failed to launch iCubStartup app without left lower arm

[jimingda]

Hi,

I have already unmounted the lower left arm as showed in the issue, now i want to launch the icub without left arm, but failed while i already remove the

        <module>
                <name>iKinCartesianSolver</name>
                <parameters>--part left_arm</parameters>
                <node>icubsrv</node>
                <dependencies>
                    <port timeout="60.0" request="is_ready" reply="[ok]">/icub/yarprobotinterface</port>
                </dependencies>
        </module>

in /home/icub/.local/share/yarp/applications/iCubStartup_headV2_6.xml

Can i launch the icub application without left arm ?

Thanks.

[Nicogene]

Hi @jimingda !

For disabling/enabling parts you need to change the configuration files of:

• yarprobotinterface
• wholeBodyDynamics
• gravityCompensator (?)

(Maybe the last one is not necessary, I have to check, but let's move in steps and make first work yarprobotinterface).

yarprobotinterface looks for a yarprobotinterface.ini that contains which xml is loaded.
In that xml there is the include of other xml files that describe the devices to be spawned, you have to comment (or delete, as you please) all the lines of the devices of the arm you want to remove.

For example, for the left_arm you need to remove:

    <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
    <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
    <xi:include href="cartesian/left_arm-cartesian.xml" />
    <xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
    <xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
    <xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
    <xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
    <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
    <xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />
    <xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
    <xi:include href="hardware/skin/left_arm-eb24-j4_7-skin.xml" />
    <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
    <xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
    <xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
    <xi:include href="calibrators/left_arm-calib.xml" />

You can either edit the icub_all.xml you have or create a icub_all_no_left_arm.xml and either change yarprobotinterface.ini making it point to this new file or run it as

yarprobotinterface --config icub_all_no_left_arm.xml

Once you manage to run it we will move to the other executables.

[jimingda]

There is iCubShanghai01 under /usr/local/src/robot/robotology-superbuild/src/robots-configuration

icub@icub-head:/usr/local/src/robot/robotology-superbuild/src/robots-configuration$ ll iCubSh
iCubShanghai01/  iCubSheffield01/ iCubShenzhen/    iCubShenzhen01/ 

When i tried to make the project under /usr/local/src/robot/robotology-superbuild/build before modify src/robots-configuration/iCubShanghai01/yarprobotinterface.ini

1. cmake ../
2. make

I got error as below:

[ 29%] Completed 'icub_firmware_shared'
[ 33%] Built target icub_firmware_shared
[ 34%] Skipping update step for 'diagnosticdaemon'
[ 36%] Performing configure step for 'diagnosticdaemon'
Not searching for unused variables given on the command line.
loading initial cache file /usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/CMakeFiles/YCMTmp/diagnosticdaemon-cache-Release.cmake
make[3]: Entering directory '/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild'
make[4]: Entering directory '/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild'
make[5]: Entering directory '/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild'
make[5]: Leaving directory '/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild'
make[5]: Entering directory '/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild'
[ 11%] Performing update step for 'pugixml-populate'
fatal: unable to access 'https://github.com/zeux/pugixml.git/': Could not resolve host: github.com
CMake Error at /usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild/pugixml-populate-prefix/tmp/pugixml-populate-gitupdate.cmake:55 (message):
  Failed to fetch repository 'https://github.com/zeux/pugixml.git'


make[5]: *** [CMakeFiles/pugixml-populate.dir/build.make:97: pugixml-populate-prefix/src/pugixml-populate-stamp/pugixml-populate-update] Error 1
make[5]: Leaving directory '/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild'
make[4]: *** [CMakeFiles/Makefile2:76: CMakeFiles/pugixml-populate.dir/all] Error 2
make[4]: Leaving directory '/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild'
make[3]: *** [Makefile:84: all] Error 2
make[3]: Leaving directory '/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/_deps/pugixml-subbuild'

CMake Error at /usr/share/cmake-3.16/Modules/FetchContent.cmake:915 (message):
  Build step for pugixml failed: 2
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FetchContent.cmake:1006 (__FetchContent_directPopulate)
  src/CMakeLists.txt:23 (FetchContent_Populate)


-- Configuring incomplete, errors occurred!
See also "/usr/local/src/robot/robotology-superbuild/build/src/diagnosticdaemon/CMakeFiles/CMakeOutput.log".
make[2]: *** [CMakeFiles/diagnosticdaemon.dir/build.make:104: src/diagnosticdaemon/CMakeFiles/YCMStamp/diagnosticdaemon-configure] Error 1
make[1]: *** [CMakeFiles/Makefile2:158: CMakeFiles/diagnosticdaemon.dir/all] Error 2
make: *** [Makefile:95: all] Error 2

CMakeCache.txt

[jimingda]

Maybe the problem is that icubsrv haven't config iptables forwarding request from icub-head .After i set up IPv4 forwarding for incoming traffic from the local network address 10.0.0.2, follow these steps:

1. Open a terminal and execute the following commands with administrator privileges to configure packet forwarding:

sudo iptables -A FORWARD -i enp0s31f6 -o wlp0s20f3 -s 10.0.0.2 -j ACCEPT
sudo iptables -A FORWARD -i wlp0s20f3 -o enp0s31f6 -m state --state ESTABLISHED,RELATED -j ACCEPT

The above commands allow packets from 10.0.0.2 to be forwarded to the Internet interface and also allow related packets to return to the local network interface.

2. Enable Network Address Translation (NAT) for forwarding:

sudo iptables -t nat -A POSTROUTING -o wlp0s20f3 -s 10.0.0.2 -j MASQUERADE

Then the make task can finish 100% and /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubShanghai01 showed up. Shall i make install to install it?

[jimingda]

Now i can edit icub_all_no_left_arm.xml
and change yarprobotinterface.ini under /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01 to config ./icub_all_no_left_arm.xml.

How about the other configuration files ?

wholeBodyDynamics
gravityCompensator (?)

[Nicogene]

/iCubShanghai01 showed up. Shall i make install to install it?

You don't need it to install if you compiled the superbuild.

and change yarprobotinterface.ini under /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01 to config ./icub_all_no_left_arm.xml.

Does the yarprobinterface start fine without the left_arm as expected?

How about the other configuration files?

For wholebodyDynamics and gravityCompensator you can simply run them with --no_left_arm option, see:

• https://github.com/robotology/icub-main/blob/23f59fe284d3cbdf526cf2ca43d5dd6948c06547/src/modules/wholeBodyDynamics/main.cpp#L483
• https://github.com/robotology/icub-main/blob/23f59fe284d3cbdf526cf2ca43d5dd6948c06547/src/modules/gravityCompensator/main.cpp#L248

Unfortunately, these options are not in the doxygen documentation since they are very old modules in a kind of state of deprecation, but until we have them we should add the missing options in the doc (cc @traversaro @pattacini)

[jimingda]

Thanks @Nicogene

Yesterday we manage to replace the stainless steel micro-cable of pinky finger, as i posted in icub-tech-support.

Since the left arm came back, i edit changed /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01/yarprobotinterface.ini to config ./icub_all.xml, make under /usr/local/src/robot/robotology-superbuild/build

When i test the iCubStartup, the yarpmanager dumped and there are some errors in yarprobotinterface log of icub-head as attached. It looks like some communication errors, i don't know whether it's related to what i did in icub-head

log_icub-head_yarprobotinterface_1847.log

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://10.0.0.1:10002/
[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://10.0.0.1:10002/
[WARNING] Cannot connect to /icub-head
[ERROR] ClusterWidget: port /icub-head is not responding
[INFO] |yarp.os.Port|/icubsrv| Port /icubsrv active at tcp://10.0.0.1:10003/
[INFO] Yarprun successfully started on port:  /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub-head
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub-head
QObject::connect: No such slot ApplicationViewWidget::onBuilderFloatChanged(bool)
QObject::connect:  (receiver name: 'ApplicationViewWidget')
QRectF(-74,-16 148x32)
QRectF(-98,-16 196x32)
QRectF(-100,-16 200x32)
QRectF(-100,-16 200x32)
QRectF(-76,-16 152x32)
QRectF(-109,-16 218x32)
QRectF(-106,-16 212x32)
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub-head
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub-head
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub-head
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub-head
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub-head
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub-head
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/2| Port /tmp/port/2 active at tcp://10.0.0.1:10005/
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/2| Sending output from /tmp/port/2 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/2| Removing output from /tmp/port/2 to /icub-head
[INFO] |yarp.os.Port|/log/icubsrv/yarplogger/6088| Port /log/icubsrv/yarplogger/6088 active at tcp://10.0.0.1:10006/
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.Port|/tmp/port/2| Port /tmp/port/2 active at tcp://10.0.0.1:10005/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub/yarprobotinterface using tcp
[INFO] |yarp.os.Port|/tmp/port/3| Port /tmp/port/3 active at tcp://10.0.0.1:10052/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/2| Sending output from /tmp/port/2 to /icub/yarprobotinterface using tcp
[INFO] |yarp.os.Port|/tmp/port/4| Port /tmp/port/4 active at tcp://10.0.0.1:10053/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub/yarprobotinterface
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/3| Sending output from /tmp/port/3 to /icub/yarprobotinterface using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/2| Removing output from /tmp/port/2 to /icub/yarprobotinterface
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/4| Sending output from /tmp/port/4 to /icub/yarprobotinterface using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/3| Removing output from /tmp/port/3 to /icub/yarprobotinterface
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/4| Removing output from /tmp/port/4 to /icub/yarprobotinterface
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.Port|/tmp/port/2| Port /tmp/port/2 active at tcp://10.0.0.1:10005/
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/2| Sending output from /tmp/port/2 to /icub-head using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/2| Removing output from /tmp/port/2 to /icub-head
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.0.0.1:10002/
[INFO] |yarp.os.Port|/tmp/port/2| Port /tmp/port/2 active at tcp://10.0.0.1:10005/
[INFO] |yarp.os.Port|/tmp/port/3| Port /tmp/port/3 active at tcp://10.0.0.1:10052/
[INFO] |yarp.os.Port|/tmp/port/4| Port /tmp/port/4 active at tcp://10.0.0.1:10053/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icub/yarprobotinterface using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/2| Sending output from /tmp/port/2 to /icub/yarprobotinterface using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/3| Sending output from /tmp/port/3 to /icub/yarprobotinterface using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/4| Sending output from /tmp/port/4 to /icub/yarprobotinterface using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icub/yarprobotinterface
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/2| Removing output from /tmp/port/2 to /icub/yarprobotinterface
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/3| Removing output from /tmp/port/3 to /icub/yarprobotinterface
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/4| Removing output from /tmp/port/4 to /icub/yarprobotinterface
free(): invalid pointer
Aborted (core dumped)

[Nicogene]

The errors seem these:

 266.046248 <ERROR> 
/--------------------------------------------------------------------------------------------------------------\ 
| TheEthManager::createCommunicationObjects() is unable to bind to local IP address  [1, 0, ., 0, ., 1, ., 1, 0, 4, :, 1, 2, 3, 4, 5, 
 266.046272 <ERROR> TheEthManager::initCommunication() cannot create communication objects
 266.046290 <ERROR> TheEthManager::requestResource2(): cannot init the communication
 266.046308 <ERROR> embObjFTsensor :requestResource fails because could not instantiate the ethResource for BOARD  embObjFTsensor: BOARD name_unknown (IP unknown)   ... unable to continue
 266.046327 <ERROR> Driver <embObjFTsensor> was found but could not open

In particular this is quite strange:

| TheEthManager::createCommunicationObjects() is unable to bind to local IP address  [1, 0, ., 0, ., 1, ., 1, 0, 4, :, 1, 2, 3, 4, 5, 

If you do ifconfig on icub-head what do you get?

[jimingda]

Thank you @Nicogene

icub@icub-head:~$ ifconfig -a
docker0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        inet 172.17.0.1  netmask 255.255.0.0  broadcast 172.17.255.255
        ether 02:42:5d:9f:fb:a3  txqueuelen 0  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

docker_gwbridge: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        inet 172.18.0.1  netmask 255.255.0.0  broadcast 172.18.255.255
        ether 02:42:78:13:b0:5d  txqueuelen 0  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

enp0s31f6: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 10.0.1.104  netmask 255.255.255.0  broadcast 10.0.1.255
        inet6 fe80::2e0:4bff:fe6b:9482  prefixlen 64  scopeid 0x20<link>
        ether 00:e0:4b:6b:94:82  txqueuelen 1000  (Ethernet)
        RX packets 117  bytes 10498 (10.4 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 148  bytes 15719 (15.7 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 16  memory 0xdf500000-df520000  

enp5s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 10.0.0.2  netmask 255.255.255.0  broadcast 10.0.0.255
        inet6 fe80::20c:8bff:fe24:1386  prefixlen 64  scopeid 0x20<link>
        ether 00:0c:8b:24:13:86  txqueuelen 1000  (Ethernet)
        RX packets 406  bytes 47175 (47.1 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 709  bytes 68077 (68.0 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 19  memory 0xdf200000-df220000  

lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10<host>
        loop  txqueuelen 1000  (Local Loopback)
        RX packets 739  bytes 62293 (62.2 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 739  bytes 62293 (62.2 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

wlp2s0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether 68:54:5a:ce:fe:46  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

And the status of icub-head is available but icubsrv status is unavailable despite i can run demos on icub from yarpmanager.

After installed the left arm, i tested iCubStartup demo, and find some problem, that the left hand finger joint didn't go back to their proper position like right hand fingers when the iCubStartup finished. As pic below, i don't know whether the hand need to calibrated and how to do it?

Actually, we did some calibration on this problem by adjust the screw(as pic below) of finger motor, but after shut down icub and then start icub again, the problem happened again.

[Nicogene]

Hi @jimingda,

I think that this issue is going out of scope from the initial request about how to manage the configuration for removing one part, it seems that your problems now are a matter of https://github.com/robotology/icub-tech-support since seems more HW related.