HumanStateVisualizer is stuck waiting data from HumanStateWrench

[davidegorbani]

I tried to launch the HumanStateVisualizer on a terminal and it was stuck on waiting data from the HumanStateWrench device; the output on the terminal was:

[WARNING] HumanStateVisualizer : 'visualizeFrames' option not found or not valid. It is set to False.
[DEBUG] |yarp.dev.PolyDriver|human_state_nwc_yarp| Parameters are (device human_state_nwc_yarp) (humanStateDataPort "/HDE/HumanStateServer/state:o")
[DEBUG] HumanState_nwc_yarp : Configuring input data ports
[INFO] |yarp.os.Port|/tmp/port/2| Port /tmp/port/2 active at tcp://10.240.9.164:10050/
[DEBUG] HumanState_nwc_yarp : Opening input ports
[INFO] |yarp.os.impl.PortCoreInputUnit|/tmp/port/2| Receiving input from /HDE/HumanStateServer/state:o to /tmp/port/2 using tcp
[DEBUG] HumanState_nwc_yarp : Opened correctly
[INFO] |yarp.dev.PolyDriver|human_state_nwc_yarp| Created device <human_state_nwc_yarp>. See C++ class hde::devices::HumanState_nwc_yarp for documentation.
[INFO] HumanStateVisualizer : Waiting for data from HumanStateClient
[INFO] HumanStateVisualizer : Human State Interface providing data for the base link [  Pelvis  ]
[INFO] HumanStateVisualizer : Human State Interface providing data from [  31  ] joints
[DEBUG] |yarp.dev.PolyDriver|human_wrench_nwc_yarp| Parameters are (device human_wrench_nwc_yarp) (humanWrenchDataPort "/HDE/HumanWrenchServer/wrench:o")
[DEBUG] HumanWrench_nwc_yarp : Configuring input data ports
[INFO] |yarp.os.Port|/tmp/port/3| Port /tmp/port/3 active at tcp://10.240.9.164:10051/
[DEBUG] HumanWrench_nwc_yarp : Opening input ports
[INFO] |yarp.os.impl.PortCoreInputUnit|/tmp/port/3| Receiving input from /HDE/HumanWrenchServer/wrench:o to /tmp/port/3 using tcp
[DEBUG] HumanWrench_nwc_yarp : Opened correctly
[INFO] |yarp.dev.PolyDriver|human_wrench_nwc_yarp| Created device <human_wrench_nwc_yarp>. See C++ class hde::devices::HumanWrench_nwc_yarp for documentation.
[INFO] HumanStateVisualizer : Waiting for data from HumanWrenchClient
[INFO] HumanStateVisualizer : Waiting for data from HumanWrenchClient
[INFO] HumanStateVisualizer : Waiting for data from HumanWrenchClient
[INFO] HumanStateVisualizer : Waiting for data from HumanWrenchClient

I tried to read from the YARP port /HDE/HumanStateServer/state:o and it was streaming data; I also tried to print the output of the interface getNumberOfWrenchSources() it was zero.

CC @lrapetti

[lrapetti]

Hi @davidegorbani, the problem is due to the fact that starting from 01812b0 the HumanStateVisualizer uses the HumanWrench interface. Indeed, the Human.xml file you are using should have the same change as 01812b0#diff-90882fd47b6c2e86b383770e476062185beb69ba0b5dceacdfb8b8280b384819R185-R193 to expose the wrench data.

[lrapetti]

Hi @davidegorbani, the problem is due to the fact that starting from 01812b0 the HumanStateVisualizer uses the HumanWrench interface. Indeed, the Human.xml file you are using should have the same change as 01812b0#diff-90882fd47b6c2e86b383770e476062185beb69ba0b5dceacdfb8b8280b384819R185-R193 to expose the wrench data.

This fixed the issue (see #368 (comment)). I'll close this issue.