Problems with ikincartesiansolver/cartesianinterfaceexample

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Problems with ikincartesiansolver/cartesianinterfaceexample

Lars Schillingmann
Hi all,

I am currently testing some updates on iCubOsaka01. A simple test I am performing is: running icubinterface, ikincartesiansolver (right arm) and cartesioninterfaceexample (right arm). Then I try to to move the arm to -0.15 0.15 0.15. However this fails, nothing happens except that the arm seems to become idled. Logs are attached.

Some notes:
* The same test works for using the simulator (+simcartesiancontrol).
* moving the robot using robotMotorGui works
* I want to test the release before the latest firmware update. As far as I understand from here (http://wiki.icub.org/wiki/Control_Modes) that should be the the case for the versions below.

I am using the latest tagged release on both pc104 and test machine:
icub v1.1.15
yarp v2.3.63
Additionally icub-firmware-shared is required, however the last tagged release is from 2013 and does not contain CMakeLists.txt. Is that the version I need, or the current one?

So the main questions is, if this error is related to some version mismatch or has possibly another source.

Cheers
Lars

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cartesioninterfaceexample.log (28K) Download Attachment
icubinterface.log (158K) Download Attachment
ikincartesiansolver.log (6K) Download Attachment
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Re: Problems with ikincartesiansolver/cartesianinterfaceexample

Marco Randazzo
Dear Lars,
We analyzed the logs you provided. The problem that you are experiencing is due to an incompatibility between the current firmware version of your robot, which is pretty old (BLL build 68, ~June2013), and the cartesian controller version included in iCub 1.15 When you start the robot, you can notice the message:

###################################################################################
###################################################################################
  iCubInterface detected that your control boards are not running the latest
  available firmware version, although it is still compatible with it.
  Upgrading your iCub firmware to build 80 is highly recommended.
  For further information please visit: http://wiki.icub.org/wiki/Firmware
###################################################################################
###################################################################################

Unfortunately, this message just says that iCubInterface is still able to communicate with the old firmware, there are no guarantees about the functionalities provided by other modules and some of them may require additional adjustments to their configuration in order to work properly. In iCub 1.15, ikinCartesianSolver is now configured to use by default a new feature of the firmware (direct position control) which was already available in previous firmware versions, but not on build 68. In order to continue to use the old modality, you probably have to edit the cartesian controller configuration and set it to use the old non-default modality which is velocity control (ask Ugo for details).
However, I strongly suggest you to update your system completely, because just few commits after the 1.15 tag, I banned old firmware builds (<80) in order to avoid cases similar to this one and simplify code maintenance.
Some possibilities:
1- update the firmware of your robot to build 80 (this will fix your cartesian solver issue)
2- update the firmware of your robot to build 80 and update the repository to HEAD (in this way you'll get the latest updates, which may contain also several improvements and bugfixes respect to tag 1.15)
3- update the firmware of your robot to build 80 and, if you want to use the binary installation, wait for tag 1.16 (this will occur in approx. 3 weeks)
My preferences is for option 2.

Cheers,
Marco

-----Original Message-----
From: Lars Schillingmann [mailto:[hidden email]]
Sent: lunedì 25 agosto 2014 12:21
To: 'Robotcub'
Subject: [rc-hackers] Problems with ikincartesiansolver/cartesianinterfaceexample

Hi all,

I am currently testing some updates on iCubOsaka01. A simple test I am performing is: running icubinterface, ikincartesiansolver (right arm) and cartesioninterfaceexample (right arm). Then I try to to move the arm to -0.15 0.15 0.15. However this fails, nothing happens except that the arm seems to become idled. Logs are attached.

Some notes:
* The same test works for using the simulator (+simcartesiancontrol).
* moving the robot using robotMotorGui works
* I want to test the release before the latest firmware update. As far as I understand from here (http://wiki.icub.org/wiki/Control_Modes) that should be the the case for the versions below.

I am using the latest tagged release on both pc104 and test machine:
icub v1.1.15
yarp v2.3.63
Additionally icub-firmware-shared is required, however the last tagged release is from 2013 and does not contain CMakeLists.txt. Is that the version I need, or the current one?

So the main questions is, if this error is related to some version mismatch or has possibly another source.

Cheers
Lars
------------------------------------------------------------------------------
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