Error opening yarpdev in 'Face' app #1106
Comments
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Hi @pattacini, Unfortunately not. [ERROR]Can not control communications port /dev/ttyACM0
yarpdev: ***ERROR*** driver <serialport> was found but could not open
[ERROR]cannot make <serialport>
yarpdev: ***ERROR*** driver <serial> was found but could not open
===============================================================
== Options checked by device:
==
device=serial
==
===============================================================
[ERROR]yarpdev: ***ERROR*** device not available. |
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Ciao @roalchaq , here it is a simple procedure to test the facial expressions using a PC.
Let us know if this test works properly cc @pattacini |
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Hi @davidetome, Thank you for your help with this. I followed your procedure and even though I managed to open the serial port and send the |
The procedure described above is intended to be used w/ the face/face -expressions on the desk and detached from the Could you please detach the face from the |
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The usb port was detached from |
Perfectly clear! Actually, the 12V is needed only for the servo motor, without it you should be able to send commands to the board and turn on the LEDs. Anyway, Let me check on our setup (if available) and I'll give you feedback asap. |
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Ciao @roalchaq , I finally successfully tested the above procedure, so my opinion is that your face expression control board Is broken. VID_20210407_120240.mp4At this point, you may need to replace it, let us know.
I'm preventively asking my peer @Fabrizio69 , if we have one available to eventually ship ( cc @pattacini |
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Hi @davidetome , Thank you again for your help with this. We are defenitely interested in replacing the board. Please let me know how to proceed. |
👍🏻 So you can refer to @Fabrizio69 who manage the production/warehouse. |
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Rather than @Fabrizio69 , it'd be more convenient to get in touch w/ Andrea Derito, who's responsible for the contacts w/ our customers. |
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Thank you @pattacini and @davidetome |
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Dear @roalchaq
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Closing this support ticket then. |
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Customer confirmed reception of the spare |
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Hi @davidetome, In other words, the issue seems to be coming from pc104. The error message is always the same: The same error also happened when we tried controlling the face from a C++ script. Do you have any suggestions? Thanks for your help. |
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Ciao @cedricgoubard , is the cc @pattacini |
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Hi @davidetome,
I thought it could be a permissions issue, but icub is in the
However, yarpdev is still having the same issue:
The same thing happens if I try to use the
Here is the content of the ini file: |
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Hi @cedricgoubard , could you check if in
cc @pattacini |
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Hi @davidetome, I added it and restarted pc104: But I am still getting the same error: I even tried to change the permissions, but the message remains the same: |
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Hi @davidetome, We also tried to command the face on a laptop, and the exact same yarpdev command with the same context worked. We encountered another issue when starting emotionsInterface, but I think this may be related to the yarpdev version we have on the laptop. So I guess the issue is probably software-related, since the hardware seems to work? We have an old iCub (3rd ever made) with a 32bits PC104, if that helps. |
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Thank you @cedricgoubard for the enlightening test! 💡 There must be then some problems in the middleware. In the meantime, could you report to us the output of the following commands launched on the lsb_release -a
yarp --version
cd $YARP_ROOT && git log -1
yarpdev --listAlso, it'd be good to know the content of the file you will retrieve by launching the following command on the yarp resource --context faceExpressions --from serialport.ini |
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Hi @pattacini, icub@pc104:~$ lsb_release -a
LSB Version: core-2.0-ia32:core-2.0-noarch:core-3.0-ia32:core-3.0-noarch:core-3.1-ia32:core-3.1-noarch:core-3.2-ia32:core-3.2-noarch:core-4.0-ia32:core-4.0-noarch:core-4.1-ia32:core-4.1-noarch:security-4.0-ia32:security-4.0-noarch:security-4.1-ia32:security-4.1-noarch
Distributor ID: iCub Debian
Description: Debian GNU/Linux 7.2 (wheezy) + iCub customizations
Release: 7.2
Codename: wheezyicub@pc104:~$ yarp version
YARP version 3.1.0+192-20190206.2+git81ca0b0icub@pc104:~$ cd $YARP_ROOT && git log -n 2
commit 5734917c6ede6387c59171c3cfcc048e303d9ffb
Author: Tobias Fischer <[email protected]>
Date: Tue May 28 19:03:48 2019 +0200
32-bit compatibility changes
commit 81ca0b0458d66bdb1f48edf3f1267a136cfe8ca1
Author: Daniele E. Domenichelli <[email protected]>
Date: Wed Feb 6 14:11:54 2019 +0100
Examples: Fix -Wformat warningyardev --list outputicub@pc104:/usr/local/src/robot/yarp2$ yarpdev --list
[INFO]Here are devices listed for your system:
yarp: Cannot connect to port /root
yarp: Port /log/pc104/yarpdev/2957 failed to activate (invalid address)
LogForwarder error while opening port /log/pc104/yarpdev/2957
yarp: No connection to nameserver
yarp: *** try running: yarp detect ***
[INFO]Device "test_motor", C++ class yarp::dev::TestMotor, wrapped by "controlboard"
[INFO]Device "serial", C++ class yarp::dev::ServerSerial, is a network wrapper.
[INFO]Device "remote_grabber", C++ class yarp::dev::RemoteFrameGrabber, wrapped by "grabber"
[INFO]Device "grabber", C++ class yarp::dev::ServerFrameGrabber, is a network wrapper.
[INFO]Device "pipe", C++ class yarp::dev::DevicePipe, has no network wrapper
[INFO]Device "group", C++ class yarp::dev::DeviceGroup, has no network wrapper
[INFO]Device "remote_controlboard", C++ class yarp::dev::RemoteControlBoard, wrapped by "controlboardwrapper2"
[INFO]Device "inertial", C++ class yarp::dev::ServerInertial, is a network wrapper.
[INFO]Device "controlboardwrapper2", C++ class yarp::dev::ControlBoardWrapper2, is a network wrapper.
[INFO]Device "analogsensorclient", C++ class AnalogSensorClient, has no network wrapper
[INFO]Device "analogServer", C++ class yarp::dev::AnalogWrapper, is a network wrapper.
[INFO]Device "virtualAnalogServer", C++ class yarp::dev::VirtualAnalogWrapper, is a network wrapper.
[INFO]Device "RGBDSensorWrapper", C++ class yarp::dev::RGBDSensorWrapper, is a network wrapper.
[INFO]Device "RGBDSensorClient", C++ class yarp::dev::RGBDSensorClient, is a network wrapper.
[INFO]Device "controlboardremapper", C++ class yarp::dev::ControlBoardRemapper, wrapped by "controlboardwrapper2"
[INFO]Device "remotecontrolboardremapper", C++ class yarp::dev::RemoteControlBoardRemapper, wrapped by "controlboardwrapper2"
[INFO]Device "robotDescriptionServer", C++ class RobotDescriptionServer, has no network wrapper
[INFO]Device "robotDescriptionClient", C++ class RobotDescriptionClient, has no network wrapper
[INFO]Device "grabberDual", C++ class yarp::dev::ServerGrabber, is a network wrapper.
[INFO]Device "JoypadControlServer", C++ class yarp::dev::JoypadControlServer, is a network wrapper.
[INFO]Device "JoypadControlClient", C++ class yarp::dev::JoypadControlClient, is a network wrapper.
[INFO]Device "Rangefinder2DClient", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_Rangefinder2DClient.so library).
[INFO]Device "Rangefinder2DWrapper", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_Rangefinder2DWrapper.so library).
[INFO]Device "ServerSoundGrabber", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_ServerSoundGrabber.so library).
[INFO]Device "batteryClient", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_batteryClient.so library).
[INFO]Device "batteryWrapper", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_batteryWrapper.so library).
[INFO]Device "localization2DClient", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_localization2DClient.so library).
[INFO]Device "map2DClient", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_map2DClient.so library).
[INFO]Device "map2DServer", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_map2DServer.so library).
[INFO]Device "multipleanalogsensorsclient", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_multipleanalogsensorsclient.so library).
[INFO]Device "multipleanalogsensorsremapper", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_multipleanalogsensorsremapper.so library).
[INFO]Device "multipleanalogsensorsserver", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_multipleanalogsensorsserver.so library).
[INFO]Device "navigation2DClient", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_navigation2DClient.so library).
[INFO]Device "portaudio", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_portaudio.so library), wrapped by "grabber".
[INFO]Device "serialport", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_serial.so library), wrapped by "serial".
[INFO]Device "serialport", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_serialport.so library), wrapped by "serial".
[INFO]Device "test_grabber", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_test_grabber.so library), wrapped by "grabber".
[INFO]Device "transformClient", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_transformClient.so library).
[INFO]Device "transformServer", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_transformServer.so library).
[INFO]Device "canBusAnalogSensor", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/canBusAnalogSensor.so library), wrapped by "AnalogServer".
[INFO]Device "canBusSkin", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/canBusSkin.so library), wrapped by "skinwrapper".
[INFO]Device "canBusVirtualAnalogSensor", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/canBusVirtualAnalogSensor.so library), wrapped by "virtualAnalogServer".
[INFO]Device "canmotioncontrol", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/canmotioncontrol.so library), wrapped by "controlboardwrapper2".
[INFO]Device "cartesiancontrollerclient", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/cartesiancontrollerclient.so library), is a network wrapper.
[INFO]Device "cartesiancontrollerserver", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/cartesiancontrollerserver.so library), wrapped by "cartesiancontrollerclient".
[INFO]Device "cfw2can", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/cfw2can.so library).
[INFO]Device "dragonfly2", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/dragonfly2.so library), wrapped by "grabberDual".
[INFO]Device "dragonfly2raw", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/dragonfly2.so library), wrapped by "grabberDual".
[INFO]Device "parametricCalibrator", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/parametricCalibrator.so library).
[INFO]Device "sharedcan", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/shcan.so library).
[INFO]Device "skinWrapper", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/skinWrapper.so library).
[INFO]Device "xsensmtx", available on request (found in /usr/local/src/robot/install/icub-main/lib/iCub/xsensmtx.so library).
pure virtual method called
terminate called without an active exception
AbortedLast commit contentcommit 5734917c6ede6387c59171c3cfcc048e303d9ffb
Author: Tobias Fischer <[email protected]>
Date: Tue May 28 19:03:48 2019 +0200
32-bit compatibility changes
diff --git a/src/libYARP_OS/include/yarp/os/api.h b/src/libYARP_OS/include/yarp/os/api.h
index 6f0beed..d869fe2 100644
--- a/src/libYARP_OS/include/yarp/os/api.h
+++ b/src/libYARP_OS/include/yarp/os/api.h
@@ -11,6 +11,7 @@
#define YARP_OS_API_H
#include <yarp/conf/api.h>
+#include <stddef.h>
#ifndef YARP_OS_API
# ifdef YARP_OS_EXPORTS
# define YARP_OS_API YARP_EXPORT
diff --git a/src/libYARP_OS/include/yarp/os/impl/NameServer.h b/src/libYARP_OS/include/yarp/os/impl/NameServer.h
index d325250..b94ffd6 100644
--- a/src/libYARP_OS/include/yarp/os/impl/NameServer.h
+++ b/src/libYARP_OS/include/yarp/os/impl/NameServer.h
@@ -40,7 +40,7 @@ namespace yarp {
class YARP_OS_impl_API yarp::os::impl::NameServerStub
{
public:
- virtual ~NameServerStub() = default;
+ virtual ~NameServerStub() {}
virtual std::string apply(const std::string& txt, const Contact& remote) = 0;
};
@@ -57,7 +57,7 @@ public:
setup();
}
- virtual ~NameServer() = default;
+ virtual ~NameServer() {}
// address may be partial - partial information gets filled in
// (not YARP2 compliant yet, won't do fill-in)
diff --git a/src/yarpdatadumper/main.cpp b/src/yarpdatadumper/main.cpp
index 3fb6404..7dcc1be 100644
--- a/src/yarpdatadumper/main.cpp
+++ b/src/yarpdatadumper/main.cpp
@@ -43,7 +43,7 @@ bool save_jpeg = false;
class DumpObj
{
public:
- virtual ~DumpObj() = default;
+ virtual ~DumpObj() {}
virtual const string toFile(const string&, unsigned int) = 0;
virtual void *getPtr() = 0;
};serialport.ini contentLet me know if you need anything else, and thanks again for your help! |
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Thanks heaps @cedricgoubard Something a bit strange that comes to my eyes is the following: [INFO]Device "serialport", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_serial.so library), wrapped by "serial".
[INFO]Device "serialport", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_serialport.so library), wrapped by "serial".It seems that you've got two libraries for this service. Maybe the oldest version is shadowing the correct one causing the problem. The correct one should be that pointing to Well, take backup copies of those two libraries anyway. |
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Thanks @pattacini! icub@pc104:~$ yarpdev --name /icub/face/raw --device serial --subdevice serialport --context faceExpressions --from serialport.ini
[DEBUG]Subdevice serialport
yarp: Port /log/pc104/yarpdev/4002 active at tcp://10.0.2.2:10247/
yarp: Sending output from /log/pc104/yarpdev/4002 to /yarplogger using fast_tcp
[INFO]Starting Serial Port in /dev/ttyACM0
[ERROR]Invalid communications port in /dev/ttyACM0: Input/output error
yarpdev: ***ERROR*** driver <serialport> was found but could not open
[ERROR]cannot make <serialport>
yarpdev: ***ERROR*** driver <serial> was found but could not open
[ERROR]yarpdev: ***ERROR*** device not available.
[INFO]Suggestions:
[INFO]+ Do "yarpdev --list" to see list of supported devices.
[INFO]+ Or append "--verbose" option to get more information.
yarp: Removing output from /log/pc104/yarpdev/4002 to /yarploggerOur The strange part is that after I try to run yarpdev, the icub@pc104:~$ echo -n 'I' > /dev/ttyACM0
-bash: /dev/ttyACM0: Input/output errorI think this might have something to do with a new warning that appears now when I run icub@pc104:~$ yarpdev --list | grep serial
yarp: Port /log/pc104/yarpdev/4057 active at tcp://10.0.2.2:10251/
yarp: Sending output from /log/pc104/yarpdev/4057 to /yarplogger using fast_tcp
[WARNING]Wrong library name for plugin serialport
[INFO]Device "serial", C++ class yarp::dev::ServerSerial, is a network wrapper.
[INFO]Device "serialport", available on request (found in /usr/local/src/robot/install/yarp/lib/yarp/yarp_serial.so library), wrapped by "serial".
yarp: Removing output from /log/pc104/yarpdev/4057 to /yarploggerI checked, and port icub@pc104:~$ ls -l /dev/ttyACM0
crw-rw---T 1 root dialout 166, 0 Jul 20 14:54 /dev/ttyACM0I tried to see if a process was already using the port, but nothing comes up: icub@pc104:~$ ls -l /proc/[0-9]*/fd/* |grep /dev/ttyACM0
ls: cannot access /proc/4049/fd/255: No such file or directory
ls: cannot access /proc/4049/fd/3: No such file or directory
ls: cannot access /proc/4050/fd/255: No such file or directoryDo you have any thoughts on this? |
This is because some YARP .ini files might still contain a reference to the old library you removed: see https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/yarp/dev/Drivers.cpp#L99. Those files are located probably in The "Invalid communications port in /dev/ttyACM0: Input/output error" si issued by: Honestly, given what we've spotted into
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Hi @pattacini, I am using our own fork of the superbuild (on the cpu-32 branch), which was created by former members of the lab. From what I understand, it is basically of former version of your public repo + 1 commit to fix the tags of several dependencies, to match the requirements of our 32 bits pc104. Here is my understanding of the issue, but let me know if I am wrong. I managed to get YCM installed using ycm-0.10.2-offline.tar.gz (which is the oldest version that does not encounter this issue). Is there any way to know the exact version of each package which is compatible with our architecture? Edit: to clarify on the issue with RTF, I am able to build RTF 1.2.0 without issues, but when I try to build v1.6.0, here is the error message (which I assumed to be caused by c++11 syntax): error message |
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Hi @cedricgoubard !
Unfortunately we only started releasing coordinates tags of our software in February 2020, see https://icub-tech-iit.github.io/documentation/sw_versioning_table/ , so for getting the coordinated release before hand we need to do a bit of guess. However, in this specific case RTF is not a strictly required dependency of YARP or ICUB for most of their functionalities, so I think the easiest option is just to disable RTF, I tried to do it in ImperialCollegeLondon/robotology-superbuild#1 , but I did not tested it, feel free to try and report if it still requires RTF even after this modifications. |
Just to double check, I checked back in the superbuild history and I switched the CI to stop using gcc 4.* in robotology/robotology-superbuild#94 in June 2018, so any commit after that data could have problem on gcc 4.*, sorry about that. As you may imagine the only long term solution to this problem is #802, but feel free to let us know if there is anything we can do to help you even without the 64-bit CPU. |
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If you feel adventurous, you could try out https://icub-tech-iit.github.io/documentation/icub_operating_systems/pc104/the-icub-live-details. These instructions are for building a live USB for the PC104, including the special CAN driver CFW002. Of course, if you'll do that, make the attempt with a brand new USB key while keeping the present one safe by your side. |
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Hi @pattacini, @traversaro, I removed RTF from the superbuild following @traversaro's advice, but I still encountered c++11 errors in YARP. I think this is because the YARP version we use in our superbuild is still too recent. In the meantime, while g++ 4.8 is compiling, I think I'll try @pattacini's solution. |
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Hi, Following @pattacini's advice, we managed to build a 32bits version of iCub live (Debian Buster)! pc104 seems to accept it, I am configuring it now. In the meantime, I am facing another (small) issue: the board appears to boot only if I connect a keyboard and press 'enter'. Otherwise, it gets stuck on the grub (which is probably not really a grub since I did not find a /etc/default/grub file). Do you have any idea on how to solve that? |
That's cool 👍🏻
Just had a quick internal chat w/ @mbrunettini about that and it might be due to some settings in the BIOS, although it's strange that something happened in the BIOS by just changing the USB keys. Did you already have a look at it? A somewhat related issue on the BIOS battery: #1104. |
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I just found the solution: the I will now start to build YARP, iCub, etc. Should I use the YARP & iCub directories already present in EDIT: FYI, the last commit from the YARP repo in |
I would go for the robotology-superbuild path, especially if you are familar with that, and if you have enough disk space. : ) You can remove all the other repositories that are already in |
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By the way @cedricgoubard, if you have some modifications to the script to generate the icub-live to generate a 32-bit version it would be great if you could push them somewhere. I don't think we are going to support it officially and integrate it in our repo, but if other people are interested in that it could be useful. |
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In this respect, once you'll have tested the solution, you may consider contributing to our documentation, @cedricgoubard, by proposing a dedicated page about that. |
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So, I also reinstalled the latest superbuild on our laptop, and I am now trying to launch icub and try a few features (ikart teleoperation, facial expressions, cameras, moving arms...) to make sure everything work. However, I get the following error when launching icub@pc104:~$ yarprobotinterface
[DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml
[WARNING] Invalid syntax while loading /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml at line 2 . Unknown document type. Unknown url http://www.yarp.it/DTD/robotInterfaceV3.0.dtd
[WARNING] Invalid syntax while loading /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml at line 2 . Unknown document type. Unknown url http://www.yarp.it/DTD/robotInterfaceV3.0.dtd
[WARNING] Invalid syntax while loading /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml at line 2 . Unknown document type. Missing version in Url http://www.yarp.it/DTD/robotInterfaceV3.0.dtd
[WARNING] Invalid syntax while loading /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml at line 2 . Unknown document type. Missing version in Url http://www.yarp.it/DTD/robotInterfaceV3.0.dtd
[WARNING] Invalid syntax while loading /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml at line 1 . No DTD found. Assuming version yarprobotinterfaceV3.0
[ERROR] DTD V1.x has been deprecated. Please update your configuration files to DTD v3.x
[ERROR] Invalid DTD version, execution stopped.
[FATAL] Config file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml not parsed correctly.
Trace requested at /usr/local/src/robot/robotology-superbuild/src/YARP/src/yarprobotinterface/Module.cpp:136 by code called from:
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(+0x715e5) [0xb7cc25e5]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_Z16yarp_print_traceP8_IO_FILEPKcj+0x37) [0xb7cc5ed7]
yarprobotinterface(+0x5936) [0x40d936]
yarprobotinterface(+0x6ada) [0x40eada]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_ZN4yarp2os8RFModule9runModuleERNS0_14ResourceFinderE+0x61) [0xb7d11e51]
yarprobotinterface(+0x54aa) [0x40d4aa]
/lib/i386-linux-gnu/libc.so.6(__libc_start_main+0xf1) [0xb77c4b41]
yarprobotinterface(+0x5531) [0x40d531]Here is the content of the file in /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD robotInterface 3.0//EN" "http://www.yarp.it/DTD/robotInterfaceV3.0.dtd">
<robot name="iCubLondon01" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- cartesian -->
<xi:include href="cartesian/left_arm_cartesian.xml" />
<xi:include href="cartesian/right_arm_cartesian.xml" />
<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_arm_mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_arm_mc_wrapper.xml" />
<!--xi:include href="wrappers/motorControl/left_leg_mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg_mc_wrapper.xml" /-->
<xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso_mc_wrapper.xml" />
<xi:include href="hardware/motorControl/icub_left_arm.xml" />
<xi:include href="hardware/motorControl/icub_left_hand.xml" />
<xi:include href="hardware/motorControl/icub_right_arm.xml" />
<xi:include href="hardware/motorControl/icub_right_hand.xml" />
<!--xi:include href="hardware/motorControl/icub_left_leg.xml" />
<xi:include href="hardware/motorControl/icub_right_leg.xml" /-->
<xi:include href="hardware/motorControl/icub_head.xml" />
<xi:include href="hardware/motorControl/icub_torso.xml" />
<!-- VIRTUAL ANALOG SERVERs -->
<xi:include href="wrappers/VFT/left_arm_VFT_wrapper.xml" />
<!--xi:include href="wrappers/VFT/left_leg_VFT_wrapper.xml" /-->
<xi:include href="wrappers/VFT/right_arm_VFT_wrapper.xml" />
<!--xi:include href="wrappers/VFT/right_leg_VFT_wrapper.xml" /-->
<xi:include href="wrappers/VFT/torso_VFT_wrapper.xml" />
<xi:include href="hardware/VFT/left_arm_virtual_strain.xml" />
<!--xi:include href="hardware/VFT/left_leg_virtual_strain.xml" /-->
<xi:include href="hardware/VFT/right_arm_virtual_strain.xml" />
<!--xi:include href="hardware/VFT/right_leg_virtual_strain.xml" /-->
<xi:include href="hardware/VFT/torso_virtual_strain.xml" />
<!-- REAL ANALOG SENSORS -->
<xi:include href="wrappers/FT/left_arm_FT_wrapper.xml" />
<!--xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" /-->
<xi:include href="wrappers/FT/right_arm_FT_wrapper.xml" />
<!--xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" /-->
<xi:include href="wrappers/MAIS/left_hand_mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_hand_mais_wrapper.xml" />
<xi:include href="hardware/FT/left_arm_strain.xml" />
<!--xi:include href="hardware/FT/left_leg_strain.xml" /-->
<xi:include href="hardware/FT/right_arm_strain.xml" />
<!--xi:include href="hardware/FT/right_leg_strain.xml" /-->
<xi:include href="hardware/MAIS/left_hand_mais.xml" />
<xi:include href="hardware/MAIS/right_hand_mais.xml" />
<!-- SKIN -->
<xi:include href="wrappers/skin/left_arm_skin_wrapper.xml" />
<xi:include href="wrappers/skin/right_arm_skin_wrapper.xml" />
<xi:include href="wrappers/skin/torso_skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm.xml" />
<xi:include href="hardware/skin/right_arm.xml" />
<xi:include href="hardware/skin/torso.xml" />
<!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper-deprecated.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<!--
<xi:include href="wrappers/skin/left_hand_inertial_wrapper.xml" />
<xi:include href="wrappers/skin/right_hand_inertial_wrapper.xml" />
<xi:include href="hardware/skin/left_hand_inertial_mtb.xml" />
<xi:include href="hardware/skin/right_hand_inertial_mtb.xml" />
-->
<!-- CALIBRATORS -->
<xi:include href="calibrators/head_calib.xml" />
<xi:include href="calibrators/torso_calib.xml" />
<!--xi:include href="calibrators/right_leg_calib.xml" />
<xi:include href="calibrators/left_leg_calib.xml" /-->
<xi:include href="calibrators/left_arm_calib.xml" />
<xi:include href="calibrators/right_arm_calib.xml" />
<xi:include href="calibrators/left_hand_calib.xml" />
<xi:include href="calibrators/right_hand_calib.xml" />
</devices>
</robot>Also, here is the content of my ~/.local (I saw in another issue that this could be caused by conflicting robot context):icub@pc104:~/.local$ tree -L 4
.
└── share
└── yarp
├── applications
│ ├── cameras_dual_calib_640_480.xml
│ ├── faceExpression.xml
│ ├── iCubStartup.xml
│ ├── iKart.xml
│ ├── single_camera_raw_left.xml
│ ├── skin_gui.xml
│ └── skinsSensorsTest.xml
└── contexts
├── cameraCalibration
├── faceExpressions
├── fingersTuner
└── yarpmanager
Any idea what could cause that? |
|
Judging from your report, I believe there are still references to I've applied a couple fo fixes: Don't know if they're sufficient, but will certainly help out. Could you please make an update and try again? |
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Hi @pattacini, @traversaro, It worked! I can now use facial expressions: https://photos.app.goo.gl/ERSvRjGUEtmb5ef26 Thank you so much for your help! I'll leave the issue open until I've documented the process to create a 32bits Debian image, but feel free to close it if you want. |
|
That's great! |
Hi there!,
When running the Face application on
iCubLondon01I get the following error in particular with theyarpdevmodule:ttyACM0was not being initially listed under/dev. However, after checking the input voltage to the board that handles the leds and making sure that the conection to the USB port was ok I can see the serial port being listed.The documentation provided here gives me the impression that the leds should light up just after launching
yarprobotinterfaceinpc104, which does not happens with our robot.Any suggestions? Is there a way of testing that the board handling the leds is not broken?
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