Fix Dry-Run errors about robots-configuration

[martinaxgloria]

Today I started investigating the log files relative to the test that failed (@pattacini I'm not able to move the issue in progress). I observed that some robots gave this error:

[DEBUG] Reading file /dependencies/install/share/ICUBcontrib/robots/iCubAberystwyth01/./icub_all.xml
[WARNING] Invalid syntax while loading /dependencies/install/share/ICUBcontrib/robots/iCubAberystwyth01/./icub_all.xml at line 1 . No DTD found. Assuming version yarprobotinterfaceV3.0
[ERROR] DTD V1.x has been deprecated. Please update your configuration files to DTD v3.x
[ERROR] Invalid DTD version, execution stopped.

Opening the one of the files that caused the error, I saw that icub_all.xml hasn't the code line:

<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

By adding this line, is possible to fix the error? @pattacini

[martinaxgloria]

Yep, it should suffice.

After adding that line, some errors were solved:

I will investigate the others.

[martinaxgloria]

Some robots, instead, gave this type of error:

[ERROR] Target device left_hand-mc does not exist.
[ERROR] Cannot run calibrate action on device left_hand_calibrator
[INFO] Executing calibrate action, level 10 on device right_hand_calibrator with parameters [("target" = "right_hand-mc")]
[ERROR] Target device right_hand-mc does not exist.
[ERROR] Cannot run calibrate action on device right_hand_calibrator

Looking at the left_hand_calibrator and right_hand_calibrator, in fact, the target device (which should be something like left_hand-mc_remapper/right_hand-mc_remapper in the ../wrappers/motorControl folder) is not present. There are the remapper of the arms but not the ones of the hands. Should I have to create them?

[pattacini]

Fixed test 94: dry-run_iCubMoscow01_dev on robotology@master via 134864b.
@martinaxgloria, you may consider rebasing your fork@master on top of it (or just ignore that test).

[pattacini]

Likewise, fixed test 124: dry-run_iCubShanghai01_dev on robotology@master via 95d8dd9.

[pattacini]

@martinaxgloria can you open up a PR against robotology@master for what you've done so far?
Too big PR's are difficult to handle.

Then, we will proceed incrementally.

[pattacini]

I managed to merge msster into devel with no conflicts at all 🎉
@martinaxgloria, you can start over with forking from robotology@master.

[pattacini]

Robots still failing in robotology@master:

 21 - dry-run_iCubBielefeld01_xml (Failed)
 23 - dry-run_iCubBielefeld02_xml (Failed)
 25 - dry-run_iCubBielefeld03_xml (Failed)
 41 - dry-run_iCubFrankfurt01_xml (Failed)
 75 - dry-run_iCubKarlsruhe01_xml (Failed)
 85 - dry-run_iCubLisboa02_xml (Failed)
101 - dry-run_iCubOffenbach01_xml (Failed)
103 - dry-run_iCubOffenbach02_xml (Failed)
109 - dry-run_iCubPisa01_xml (Failed)
117 - dry-run_iCubPrototype01_xml (Failed)
135 - dry-run_iCubUrbana01_xml (Failed)
143 - dry-run_iCubZurich01_xml (Failed)

Robots still failing in robotology@devel:

 12 - dry-run_ergoCubSN000_dev (Failed)
 17 - dry-run_iCubAnkara01_xml (Failed)
 19 - dry-run_iCubBarcelona01_xml (Failed)
 21 - dry-run_iCubBielefeld01_xml (Failed)
 23 - dry-run_iCubBielefeld02_xml (Failed)
 25 - dry-run_iCubBielefeld03_xml (Failed)
 41 - dry-run_iCubFrankfurt01_xml (Failed)
 75 - dry-run_iCubKarlsruhe01_xml (Failed)
 85 - dry-run_iCubLisboa02_xml (Failed)
101 - dry-run_iCubOffenbach01_xml (Failed)
103 - dry-run_iCubOffenbach02_xml (Failed)
109 - dry-run_iCubPisa01_xml (Failed)
117 - dry-run_iCubPrototype01_xml (Failed)
135 - dry-run_iCubUrbana01_xml (Failed)
143 - dry-run_iCubZurich01_xml (Failed)

meaning that #482 did introduce regressions on the following robots:

• ergoCubSN000
• iCubAnkara01
• iCubBarcelona01

@Nicogene, can you please have a look at those with the help of @martinaxgloria?
The possible fix should land in robotology@devel only.

[pattacini]

So, after a clean restart, robots failing in robotology@devel are:

 49 - dry-run_iCubGenova04_xml (Failed)
 50 - dry-run_iCubGenova04_dev (Failed)
109 - dry-run_iCubPisa01_xml (Failed)

Here's below the problem w/ iCubGenov04:

[ERROR] Failed to open file  file /dependencies/install/share/ICUBcontrib/robots/iCubGenova04/./wrappers/FT/right_foot-FT_wrapper_multipleSens.xml included by  icub_wbd.xml at line 96

cc @martinaxgloria @Nicogene

[Nicogene]

So, after a clean restart, robots failing in robotology@devel are:

 49 - dry-run_iCubGenova04_xml (Failed)
 50 - dry-run_iCubGenova04_dev (Failed)
109 - dry-run_iCubPisa01_xml (Failed)

Here's below the problem w/ iCubGenov04:

[ERROR] Failed to open file  file /dependencies/install/share/ICUBcontrib/robots/iCubGenova04/./wrappers/FT/right_foot-FT_wrapper_multipleSens.xml included by  icub_wbd.xml at line 96

cc @martinaxgloria @Nicogene

I forgot to save and then commit some files of iCubGenova04, now should be fixed: bfbbe7d

cc @pattacini

[pattacini]

Thanks heaps!
Everything has been merged.

[pattacini]

Solving #477 allowed us to sort out iCubGenova09 but not yet iCubGenova04.
See https://github.com/robotology/robots-configuration/actions/runs/4720445946.

[pattacini]

I'm not able to move the issue in progress

This is ok because you don't have write access to this repo (as required by ZenHub to operate). I'll move it myself.

By adding this line, is possible to fix the error?

Yep, it should suffice.

[pattacini]

Looking at the left_hand_calibrator and right_hand_calibrator, in fact, the target device (which should be something like left_hand-mc_remapper/right_hand-mc_remapper in the ../wrappers/motorControl folder) is not present. There are the remapper of the arms but not the ones of the hands. Should I have to create them?

Probably, to be better asked to @Nicogene and/or @davidetome

[martinaxgloria]

After chatting with @Nicogene, we found out that the target was right except for a typo. I fixed it and now the test for those robots passes successfully.

[martinaxgloria]

Moreover, there are 10 robots that return this failure:

[ERROR] |yarp.os.Property| cannot read from yarprobotinterface.ini
[FATAL] Missing "config" argument

Analyzing them, I saw that they don't have the yarprobotinterface.ini file and they miss also the .xml file to pass as config argument (actually, they don't have any configuration file). Is it possible to skip the dry-run for them?

cc @Nicogene @pattacini

[pattacini]

Is it possible to skip the dry-run for them?

Nope 😉
We need to make up the easiest yarprobointerface.ini possible.

[martinaxgloria]

About R1SN002, instead, the error regards the rpLidar wrappers which are of type Rangefinder2DWrapper. I found here that it is deprecated in favor of rangefinder2D_nws_yarp and rangefinder2D_nws_ros. Can I remove the deprecated device and substitute it with the supported one?

[pattacini]

About R1SN002, instead, the error regards the rpLidar wrappers which are of type Rangefinder2DWrapper. I found robotology/yarp#2827 that it is deprecated in favor of rangefinder2D_nws_yarp and rangefinder2D_nws_ros. Can I remove the deprecated device and substitute it with the supported one?

Yep, get inspired by what's done for R1SN003.

[martinaxgloria]

Today, @Nicogene helps me in fixing some of the dry-run errors and now the ctest gives this result:

I will investigate the last ones.

[Nicogene]

I would check if #482 generated new errors 😬

[pattacini]

I would check if #482 generated new errors 😬

Dry-Run in https://github.com/robotology/robots-configuration/actions/runs/4753025058.

77% tests passed, 35 tests failed out of 150

Total Test time (real) = 301.69 sec

The following tests FAILED:
	  3 - dry-run_R1SN002_xml (Failed)
	 13 - dry-run_iCubAberystwyth01_xml (Failed)
	 15 - dry-run_iCubAbuDhabi01_xml (Failed)
	 17 - dry-run_iCubAnkara01_xml (Failed)
	 21 - dry-run_iCubBielefeld01_xml (Failed)
	 23 - dry-run_iCubBielefeld02_xml (Failed)
	 25 - dry-run_iCubBielefeld03_xml (Failed)
	 41 - dry-run_iCubFrankfurt01_xml (Failed)
	 49 - dry-run_iCubGenova04_xml (Failed)
	 50 - dry-run_iCubGenova04_dev (Failed)
	 63 - dry-run_iCubGrenoble01_xml (Failed)
	 67 - dry-run_iCubHeidelberg01_xml (Failed)
	 68 - dry-run_iCubHeidelberg01_dev (Failed)
	 69 - dry-run_iCubHertfordshire01_xml (Failed)
	 71 - dry-run_iCubHertfordshire02_xml (Failed)
	 75 - dry-run_iCubKarlsruhe01_xml (Failed)
	 77 - dry-run_iCubLausanne01_xml (Failed)
	 81 - dry-run_iCubLethbridge01_xml (Failed)
	 83 - dry-run_iCubLisboa01_xml (Failed)
	 84 - dry-run_iCubLisboa01_dev (Failed)
	 85 - dry-run_iCubLisboa02_xml (Failed)
	 95 - dry-run_iCubMunich01_xml (Failed)
	101 - dry-run_iCubOffenbach01_xml (Failed)
	103 - dry-run_iCubOffenbach02_xml (Failed)
	105 - dry-run_iCubParis01_xml (Failed)
	107 - dry-run_iCubParis02_xml (Failed)
	109 - dry-run_iCubPisa01_xml (Failed)
	111 - dry-run_iCubPlymouth01_xml (Failed)
	113 - dry-run_iCubPlymouth02_xml (Failed)
	117 - dry-run_iCubPrototype01_xml (Failed)
	119 - dry-run_iCubRome02_xml (Failed)
	131 - dry-run_iCubTokyo01_xml (Failed)
	135 - dry-run_iCubUrbana01_xml (Failed)
	143 - dry-run_iCubZurich01_xml (Failed)
	149 - dry-run_vizzy_xml (Failed)

[martinaxgloria]

PR:

• #486

[pattacini]

Merged, thanks!

[martinaxgloria]

• ergoCubSN000
• iCubAnkara01
• iCubBarcelona01

@Nicogene and I tried to run the dry-run for those robots from devel but the test passed successfully. This is the output:

which are the robots that fail in robotology@master as well.

[pattacini]

Decided in af8bc53 to be milder for those robots w/o yri.ini.

Here's the test outcome for robotology@master:

109 - dry-run_iCubPisa01_xml (Failed)

Just one robot left, @martinaxgloria! 🎉

[pattacini]

Fantastic! I confirm that now devel is fine.

Here's below the log of the very last robot failing in master (dry-run_iCubPisa01_xml):

[ERROR] Target device torso-mc_remapper (network = torso ) does not exist.
[ERROR] Cannot run attach action on device left_arm_cartesian
[ERROR] Target device torso-mc_remapper (network = torso ) does not exist.
[ERROR] Cannot run attach action on device right_arm_cartesian 

cc @martinaxgloria

[martinaxgloria]

After a F2F talk w/ @Fabrizio69 and @maggia80 about the problem of iCubPisa01, we concluded that it was better to remove the torso from the cartesian since the physical robot is not equipped with it. Now the test passes also for iCubPisa01. I open the PR:

• #490

[pattacini]

75% tests passed, 38 tests failed out of 150

Total Test time (real) = 311.01 sec

The following tests FAILED:
	  3 - dry-run_R1SN002_xml (Failed)
	 13 - dry-run_iCubAberystwyth01_xml (Failed)
	 15 - dry-run_iCubAbuDhabi01_xml (Failed)
	 17 - dry-run_iCubAnkara01_xml (Failed)
	 21 - dry-run_iCubBielefeld01_xml (Failed)
	 23 - dry-run_iCubBielefeld02_xml (Failed)
	 25 - dry-run_iCubBielefeld03_xml (Failed)
	 41 - dry-run_iCubFrankfurt01_xml (Failed)
	 49 - dry-run_iCubGenova04_xml (Failed)
	 50 - dry-run_iCubGenova04_dev (Failed)
	 58 - dry-run_iCubGenova09_dev (Failed)
	 63 - dry-run_iCubGrenoble01_xml (Failed)
	 67 - dry-run_iCubHeidelberg01_xml (Failed)
	 68 - dry-run_iCubHeidelberg01_dev (Failed)
	 69 - dry-run_iCubHertfordshire01_xml (Failed)
	 71 - dry-run_iCubHertfordshire02_xml (Failed)
	 75 - dry-run_iCubKarlsruhe01_xml (Failed)
	 77 - dry-run_iCubLausanne01_xml (Failed)
	 81 - dry-run_iCubLethbridge01_xml (Failed)
	 83 - dry-run_iCubLisboa01_xml (Failed)
	 84 - dry-run_iCubLisboa01_dev (Failed)
	 85 - dry-run_iCubLisboa02_xml (Failed)
	 94 - dry-run_iCubMoscow01_dev (Failed)
	 95 - dry-run_iCubMunich01_xml (Failed)
	101 - dry-run_iCubOffenbach01_xml (Failed)
	103 - dry-run_iCubOffenbach02_xml (Failed)
	105 - dry-run_iCubParis01_xml (Failed)
	107 - dry-run_iCubParis02_xml (Failed)
	109 - dry-run_iCubPisa01_xml (Failed)
	111 - dry-run_iCubPlymouth01_xml (Failed)
	113 - dry-run_iCubPlymouth02_xml (Failed)
	117 - dry-run_iCubPrototype01_xml (Failed)
	119 - dry-run_iCubRome02_xml (Failed)
	124 - dry-run_iCubShanghai01_dev (Failed)
	131 - dry-run_iCubTokyo01_xml (Failed)
	135 - dry-run_iCubUrbana01_xml (Failed)
	143 - dry-run_iCubZurich01_xml (Failed)
	149 - dry-run_vizzy_xml (Failed)

Some of these are due to #477.

[martinaxgloria]

iCubGenova04 gives out this error:

[ERROR] Target device left_hand_mc (network = left_hand_joints ) does not exist.
[ERROR] Cannot run attach action on device alljoints-mc_remapper

In fact, the alljoints-mc_remapper.xml from which the error comes is:

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-mc_remapper" type="controlboardremapper">
    <paramlist name="networks">
        <elem name="head_joints">       (  0   5   0  5 )</elem>
        <elem name="face_joints">       (  0   1   0  1 )</elem>
        <elem name="left_arm_joints">   (  6  12   0  6 )</elem>
        <elem name="left_hand_joints">  ( 13  21   0  8 )</elem>
        <elem name="right_arm_joints">  ( 22  28   0  6 )</elem>
        <elem name="right_hand_joints"> ( 29  37   0  8 )</elem>
        <elem name="torso_joints">      ( 38  40   0  2 )</elem>
        <elem name="left_leg_joints">   ( 41  46   0  5 )</elem>
        <elem name="right_leg_joints">  ( 47  52   0  5 )</elem>
    </paramlist>
    <param name="joints"> 53 </param>
    <action phase="startup" level="5" type="attach">
        <paramlist name="networks">
            <elem name="head_joints">       head-mc_remapper </elem>
            <elem name="face_joints">       face_mc </elem>
            <elem name="left_arm_joints">   left_arm-mc_remapper </elem>
            <elem name="left_hand_joints">  left_hand_mc </elem>
            <elem name="right_arm_joints">  right_arm-mc_remapper </elem>
            <elem name="right_hand_joints"> right_hand_mc </elem>
            <elem name="torso_joints">      torso-mc_remapper </elem>
            <elem name="left_leg_joints">   left_leg-mc_remapper </elem>
            <elem name="right_leg_joints">  right_leg-mc_remapper </elem>
        </paramlist>
    </action>
    <action phase="shutdown" level="20" type="detach" />
</device>

There are no file relative to the elem name face_joints, left_hand_joints and right_hand_joints in iCubGenova04/wrappers/motorControl. How can I proceed?

cc @pattacini @Nicogene

[pattacini]

I would check if #482 generated new errors 😬

Dry-Run in https://github.com/robotology/robots-configuration/actions/runs/4753025058.

[pattacini]

I'm afraid that #482 will cause lots of conflicts while merging @martinaxgloria's work...

[pattacini]

...plus the 3 robots in devel.

[pattacini]

• ergoCubSN000
• iCubAnkara01
• iCubBarcelona01

@Nicogene and I tried to run the dry-run for those robots from devel but the test passed successfully. This is the output:

which are the robots that fail in robotology@master as well.

Let me try again then.
It might have been a glitch of my dev env.

[martinaxgloria]

which are the robots that fail in robotology@master as well.

No wait, they are not the same, for example iCubManchester01_xml doesn't fail in robotology@master.
I will check then.