[ergoCubSN002] CAN boards not found by FirmwareUpdater if a discovery if done on 10.0.1.1 , works fine if discovery of CAN boards is run on any other board

[traversaro]

This is an issue we experienced today on ergoCubSN002, and according to @AntonioConsilvio is also happened on another robot (ergoCubSN000 or ergoCubSN001, I can remember).

The way to reproduce the issue is the following: in FirmwareUpdater, if you launch a CAN boards discovery on the 10.0.1.1 board, then you can't discover any CAN board, both on 10.0.1.1 or in any other EMS/MC4PLUS board.

The workaround commonly used to work around this problem (if I understood correctly) was to connect an external laptop (like the ergocub-lap) to the internal ETH network of the robot, as described in robotology/icub-firmware-build#178 (comment) .

According to @AntonioConsilvio this problem in theory have been addressed in the past, but I could not found any issue tracking the problem, so I took the occasion to open a new one, feel free to close as duplicate if a related issue already exists, thanks.