iCubStartup failed

[jimingda]

Hi,

After i launched icubsrv and icub-head on yarpmanager, i failed to run the iCubStartup, as showed below. Any advice on the possible problem?

Thank you in advance.

[Nicogene]

Hi @jimingda!

can you post the log you have in yarplogger of the modules are failing to run?

[jimingda]

Hi @Nicogene

I find several icub_all.xml on icub-head as below, then i check these files but did find lines that highlighted in file:https://github.com/robotology/robots-configuration/blob/6b22848d0654505ea4277e0c6d109dea0c58509b/iCubShanghai01/icub_all.xml#L63-L72 you mentioned.

icub@icub-head:~$ sudo find / -name icub_all.xml | grep Shanghai
/home/icub/iCubShanghai01_old_wrappers/icub_all.xml
/usr/local/src/robot/robots-configuration/iCubShanghai01/icub_all.xml
/usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01/icub_all.xml
/usr/local/src/robot/robotology-superbuild/build/src/robots-configuration/iCubShanghai01/icub_all.xml
/usr/local/src/robot/robotology-superbuild/build/src/robots-configuration/share/ICUBcontrib/robots/iCubShanghai01/icub_all.xml
/usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubShanghai01/icub_all.xml
icub@icub-head:~$ sudo find / -name icub_all.xml | grep Shanghai | grep "hardware/inertials"
icub@icub-head:~$ sudo find / -name icub_all.xml | grep Shanghai | grep "wrappers/inertials/"
icub@icub-head:~$ 
icub@icub-head:~$ ll /usr/local/src/robot/robots-configuration/iCubShanghai01/icub_all.xml
-rw-rw-r-- 1 icub icub 6209 Apr 21  2022 /usr/local/src/robot/robots-configuration/iCubShanghai01/icub_all.xml
icub@icub-head:~$ ll /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01/icub_all.xml
-rw-rw-r-- 1 icub icub 6209 Apr 21  2022 /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01/icub_all.xml
icub@icub-head:~$ ll /usr/local/src/robot/robotology-superbuild/build/src/robots-configuration/iCubShanghai01/icub_all.xml
-rw-rw-r-- 1 icub icub 6209 Apr 21  2022 /usr/local/src/robot/robotology-superbuild/build/src/robots-configuration/iCubShanghai01/icub_all.xml
icub@icub-head:~$ ll /usr/local/src/robot/robotology-superbuild/build/src/robots-configuration/share/ICUBcontrib/robots/iCubShanghai01/icub_all.xml
-rw-rw-r-- 1 icub icub 6209 Apr 21  2022 /usr/local/src/robot/robotology-superbuild/build/src/robots-configuration/share/ICUBcontrib/robots/iCubShanghai01/icub_all.xml
icub@icub-head:~$ ll /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubShanghai01/icub_all.xml
-rw-r--r-- 1 icub icub 6209 Apr 21  2022 /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubShanghai01/icub_all.xml

And on icub-srv, i only found one iCubShanghai01/icub_all.xml,

icub@icubsrv:~$ sudo find / -name icub_all.xml | grep Shanghai
find: ‘/proc/7669/task/7669/net’: Invalid argument
find: ‘/proc/7669/net’: Invalid argument
find: ‘/proc/7805/task/7805/net’: Invalid argument
find: ‘/proc/7805/net’: Invalid argument
find: ‘/proc/8287/task/8287/net’: Invalid argument
find: ‘/proc/8287/net’: Invalid argument
find: ‘/proc/8321/task/8321/net’: Invalid argument
find: ‘/proc/8321/net’: Invalid argument
find: ‘/proc/9250/task/9250/net’: Invalid argument
find: ‘/proc/9250/net’: Invalid argument
find: ‘/proc/9271/task/9271/net’: Invalid argument
find: ‘/proc/9271/net’: Invalid argument
find: ‘/run/user/1001/doc’: Permission denied
find: ‘/run/user/1001/gvfs’: Permission denied
/var/lib/docker/overlay2/9fe9771bec913e9466d102dd8a7f876b202b978796a96fb377a87382287c2715/diff/usr/local/share/ICUBcontrib/robots/iCubShanghai01/icub_all.xml

and it did contain

    <!-- 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="hardware/inertials/head-inertial.xml" />

    <xi:include href="wrappers/inertials/waist-inertials_remapper.xml" />
    <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
    <xi:include href="wrappers/inertials/waist-inertials_wrapper-deprecated.xml" />
    <xi:include href="hardware/inertials/waist-inertial.xml" />
    <xi:include href="wrappers/inertials/waist-xsensmt-inertials_wrapper.xml" />
    <xi:include href="wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml" />
    <xi:include href="hardware/inertials/waist-eb5-inertials.xml" />

[Nicogene]

Hi @jimingda have you changed the icub_all.xml?
Could you please check the status of the robots-configuration in icub-head via:

cd /usr/local/src/robot/robotology-superbuild/src/robots-configuration
git status

[jimingda]

Thank you @Nicogene

I didn't change the icub_all.xml, and i check the time-tag Apr 21 2022 of files as showed above, may these tags can confirm it.
The git status result i got as below:

icub@icub-head:~$ cd /usr/local/src/robot/robotology-superbuild/src/robots-configuration
icub@icub-head:/usr/local/src/robot/robotology-superbuild/src/robots-configuration$ git status
On branch master
Your branch is up to date with 'origin/master'.

Changes not staged for commit:
  (use "git add <file>..." to update what will be committed)
  (use "git restore <file>..." to discard changes in working directory)
	modified:   all_robots.xml

Untracked files:
  (use "git add <file>..." to include in what will be committed)
	iCubShanghai01/

no changes added to commit (use "git add" and/or "git commit -a")
icub@icub-head:/usr/local/src/robot/robotology-superbuild/src/robots-configuration$ git diff
diff --git a/all_robots.xml b/all_robots.xml
index 11b1be45e..cbca56c6e 100644
--- a/all_robots.xml
+++ b/all_robots.xml
@@ -69,4 +69,5 @@
        <xi:include href="./iCubPrague01/icub_all.xml" />
        <xi:include href="./iCubValparaiso01/icub_all.xml" />
        <xi:include href="./ergoCubSN000/ergocub_all.xml" />
+       <xi:include href="./iCubShanghai01/icub_all.xml" />
 </robot_database > 
icub@icub-head:/usr/local/src/robot/robotology-superbuild/src/robots-configuration$ ll all_robots.xml 
-rw-rw-r-- 1 icub icub 3734 Jun 21  2022 all_robots.xml

[Nicogene]

It is quite strange that you have in the untracked files iCubShanghai01.

Can you post the output of

cd /usr/local/src/robot/robotology-superbuild/
git status

[jimingda]

Thanks @Nicogene
Here is the output:

icub@icub-head:~$ cd /usr/local/src/robot/robotology-superbuild/
icub@icub-head:/usr/local/src/robot/robotology-superbuild$ git status
On branch master
Your branch is up to date with 'origin/master'.

nothing to commit, working tree clean