Update ergocubSN000 battery conf files #573
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Add conf files for bat and bms in hw and wrapper Update the yarprobotinterface conf files Set to use CAN2:1 Define separate ports on wrapppers for bat and bms devices
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cc: @valegagge |
pattacini
reviewed
Sep 25, 2023
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Ok with me 👍🏻
I'll wait for @valegagge's review before merging.
After her review, @MSECode, can you please update the PR in order to already ship the same updates for ergoCubSN001?
pattacini
requested changes
Sep 25, 2023
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Hi @MSECode
The CI failed with the following outputs:
XML consistency check
1 - test yarprobotinterface.ini presence **************
yarprobotinterface.ini FOUND! PASSED
2 - test included xml files presence **************
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/POS/right_hand-pos_wrapper4.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/POS/right_hand-pos4.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/POS/left_hand-pos_wrapper4.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/POS/left_hand-pos4.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/POS/right_hand-pos_wrapper2.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/POS/right_hand-pos2.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/POS/left_hand-pos_wrapper2.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/POS/left_hand-pos2.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/left_arm-eb31-j4_6-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/left_arm-eb25-j11_12-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/right_arm-eb3-j2_3-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/right_arm-eb30-j4_6-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/right_arm-eb24-j11_12-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/FT/left_arm-eb2-j0_1-strain.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/FT/right_arm-eb1-j0_1-strain.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/FT/left_leg-eb9-j4_5-strain.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/FT/right_leg-eb7-j4_5-strain.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/FT/left_leg-eb8-j0_3-strain.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/FT/right_leg-eb6-j0_3-strain.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/FT/left_leg-FT_remapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/FT/right_leg-FT_remapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/FT/left_leg-FT_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/FT/right_leg-FT_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/head-imuFilter_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/head-imuFilter.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/inertials/head-inertial.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/inertials/waist-inertial.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/waist-inertials_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/inertials/left_arm-eb4-j2_3-inertial.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/inertials/right_arm-eb3-j2_3-inertial.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/inertials/left_arm-eb2-j0_1-inertial.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/inertials/right_arm-eb1-j0_1-inertial.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/inertials/left_leg-eb9-j4_5-inertial.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/inertials/right_leg-eb7-j4_5-inertial.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/left_arm-imu_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/right_arm-imu_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/left_foot-imu_wrapper.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/inertials/right_foot-imu_wrapper.xml
NOT found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/battery/ergobattery_bat.xml
NOT found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/battery/ergocubbattery_bat.xml
NOT found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/wrappers/battery/ergobattery_bms.xml
NOT found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/hardware/battery/ergocubbattery_bms.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/calibrators/torso-calib.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/calibrators/left_leg-calib.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/calibrators/right_leg-calib.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/calibrators/left_arm-calib.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/calibrators/right_arm-calib.xml
found :/dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/calibrators/head-calib.xml
***************************************
FAIL ! not found 4 of 77 file included.Devices consistency check
[DEBUG] Reading file /dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/./ergocub_all.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file /dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/./ergocub_all.xml
[INFO] Yarprobotinterface was started using the following enable_tags:
[INFO] Yarprobotinterface was started using the following disable_tags:
[ERROR] Failed to open file file /dependencies/install/share/ICUBcontrib/robots/ergoCubSN000/./wrappers/battery/ergobattery_bat.xml included by ergocub_all.xml at line 74
[FATAL] In file: ergobattery_bat.xml included by: ergocub_all.xml at line: 74
Trace requested at /dependencies/yarp/src/libYARP_robotinterface/src/yarp/robotinterface/impl/XMLReaderFileV3.cpp:316 by code called from:
/dependencies/install/bin/../lib/libYARP_os.so.3(_Z16yarp_print_traceP8_IO_FILEPKcj+0x3b) [0x7f5b819af2fb]
/dependencies/install/bin/../lib/libYARP_robotinterface.so.3(+0x119ce) [0x7f5b81b219ce]
/dependencies/install/bin/../lib/libYARP_robotinterface.so.3(+0x4c18a) [0x7f5b81b5c18a]
/dependencies/install/bin/../lib/libYARP_robotinterface.so.3(+0x4aaef) [0x7f5b81b5aaef]
/dependencies/install/bin/../lib/libYARP_robotinterface.so.3(+0x54715) [0x7f5b81b64715]
/dependencies/install/bin/../lib/libYARP_robotinterface.so.3(+0x55b12) [0x7f5b81b65b12]
/dependencies/install/bin/../lib/libYARP_robotinterface.so.3(_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE+0x1939) [0x7f5b81b3f879]
yarprobotinterface(+0xb64b) [0x563d1969464b]
/dependencies/install/bin/../lib/libYARP_os.so.3(_ZN4yarp2os8RFModule9runModuleERNS0_14ResourceFinderE+0xf7) [0x7f5b81a0c667]
yarprobotinterface(+0x8dcf) [0x563d19691dcf]
/lib/x86_64-linux-gnu/libc.so.6(+0x29d90) [0x7f5b814c4d90]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0x80) [0x7f5b814c4e40]
yarprobotinterface(+0x8e95) [0x563d19691e95]
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We need also to update the robots-configuration template, but we'll address this in another PR asap |
MSECode
added a commit
to valegagge/robots-configuration
that referenced
this pull request
Apr 11, 2024
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This PR brings the following changes for ergoCubSN000 (I suppose these can be copied as they are in ergocubSN001 - after revision):