulty plugin: [ERROR] /usr/local/src/robot/icub-main/build/lib/iCub/cartesiancontrollerserver.so(_ZN25ServerCartesianController9detachAllEv+0x40) [0x7f7b64358b80] Trace requested at /usr/local/src/robot/robotology-superbuild/robotology/YARP/src/yarprobotinterface/Module.cpp:86 by code called from: /usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_Z16yarp_print_traceP8_IO_FILEPKcj+0x3b) [0x7f7bf5b15aab] yarprobotinterface(+0x614a) [0x56085240a14a] /lib/x86_64-linux-gnu/libc.so.6(+0x3ef20) [0x7f7bf514cf20] /usr/local/src/robot/icub-main/build/lib/iCub/cartesiancontrollerserver.so(_ZN25ServerCartesianController9detachAllEv+0x40) [0x7f7b64358b80] /usr/local/src/robot/icub-main/build/lib/iCub/cartesiancontrollerserver.so(_ZN25ServerCartesianController5closeEv+0x1a) [0x7f7b64362cfa] /usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_dev.so.3(_ZN4yarp3dev10PolyDriver5closeEv+0x5d) [0x7f7bf4ea937d] /usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3(_ZN4yarp14robotinterface6Device5closeEv+0x81) [0x7f7bf606d6d1] /usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3(_ZN4yarp14robotinterface5Robot7Private12closeDevicesEv+0x68) [0x7f7bf607d878] /usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3(_ZN4yarp14robotinterface5Robot10enterPhaseENS0_11ActionPhaseE+0x29d4) [0x7f7bf6087584] yarprobotinterface(+0x8601) [0x56085240c601] /usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_ZN4yarp2os8RFModule9runModuleERNS0_14ResourceFinderE+0x72) [0x7f7bf5b5f8e2] yarprobotinterface(+0x5110) [0x560852409110] /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xe7) [0x7f7bf512fb97] yarprobotinterface(+0x51ea) [0x5608524091ea] Segmentation fault (core dumped)