segfault on exit froml LUA scripts that use icub bindings about yarp

[elen4]

I just noticed that the segfault does not occur when adding
os.exit()
at the end of the script

[paulfitz]

Thanks for reporting this @elen4. I'd say there is a genuine issue (in cleanup of icub driver factories), the call to os.exit() would just forcibly abort the program and make sure destructors were never called. Will work on a solution.

[drdanz]

@elen4 Is this still an issue or can we close this?

[elen4]

I don't know, and unfortunately I do not have a setup to test it now 😟
I assume that nobody is using Lua bindings with the iCub at the moment and this issue is therefore not relevant, but unless drivers cleanup has been checked/fixed as a consequence of recent work on plugins, I don't think this has been addressed. I'd leave this open until someone ( @paulfitz ? 😀 ) can test this.

[paulfitz]

Any icub-savvy person available to test? @apaikan?

[apaikan]

iCub Lua binding is not necessary any more and the robot can be directly controlled via Yarp interfaces using yarp-lua binding (i.e., lua/yarp.so).

here is the example for opening a Cartesian controller interface with the robot using Lua:

require("yarp")

-- initialize yarp network
yarp.Network()

option = yarp.Property()
option:put("device","cartesiancontrollerclient");
option:put("remote","/icubSim/cartesianController/right_arm");
option:put("local","/client/right_arm");
cartCtrl = yarp.PolyDriver(option)
...