Contexts not found by ResourceFinder #540

cedricgoubard · 2021-08-23T16:31:59Z

cedricgoubard
Aug 23, 2021

Hello,

I am trying to use the Cartesian Interface using iCub_SIM, but I keep running into a strange issue.
Whenever I launch yarprobotinterface --context simCartesianControl, here is what happens:

Log details

icub@icubunicorn:~$ yarprobotinterface --context simCartesianControl --from yarprobotinterface.ini
[DEBUG] Reading file /exports/code/robotology-superbuild/build-icubunicorn/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file /exports/code/robotology-superbuild/build-icubunicorn/install/share/ICUBcontrib/robots/iCubLondon01/./icub_ikart.xml
[DEBUG] Preprocessor complete in:  0.00219965 s
[INFO] |yarp.os.Port| Port /icub/yarprobotinterface active at tcp://10.0.2.107:10002/
[INFO] startup phase starting...
[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 0.137300000000000005373) (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 -0.0160000000000000003331) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (numLinks 10) (type left)
[INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.2.107:10003/
[INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.2.107:10004/
[INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.2.107:10005/
[INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.2.107:10006/
[INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.2.107:10007/
[INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.2.107:10008/
[INFO] |yarp.os.Port| Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.2.107:10009/
[INFO] |yarp.dev.PolyDriver| Created device <cartesiancontrollerserver>. 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 -0.137300000000000005373) (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 0.0160000000000000003331) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (numLinks 10) (type right)
[INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.2.107:10010/
[INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.2.107:10011/
[INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.2.107:10012/
[INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.2.107:10013/
[INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.2.107:10014/
[INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.2.107:10015/
[INFO] |yarp.os.Port| Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.2.107:10016/
[INFO] |yarp.dev.PolyDriver| Created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation.
[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://10.0.2.107:10017/
[INFO] |yarp.os.Port| Port /icub/left_arm/command:i active at tcp://10.0.2.107:10018/
[INFO] |yarp.os.Port| Port /icub/left_arm/state:o active at tcp://10.0.2.107:10019/
[INFO] |yarp.os.Port| Port /icub/left_arm/stateExt:o active at tcp://10.0.2.107:10020/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[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://10.0.2.107:10021/
[INFO] |yarp.os.Port| Port /icub/right_arm/command:i active at tcp://10.0.2.107:10022/
[INFO] |yarp.os.Port| Port /icub/right_arm/state:o active at tcp://10.0.2.107:10023/
[INFO] |yarp.os.Port| Port /icub/right_arm/stateExt:o active at tcp://10.0.2.107:10024/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[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://10.0.2.107:10025/
[INFO] |yarp.os.Port| Port /icub/head/command:i active at tcp://10.0.2.107:10026/
[INFO] |yarp.os.Port| Port /icub/head/state:o active at tcp://10.0.2.107:10027/
[INFO] |yarp.os.Port| Port /icub/head/stateExt:o active at tcp://10.0.2.107:10028/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[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://10.0.2.107:10029/
[INFO] |yarp.os.Port| Port /icub/torso/command:i active at tcp://10.0.2.107:10030/
[INFO] |yarp.os.Port| Port /icub/torso/state:o active at tcp://10.0.2.107:10031/
[INFO] |yarp.os.Port| Port /icub/torso/stateExt:o active at tcp://10.0.2.107:10032/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canmotioncontrol>
[WARNING] Cannot open device left_arm_mc
[WARNING] Cannot open device left_arm_mc
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canmotioncontrol>
[WARNING] Cannot open device left_hand_mc
[WARNING] Cannot open device left_hand_mc
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canmotioncontrol>
[WARNING] Cannot open device right_arm_mc
[WARNING] Cannot open device right_arm_mc
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canmotioncontrol>
[WARNING] Cannot open device right_hand_mc
[WARNING] Cannot open device right_hand_mc
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canmotioncontrol>
[WARNING] Cannot open device head_mc
[WARNING] Cannot open device head_mc
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canmotioncontrol" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canmotioncontrol.ini or share/yarp/plugins/canmotioncontrol.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canmotioncontrol>
[WARNING] Cannot open device torso_mc
[WARNING] Cannot open device torso_mc
[DEBUG] |yarp.device.virtualAnalogServer| (device virtualAnalogServer) (name "/icub/joint_vsens/left_arm:i") (net_VFT_LA (0 5 0 5)) (networks (net_VFT_LA)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer
[INFO] |yarp.os.Port| Port /icub/joint_vsens/left_arm:i active at tcp://10.0.2.107:10033/
[INFO] |yarp.dev.PolyDriver| Created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[DEBUG] |yarp.device.virtualAnalogServer| (device virtualAnalogServer) (name "/icub/joint_vsens/right_arm:i") (net_VFT_RA (0 5 0 5)) (networks (net_VFT_RA)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer
[INFO] |yarp.os.Port| Port /icub/joint_vsens/right_arm:i active at tcp://10.0.2.107:10034/
[INFO] |yarp.dev.PolyDriver| Created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[DEBUG] |yarp.device.virtualAnalogServer| (device virtualAnalogServer) (name "/icub/joint_vsens/torso:i") (net_VFT_TO (0 5 0 5)) (networks (net_VFT_TO)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer
[INFO] |yarp.os.Port| Port /icub/joint_vsens/torso:i active at tcp://10.0.2.107:10035/
[INFO] |yarp.dev.PolyDriver| Created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusVirtualAnalogSensor" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusVirtualAnalogSensor.ini or share/yarp/plugins/canBusVirtualAnalogSensor.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusVirtualAnalogSensor>
[WARNING] Cannot open device left_arm_virtual_strain
[WARNING] Cannot open device left_arm_virtual_strain
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusVirtualAnalogSensor" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusVirtualAnalogSensor.ini or share/yarp/plugins/canBusVirtualAnalogSensor.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusVirtualAnalogSensor>
[WARNING] Cannot open device right_arm_virtual_strain
[WARNING] Cannot open device right_arm_virtual_strain
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusVirtualAnalogSensor" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusVirtualAnalogSensor.ini or share/yarp/plugins/canBusVirtualAnalogSensor.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusVirtualAnalogSensor>
[WARNING] Cannot open device torso_virtual_strain
[WARNING] Cannot open device torso_virtual_strain
[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://10.0.2.107:10036/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. 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://10.0.2.107:10037/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. 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_hand/analog:o/rpc:i active at tcp://10.0.2.107:10038/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. 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://10.0.2.107:10039/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusAnalogSensor" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusAnalogSensor.ini or share/yarp/plugins/canBusAnalogSensor.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusAnalogSensor>
[WARNING] Cannot open device left_arm_strain
[WARNING] Cannot open device left_arm_strain
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusAnalogSensor" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusAnalogSensor.ini or share/yarp/plugins/canBusAnalogSensor.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusAnalogSensor>
[WARNING] Cannot open device right_arm_strain
[WARNING] Cannot open device right_arm_strain
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusAnalogSensor" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusAnalogSensor.ini or share/yarp/plugins/canBusAnalogSensor.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusAnalogSensor>
[WARNING] Cannot open device left_hand_mais
[WARNING] Cannot open device left_hand_mais
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusAnalogSensor" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusAnalogSensor.ini or share/yarp/plugins/canBusAnalogSensor.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusAnalogSensor>
[WARNING] Cannot open device right_hand_mais
[WARNING] Cannot open device right_hand_mais
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "skinWrapper" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/skinWrapper.ini or share/yarp/plugins/skinWrapper.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <skinWrapper>
[WARNING] Cannot open device left_arm_skin_wrapper
[WARNING] Cannot open device left_arm_skin_wrapper
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "skinWrapper" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/skinWrapper.ini or share/yarp/plugins/skinWrapper.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <skinWrapper>
[WARNING] Cannot open device right_arm_skin_wrapper
[WARNING] Cannot open device right_arm_skin_wrapper
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "skinWrapper" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/skinWrapper.ini or share/yarp/plugins/skinWrapper.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <skinWrapper>
[WARNING] Cannot open device torso_skin_wrapper
[WARNING] Cannot open device torso_skin_wrapper
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusSkin" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusSkin.ini or share/yarp/plugins/canBusSkin.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusSkin>
[WARNING] Cannot open device left_arm_skin
[WARNING] Cannot open device left_arm_skin
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusSkin" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusSkin.ini or share/yarp/plugins/canBusSkin.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusSkin>
[WARNING] Cannot open device right_arm_skin
[WARNING] Cannot open device right_arm_skin
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "canBusSkin" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/canBusSkin.ini or share/yarp/plugins/canBusSkin.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <canBusSkin>
[WARNING] Cannot open device torso_skin
[WARNING] Cannot open device torso_skin
[INFO] |yarp.dev.PolyDriver| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Finish PassThroughInertial::open
[INFO] |yarp.os.Port| Port /imuFilter/bias:o active at tcp://10.0.2.107:10040/
[INFO] |yarp.dev.PolyDriver| Created device <imuFilter>. See C++ class yarp::dev::ImuFilter for documentation.
[INFO] |yarp.dev.PolyDriver| Created wrapper <multipleanalogsensorsserver>. 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://10.0.2.107:10041/
[INFO] |yarp.devices.ServerInertial| Server Inertial : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <inertial>. See C++ class ServerInertial for documentation.
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "xsensmtx" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/xsensmtx.ini or share/yarp/plugins/xsensmtx.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <xsensmtx>
[WARNING] Cannot open device head-inertial
[WARNING] Cannot open device head-inertial
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "parametricCalibrator" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/parametricCalibrator.ini or share/yarp/plugins/parametricCalibrator.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <parametricCalibrator>
[WARNING] Cannot open device head_calibrator
[WARNING] Cannot open device head_calibrator
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "parametricCalibrator" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/parametricCalibrator.ini or share/yarp/plugins/parametricCalibrator.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <parametricCalibrator>
[WARNING] Cannot open device torso_calibrator
[WARNING] Cannot open device torso_calibrator
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "parametricCalibrator" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/parametricCalibrator.ini or share/yarp/plugins/parametricCalibrator.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <parametricCalibrator>
[WARNING] Cannot open device left_arm_calibrator
[WARNING] Cannot open device left_arm_calibrator
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "parametricCalibrator" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/parametricCalibrator.ini or share/yarp/plugins/parametricCalibrator.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <parametricCalibrator>
[WARNING] Cannot open device right_arm_calibrator
[WARNING] Cannot open device right_arm_calibrator
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "parametricCalibrator" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/parametricCalibrator.ini or share/yarp/plugins/parametricCalibrator.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <parametricCalibrator>
[WARNING] Cannot open device left_hand_calibrator
[WARNING] Cannot open device left_hand_calibrator
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "parametricCalibrator" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/parametricCalibrator.ini or share/yarp/plugins/parametricCalibrator.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <parametricCalibrator>
[WARNING] Cannot open device right_hand_calibrator
[WARNING] Cannot open device right_hand_calibrator
[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
[INFO] |yarp.devices.ServerInertial| Closing Server Inertial...

It seems that yarprobotinterface ignores the context and tries to connect to the robot and create the /icub ports, instead of /icuSim.

Here is the strange part: when I check if the contexts is found, yarp-config finds it, but not yarp resource --find!

icub@icubunicorn:~$ yarp-config context --list
**LOCAL USER DATA:
* Directory : /home/icub/.local/share/yarp/contexts
cameraCalibration
faceExpressions
fingersTuner
yarpmanager
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /exports/code/robotology-superbuild/build-icubunicorn/install/share/yarp/contexts
yarpdataplayer
* Directory : /exports/code/robotology-superbuild/build-icubunicorn/install/share/iCub/contexts
actionsRenderingEngine
cameraCalibration
cartesianSolver
controlBoardDumper
ctpService
faceExpressions
fingersTuner
fingertipsPortScope
gazeboCartesianControl
iCubGui
iKinGazeCtrl
joystickCtrl
objectsPropertiesCollector
robotScripting
simCartesianControl
simConfig
simFaceExpressions
skinGui
wholeBodyDynamics
yarpmanager
* Directory : /exports/code/robotology-superbuild/build-icubunicorn/install/share/ICUBcontrib/contexts
dcmWalkingJoypad
dcmWalkingLogger

icub@icubunicorn:~$ yarp resource --context simCartesianControl --find yarprobotinterface.ini
"/exports/code/robotology-superbuild/build-icubunicorn/install/share/ICUBcontrib/robots/iCubLondon01/yarprobotinterface.ini"

Here are the relevant environment variables:

icub@icubunicorn:~$ env | grep YARP
YARP_DATA_HOME=/home/icub/.local/share/yarp
YARP_BUILD_DIR=/usr/local/src/robot/robotology-superbuild/build-icubunicorn/src/YARP
YARP_ROBOT_NAME=iCubLondon01
YARP_FORWARD_LOG_ENABLE=0
YARP_COLORED_OUTPUT=1
YARP_VERBOSE_OUTPUT=0
YARP_TRACE_ENABLE=0
YARP_SOURCE_DIR=/usr/local/src/robot/robotology-superbuild/src/YARP
YARP_DATA_DIRS=/exports/code/robotology-superbuild/build-icubunicorn/install/share/yarp:/exports/code/robotology-superbuild/build-icubunicorn/install/share/iCub:/exports/code/robotology-superbuild/build-icubunicorn/install/share/ICUBcontrib:/exports/code/robotology-superbuild/build-icubunicorn/install/share/yarp:/exports/code/robotology-superbuild/build-icubunicorn/install/share/iCub:/exports/code/robotology-superbuild/build-icubunicorn/install/share/ICUBcontrib

Do you see anything wrong in my configuration?

Thank you for your help,
Cedric

Answered by pattacini

Aug 23, 2021

Hi @cedricgoubard

In #42 you'll find some more bits of information about app a well as robot contexts.

Just use the option --from <f> instead of --find <f> as the latter is deprecated and may behave differently from the standard.

That said, I believe that it's correct that robot context wins here by shadowing whatever other context is present. It's the desired behavior that allows the user to customize configuration files per robot; so it shall work even if you specify the context name explicitly.

You verify that by doing either of the following:

check the output of command yarp resource: contexts are listed in the descending priorities.
just rename the file yarprobotinterface.ini in the…

View full answer

pattacini · 2021-08-23T18:02:33Z

pattacini
Aug 23, 2021
Maintainer

Hi @cedricgoubard

In #42 you'll find some more bits of information about app a well as robot contexts.

Just use the option --from <f> instead of --find <f> as the latter is deprecated and may behave differently from the standard.

That said, I believe that it's correct that robot context wins here by shadowing whatever other context is present. It's the desired behavior that allows the user to customize configuration files per robot; so it shall work even if you specify the context name explicitly.

You verify that by doing either of the following:

check the output of command yarp resource: contexts are listed in the descending priorities.
just rename the file yarprobotinterface.ini in the robot folder to see that the next time your most wanted file will get found.
rename the file yarprobotinterface.ini in the app context and update the command signature accordingly.

That said, my advice is to launch the command straight from the folder containing the correct yarprobotinterface.ini.

5 replies

cedricgoubard Aug 23, 2021
Author

Hi @pattacini,
Thank you for answering so quickly!

Your explanation is very clear; I can make everything run by working from the folder with the correct yarprobotinterface.ini.

FYI, the --from command yields the same result as --find, i.e. only the file from the robot folder is found

A final question: my goal was to create a yarpmanager application to use the Cartesian coordinates in the simulator, instead of launching the different commands separately. To do so, I was hoping to build my own mySimContext context, with yarprobotinterface.ini, all.xml and cartesianSolver.ini, and add the following commands to my application:

iCub_SIM (no issue there)
yarprobotinterface --context mySimContext
iKinCartSolver --part left_arm --context mySimContext

If I understand correctly, since the robot folder will take precedence over any context, there is no way I can use yarpmanager (short of creating my own robot folder and changing my robot name in the environment variable)?

pattacini Aug 23, 2021
Maintainer

The yarpmanager's XML description files allow you to define specific environment variables for each module to launch: see http://yarp.it/latest/yarpmanager.html#yarpmanager_features for reference and this is an example.

Then, you may try to rely on this to basically clean up the content of the YARP_ROBOT_NAME env var ahead of launch.
The syntax is:

<environment>YARP_ROBOT_NAME=norobot</environment>

Perhaps, even YARP_ROBOT_NAME= may be working.

pattacini Aug 23, 2021
Maintainer

Side note

iCub_SIM is somewhat deprecated and in the future will be phased out.
The warm recommendation is that you switch to the use of Gazebo instead. There're plenty of examples.

There's an entire sandbox for manipulation – where the Cartesian control is employed – available at https://github.com/robotology/icub-gazebo-grasping-sandbox.

cedricgoubard Aug 24, 2021
Author

Hi @pattacini,
Everything works great now, thank you!
For those interested, here is how my yarpmanager application looks:

Here is the xml file

<application>
<name>Simulator Cartesian Solver</name>
        <module>
                <name>gazebo</name>
                <parameters>/home/icub/.local/share/yarp/robots/iCubLondonSim01/icub_sim.world</parameters>
                <node>icubunicorn</node>
                <environment>YARP_ROBOT_NAME=iCubLondonSim01</environment>
        </module>

        <module>
                <name>yarprobotinterface</name>
                <node>icubunicorn</node>
                <parameters>--from yarprobotinterface.ini </parameters>
                <environment>YARP_ROBOT_NAME=iCubLondonSim01</environment>
        </module>

        <module>
                <name>iKinCartesianSolver</name>
                <parameters>--part right_arm --from cartesianSolver.ini</parameters>
                <node>icubunicorn</node>
                <dependencies>
                    <port timeout="60.0" request="is_ready" reply="[ok]">/icubSim/yarprobotinterface</port>
                </dependencies>
                <tag>rightArmSolver</tag>
                <environment>YARP_ROBOT_NAME=iCubLondonSim01</environment>
        </module>


        <module>
                <name>iKinCartesianSolver</name>
                <parameters>--part left_arm --from cartesianSolver.ini</parameters>
                <node>icubunicorn</node>
                <dependencies>
                    <port timeout="60.0" request="is_ready" reply="[ok]">/icubSim/yarprobotinterface</port>
                </dependencies>
                <tag>rightArmSolver</tag>
                <environment>YARP_ROBOT_NAME=iCubLondonSim01</environment>
        </module>


</application>

pattacini Aug 24, 2021
Maintainer

Happy it worked!

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