iCubGenova11 S/N:050 – IMUs prevent the robot from running

[xEnVrE]

Robot Name 🤖

iCubGenova11 S/N:050

Request/Failure description

After #1691, the robot did not start properly.

@AntonioConsilvio noticed that by commenting the wrappers of the inertial sensors, i.e. the block https://github.com/robotology/robots-configuration/blob/5b7b79960d9edc5b4fa6b2418e6e8e96aab7cfea/iCubGenova11/icub_all_no_legs.xml#L51-L60

the robot starts properly.

Therefore, we think that one of the robot IMUs is creating issues. It requires further investigation.

Additional context

No response

How does it affect you?

No response

[xEnVrE]

cc @fedeceola

[xEnVrE]

Today I collected the log of a yarprobotinterface run to ease debugging this:

As can be seen embObjIMU could not open for waist-eb5-intertials.

The full log follows:

log_icub-head_yarprobotinterface_2028.txt

[sgiraz]

Hello @martinaxgloria, I noticed that you recently used the robot. Have you encountered this issue again?

[martinaxgloria]

Hi @sgiraz! I used the robot in the past days and I used the IMU mounted on the head for some tests, so I think that the block of code mentioned was not commented out. I didn't have this error and the yarprobotinterface worked properly. If I encounter it, I will re-open the issue

[xEnVrE]

Hi all, please notice that the error above was about the waist imu not the head one. I think that at some point we reduced the commented section to only include that and excluding the head imu.

[martinaxgloria]

Hi @xEnVrE, thanks for the clarification. At this point, on Monday I'll have a look at the configuration file used to launch the yarprobotinterface and I'll see if the error is already present or not

cc @sgiraz

[martinaxgloria]

Hi @sgiraz!

Today I looked at the conf files that the yarprobotinterface uses and the lines that enable the imu on the waist were enabled. I launched the robot with it and it started correctly.

[sgiraz]

As the problem

Today I looked at the conf files that the yarprobotinterface uses and the lines that enable the imu on the waist were enabled. I launched the robot with it and it started correctly.

Nice one!
Thanks, @martinaxgloria for your tests.
I proceed to close this issue.

Note

Should the issue recur, we will reopen the issue and investigate the possible causes further

cc @AntonioConsilvio @Nicogene