port /icubsrv is not responding && port /icub-head is not responding

[jimingda]

Dear all, when i compile the app icubSim below on the docker, it works fine,
https://github.com/vvv-school/tutorial_joint-interface

optJoint.put("remote","/icubSim/left_arm");
--->
optJoint.put("remote","/icub/left_arm");

but when i change icubSim to icub as above, compile and want to run yarpmanager again, i got the following error message
(i install the hardware correctly except that the cpu and motor lighting is red)

12:43 # yarpmanager
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ERROR] |yarp.os.Property| cannot read from ymanager.ini
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://172.17.0.2:10002/
[WARNING] Cannot connect to /icubsrv
[ERROR] ClusterWidget: port /icubsrv is not responding
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://172.17.0.2:10002/
[WARNING] Cannot connect to /icub-head
[ERROR] ClusterWidget: port /icub-head is not responding
QObject::connect: No such slot ApplicationViewWidget::onBuilderFloatChanged(bool)
QObject::connect: (receiver name: 'ApplicationViewWidget')
QRectF(-71,-16 142x32)

[pattacini]

Hi @jimingda

If you aim to run something on the robot, you ought to ensure that the following requirements are met:

1. Warm up the network composed of the robot and the laptop: both machines ON (on the robot both the CPU and the motors need to be ON) and with a good ETH connection established so that you can do ping icubsrv and ping icub-head from one to another.
2. yarpserver needs to run on icubsrv. You can launch it from the console or from within the yarpmanager. Once done, you can check that it is visible by yielding yarp where on both machines in the console.
3. Two options:
   1. You can now ssh into icub-head, build the app tutorial_joint-interface therein without relying on yarpamanager. Then, do:
      1. Launch yarprobotiterface from the terminal and wait until the robot is ready.
      2. Launch the app from a second terminal.
   2. In case you want to launch the app remotely relying on yarpmanager, do:
      1. On icubsrv, from within yarpmanager, launch the yarprun instances (I assume you're familiar with yarpmanager)
      2. Launch yarprobotinterface from the GUI and wait.
      3. Launch the app from the GUI.

[pattacini]

You may find here some useful recaps: https://icub-tech-iit.github.io/documentation/icub_starter_kits/first_steps/#first-start-with-the-icub.

[jimingda]

Thanks ugo, I tryed two ways, both under the circumstances that the real iCub ETH connected and the cable is powered on 40V & 10A.

I launch yarpserver on one terminal seperately, and then launch yarp manager on another terminal, get the following messages, it seems like something wrong with /icub-head connection

icub@icubsrv:$ yarp where
Looking for name server on 172.17.0.1, port number 10000
If there is a long delay, try:
yarp conf --clean
Name server /icub is available at ip 172.17.0.1 port 10000
icub@icubsrv:$ yarpmanager
[ERROR] |yarp.os.Property| cannot read from ymanager.ini
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://192.168.31.30:10002/
[WARNING] Cannot connect to /icubsrv
[ERROR] ClusterWidget: port /icubsrv is not responding
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://192.168.31.30:10002/
[WARNING] Cannot connect to /icub-head
[ERROR] ClusterWidget: port /icub-head is not responding
[INFO] |yarp.os.Port|/icubsrv| Port /icubsrv active at tcp://192.168.31.30:10003/
[INFO] Yarprun successfully started on port: /icubsrv

https://icub-tech-iit.github.io/documentation/icub_starter_kits/first_steps/#first-start-with-the-icub
I followed the steps launch yarpserver within the yarpmanager directly, and i successfully launch the yarpserver, but when run selected nodes,

On nodes :
please select both icubsrv and icub-head
click GREEN play button.
Both TV icon should turn from RED to GREEN

only icubsrv icon turn from RED to GREEN and the footer Messages on yarpmanager shows:
[MSG] Running yarp name list ... found 3 ports
[MSG] ClusterWidget: yarprun successfully executed on icubsrv
[ERR] ClusterWidget: failed to run yarprun on icub-head

[jimingda]

I just found that the cpu light on the left back side of the icub can be pressed, after i press it the cpu color red become green.
I don't know it before >.<

[jimingda]

After press the cpu button, things goes well, until i came across problem on following step, I cann't run the "two iKinCartesian (for both arms) and iKinGazeCtrl." and the Motor Indicator Light is still red, i wander when it will turn to green?

First, you will need to launch and prepare the robot. Go back to the tab 1/iCubStartUp.
RUN only the two iKinCartesian (for both arms) and iKinGazeCtrl.

[jimingda]

I found that the Motor Indicator Light can be pressed and then it will turn to green.