{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-support/issues/230","repository_url":"https://api.github.com/repos/robotology/icub-support","labels_url":"https://api.github.com/repos/robotology/icub-support/issues/230/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-support/issues/230/comments","events_url":"https://api.github.com/repos/robotology/icub-support/issues/230/events","html_url":"https://github.com/robotology/icub-support/issues/230","id":151628058,"number":230,"title":"unable to start robotinterface in iCubNancy01","user":{"login":"serena-ivaldi","id":3786602,"avatar_url":"https://avatars.githubusercontent.com/u/3786602?v=3","gravatar_id":"","url":"https://api.github.com/users/serena-ivaldi","html_url":"https://github.com/serena-ivaldi","followers_url":"https://api.github.com/users/serena-ivaldi/followers","following_url":"https://api.github.com/users/serena-ivaldi/following{/other_user}","gists_url":"https://api.github.com/users/serena-ivaldi/gists{/gist_id}","starred_url":"https://api.github.com/users/serena-ivaldi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/serena-ivaldi/subscriptions","organizations_url":"https://api.github.com/users/serena-ivaldi/orgs","repos_url":"https://api.github.com/users/serena-ivaldi/repos","events_url":"https://api.github.com/users/serena-ivaldi/events{/privacy}","received_events_url":"https://api.github.com/users/serena-ivaldi/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/robotology/icub-support/labels/iCubNancy01","name":"iCubNancy01","color":"ff33fe"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-04-28T12:20:55Z","updated_at":"2016-04-28T13:04:42Z","closed_at":null,"body":"Hi,\r\nfirst message from iCubNancy01 (team includes @dogoepp @jbmouret @misaki43 and @olivierrochel-inria ).\r\n\r\nWe just received iCubNancy01 and we are starting it for the first time from the laptop. \r\nWe didn't update the code of the laptop, nor changed anything in the configuration of the robot/laptop.\r\nWe plugged the robot's ethernet cable to the IIT laptop. We launched yarpserver on the laptop, the two yarprun clients on icubsrv and pc104, then yarplogger. When we launch robotinterface, either manually from the terminal of the pc104 or from the yarpmanager, we get several errors. \r\n\r\nThe robotinterface is unable to start properly and finally it crashes.\r\nIn attachment the log of the robotinterface.\r\n[log_0428_2.txt](https://github.com/robotology/icub-support/files/240408/log_0428_2.txt)\r\n\r\nThe main warnings/errors that I find weird are:\r\n\r\n1) at the beginning, we have a lot of warnings related to invalid syntax in the configuration files:\r\n\r\n[\u001B[01;33mWARNING\u001B[00m]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNancy01/./hardware/electronics/pc104.xml at line 1 . No DTD found. Assuming version robotInterfaceV1.0 \r\n[\u001B[01;33mWARNING\u001B[00m]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNancy01/./cartesian/left_arm-cartesian.xml at line 1 . \"devices\" element should contain the \"robot\" attribute \r\n[\u001B[01;33mWARNING\u001B[00m]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNancy01/./cartesian/left_arm-cartesian.xml at line 1 . Trying to import a file for the wrong robot. Found  instead of iCubNancy01 \r\n[\u001B[01;33mWARNING\u001B[00m]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNancy01/./cartesian/left_arm-cartesian.xml at line 1 . \"devices\" element should contain the \"build\" attribute [unsigned int]. Assuming 0 \r\n\r\nIt seems that these warnings cannot be ignored as then they seem to create problems in the robot startup. It also worries me that it's saying \" No DTD found. Assuming version robotInterfaceV1.0 \" \r\n\r\nLater on, it cannot configure properly the cartesian controller (mixing \" old format\"  and skipping parameters).\r\n[\u001B[01;34mINFO\u001B[00m]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation.\r\n[\u001B[01;33mWARNING\u001B[00m]Rotor: Using default value = 1\r\n[\u001B[01;33mWARNING\u001B[00m]Position Pids section found, old format\r\n[\u001B[01;33mWARNING\u001B[00m]Torque control parameters not found for part , skipping...\r\n[\u001B[01;32mDEBUG\u001B[00m]DEBUG parameters section NOT found, skipping...\r\n[\u001B[01;32mDEBUG\u001B[00m]IMPEDANCE parameters section NOT found, skipping...\r\n[\u001B[01;33mWARNING\u001B[00m]jntVelMax: Using default jntVelMax=100 deg/s\r\n[\u001B[01;33mWARNING\u001B[00m]maxPosStep: Using default MaxPosStep=10 degs\r\n[\u001B[01;33mWARNING\u001B[00m]Rotor: Using default value = 1\r\n[\u001B[01;33mWARNING\u001B[00m]Position Pids section found, old format\r\n[\u001B[01;33mWARNING\u001B[00m]Torque control parameters not found for part , skipping...\r\n[\u001B[01;32mDEBUG\u001B[00m]DEBUG parameters section NOT found, skipping...\r\n[\u001B[01;32mDEBUG\u001B[00m]IMPEDANCE parameters section NOT found, skipping...\r\n\r\n2) The first error we get is a firmware error:\r\n\r\n[\u001B[01;34mINFO\u001B[00m]CanBusResources::initialized correctly\r\nRegistering new thread 0 out of 500\r\n[\u001B[01;31mERROR\u001B[00m]cfw2can [0] thread:0 msg:91 joint:0 timed out\r\n[\u001B[01;31mERROR\u001B[00m]getFirmwareVersion: message timed out\r\n[\u001B[01;31mERROR\u001B[00m]Unable to read firmware version \r\n<...cut..>\r\n[\u001B[01;34mINFO\u001B[00m]**********************************\r\n[\u001B[01;34mINFO\u001B[00m]iCubInterface CAN protocol: 1.6\r\n[\u001B[01;34mINFO\u001B[00m]Firmware report:\r\n[\u001B[01;33mWARNING\u001B[00m]cfw2can [0] joint: 0 can_address:  1 Unable to detect firmware version. Old firmware running?\r\n<...cut..>\r\n[\u001B[01;33mWARNING\u001B[00m]cfw2can [0] joint: 5 can_address:  3 Unable to detect firmware version. Old firmware running?\r\n[\u001B[01;31mERROR\u001B[00m]###################################################################################\r\n[\u001B[01;31mERROR\u001B[00m]###################################################################################\r\n[\u001B[01;31mERROR\u001B[00m]\r\n[\u001B[01;31mERROR\u001B[00m]  It has been detected that your control boards are not using the same\r\n[\u001B[01;31mERROR\u001B[00m]  CAN protocol used by iCubinterface. iCubInterface cannot continue.\r\n[\u001B[01;31mERROR\u001B[00m]  Please update your system (iCubInterface and/or your control board firmware.\r\n[\u001B[01;31mERROR\u001B[00m]  For further information please visit: http://wiki.icub.org/wiki/Firmware\r\n[\u001B[01;31mERROR\u001B[00m]\r\n[\u001B[01;31mERROR\u001B[00m]###################################################################################\r\n[\u001B[01;31mERROR\u001B[00m]###################################################################################\r\n\r\nSeemingly the problem is the head:\r\nyarpdev: ***ERROR*** driver <canmotioncontrol> was found but could not open\r\n[\u001B[01;33mWARNING\u001B[00m]Cannot open device head_mc \r\n[\u001B[01;33mWARNING\u001B[00m]Cannot open device head_mc \r\n\r\nWhat should we do ? Thanks in advance for any help."},"comment":{"url":"https://api.github.com/repos/robotology/icub-support/issues/comments/215416647","html_url":"https://github.com/robotology/icub-support/issues/230#issuecomment-215416647","issue_url":"https://api.github.com/repos/robotology/icub-support/issues/230","id":215416647,"user":{"login":"serena-ivaldi","id":3786602,"avatar_url":"https://avatars.githubusercontent.com/u/3786602?v=3","gravatar_id":"","url":"https://api.github.com/users/serena-ivaldi","html_url":"https://github.com/serena-ivaldi","followers_url":"https://api.github.com/users/serena-ivaldi/followers","following_url":"https://api.github.com/users/serena-ivaldi/following{/other_user}","gists_url":"https://api.github.com/users/serena-ivaldi/gists{/gist_id}","starred_url":"https://api.github.com/users/serena-ivaldi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/serena-ivaldi/subscriptions","organizations_url":"https://api.github.com/users/serena-ivaldi/orgs","repos_url":"https://api.github.com/users/serena-ivaldi/repos","events_url":"https://api.github.com/users/serena-ivaldi/events{/privacy}","received_events_url":"https://api.github.com/users/serena-ivaldi/received_events","type":"User","site_admin":false},"created_at":"2016-04-28T13:04:42Z","updated_at":"2016-04-28T13:04:42Z","body":"In the meantime, I launched canLoader to check the boards of the head.\r\nWith Net0 + cfw2can it gives me the error \"Communication error, no answers received, no boards found\".\r\nIs maybe a board disconnected?\r\n\r\n"}}