{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-main/issues/111","labels_url":"https://api.github.com/repos/robotology/icub-main/issues/111/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-main/issues/111/comments","events_url":"https://api.github.com/repos/robotology/icub-main/issues/111/events","html_url":"https://github.com/robotology/icub-main/issues/111","id":58758776,"number":111,"title":"[iCubParis01] icubheadcalibrator not found","user":{"login":"rlober","id":3417094,"avatar_url":"https://avatars.githubusercontent.com/u/3417094?v=3","gravatar_id":"","url":"https://api.github.com/users/rlober","html_url":"https://github.com/rlober","followers_url":"https://api.github.com/users/rlober/followers","following_url":"https://api.github.com/users/rlober/following{/other_user}","gists_url":"https://api.github.com/users/rlober/gists{/gist_id}","starred_url":"https://api.github.com/users/rlober/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rlober/subscriptions","organizations_url":"https://api.github.com/users/rlober/orgs","repos_url":"https://api.github.com/users/rlober/repos","events_url":"https://api.github.com/users/rlober/events{/privacy}","received_events_url":"https://api.github.com/users/rlober/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":10,"created_at":"2015-02-24T15:58:08Z","updated_at":"2015-02-25T15:01:14Z","closed_at":null,"body":"I have just updated yarp and icub-main. When I launch the robotInterface on iCubParis01 I ge the following errors: \r\n~~~\r\n794\t\t3.673413\t\tERROR\t\tCannot find \"icubheadcalibrator\" plugin (not built in, and no .ini file found for it)\r\n795\t\t3.673466\t\tERROR\t\tCheck that YARP_DATA_DIRS leads to at least one directory with plugins/icubheadcalibrator.ini or share/yarp/plugins/icubheadcalibrator.ini in it\r\n806\t\t3.754097\t\tERROR\t\tOne or more devices failed opening... see previous log messages for more info \r\n807\t\t4.188140\t\tERROR\t\tError in startup phase... see previous messages for more info \r\n~~~\r\n\r\nApparently icubheadcalibrator device was removed from icub-main, should we migrate the configuration file to parametric calibrator? \r\n\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/icub-main/issues/comments/75974711","html_url":"https://github.com/robotology/icub-main/issues/111#issuecomment-75974711","issue_url":"https://api.github.com/repos/robotology/icub-main/issues/111","id":75974711,"user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"created_at":"2015-02-25T15:01:14Z","updated_at":"2015-02-25T15:01:14Z","body":"Just flashed the firmware (it seemed to be up to date but just in case) and using the new configuration file, but we still get the same behaviour: the head is reaching the left shoulder and then switching from calibrating mode to idle.\r\n\r\nThe output of the robotInterface filtered by `HeadV1_Calibrator` is:\r\n\r\n~~~\r\n65\t\t0,740710\t\tINFO\t\tHeadV1_Calibrator : starting calibration \r\n70\t\t0,741007\t\tDEBUG\t\tHeadV1_Calibrator : Joints calibration order: ( 0 1 2 ) ( 3 ) ( 4 ) ( 5 )  \r\n89\t\t0,821145\t\tDEBUG\t\tHeadV1_Calibrator : skipping maxPwm=0 of joint  0 \r\n91\t\t0,902305\t\tDEBUG\t\tHeadV1_Calibrator : skipping maxPwm=0 of joint  1 \r\n94\t\t0,983523\t\tDEBUG\t\tHeadV1_Calibrator : skipping maxPwm=0 of joint  2 \r\n95\t\t0,983769\t\tDEBUG\t\tIn calibration  HeadV1_Calibrator : enabling joint  0  to test hardware limit \r\n98\t\t0,994117\t\tDEBUG\t\tIn calibration  HeadV1_Calibrator : enabling joint  1  to test hardware limit \r\n101\t\t1,004169\t\tDEBUG\t\tIn calibration  HeadV1_Calibrator : enabling joint  2  to test hardware limit \r\n116\t\t1,125304\t\tDEBUG\t\tHeadV1_Calibrator : Calling calibrateJoint on joint  0  with params:  0 500 20 0 \r\n117\t\t1,135421\t\tDEBUG\t\tHeadV1_Calibrator : Calling calibrateJoint on joint  1  with params:  0 1333 20 0 \r\n118\t\t1,135582\t\tDEBUG\t\tHeadV1_Calibrator : Calling calibrateJoint on joint  2  with params:  0 1333 20 0 \r\n145\t\t1,236489\t\tDEBUG\t\tHeadV1_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  -12.2922 \r\n146\t\t1,236647\t\tDEBUG\t\tHeadV1_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  -51.4499 \r\n147\t\t1,236728\t\tDEBUG\t\tHeadV1_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  -54.5018 \r\n710\t\t22,362613\t\tERROR\t\tHeadV1_Calibrator :Timeout while calibrating  0 \r\n \r\n711\t\t22,362793\t\tERROR\t\tHeadV1_Calibrator : set 1 : Calibration went wrong! Disabling axes and keeping safe pid limit\r\n \r\n715\t\t22,473752\t\tDEBUG\t\tHeadV1_Calibrator : skipping maxPwm=0 of joint  3 \r\n716\t\t22,473941\t\tDEBUG\t\tIn calibration  HeadV1_Calibrator : enabling joint  3  to test hardware limit \r\n719\t\t22,584743\t\tDEBUG\t\tHeadV1_Calibrator : Calling calibrateJoint on joint  3  with params:  0 600 -20 0 \r\n725\t\t22,685537\t\tDEBUG\t\tHeadV1_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib:  33.8618 \r\n735\t\t24,688337\t\tDEBUG\t\tHeadV1_Calibrator : calib joint ended \r\n736\t\t24,688538\t\tDEBUG\t\tHeadV1_Calibrator : set 2 : Calibration ended, going to zero!\r\n \r\n737\t\t25,193904\t\tDEBUG\t\tHeadV1_Calibrator : Sending positionMove to joint 3  (desired pos:  0 desired speed:  10  ) \r\n738\t\t26,205043\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 45.416 des: 0.000 -> delta: 45.416 threshold: 2.000 output: 0.000 mode: pos\r\n739\t\t26,700024\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 39.977 des: 0.000 -> delta: 39.977 threshold: 2.000 output: 0.000 mode: pos\r\n740\t\t27,205579\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 31.982 des: 0.000 -> delta: 31.982 threshold: 2.000 output: 0.000 mode: pos\r\n744\t\t27,710545\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 22.677 des: 0.000 -> delta: 22.677 threshold: 2.000 output: 0.000 mode: pos\r\n751\t\t28,214059\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 13.718 des: 0.000 -> delta: 13.718 threshold: 2.000 output: 0.000 mode: pos\r\n758\t\t28,713895\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 6.408 des: 0.000 -> delta: 6.408 threshold: 2.000 output: 0.000 mode: pos\r\n765\t\t29,215131\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 1.885 des: 0.000 -> delta: 1.885 threshold: 2.000 output: 0.000 mode: pos\r\n769\t\t29,720418\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.138 des: 0.000 -> delta: 0.138 threshold: 2.000 output: 0.000 mode: pos\r\n770\t\t30,225818\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -0.002 des: 0.000 -> delta: 0.002 threshold: 2.000 output: 0.000 mode: pos\r\n771\t\t30,226021\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.002 over: 2.000\r\n772\t\t30,226108\t\tDEBUG\t\tHeadV1_Calibrator : set 2 : Reached zero position!\r\n \r\n773\t\t30,307060\t\tDEBUG\t\tHeadV1_Calibrator : skipping maxPwm=0 of joint  4 \r\n774\t\t30,307302\t\tDEBUG\t\tIn calibration  HeadV1_Calibrator : enabling joint  4  to test hardware limit \r\n777\t\t30,418586\t\tDEBUG\t\tHeadV1_Calibrator : Calling calibrateJoint on joint  4  with params:  0 500 20 0 \r\n780\t\t30,519646\t\tDEBUG\t\tHeadV1_Calibrator : set 3 j 4 : Calibrating... enc values AFTER calib:  -5.08361 \r\n781\t\t32,525165\t\tDEBUG\t\tHeadV1_Calibrator : calib joint ended \r\n782\t\t32,525374\t\tDEBUG\t\tHeadV1_Calibrator : set 3 : Calibration ended, going to zero!\r\n \r\n783\t\t33,031889\t\tDEBUG\t\tHeadV1_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  10  ) \r\n790\t\t34,035382\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -20.309 des: 0.000 -> delta: 20.309 threshold: 180.000 output: 0.000 mode: pos\r\n797\t\t34,540634\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -20.307 des: 0.000 -> delta: 20.307 threshold: 180.000 output: 0.000 mode: pos\r\n804\t\t35,046416\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -20.307 des: 0.000 -> delta: 20.307 threshold: 180.000 output: 0.000 mode: pos\r\n811\t\t35,542559\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -20.307 des: 0.000 -> delta: 20.307 threshold: 180.000 output: 0.000 mode: pos\r\n812\t\t36,057905\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -20.307 des: 0.000 -> delta: 20.307 threshold: 180.000 output: 0.000 mode: pos\r\n813\t\t36,574485\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -20.307 des: 0.000 -> delta: 20.307 threshold: 180.000 output: 0.000 mode: pos\r\n814\t\t36,574735\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 20.307 over: 180.000\r\n815\t\t36,574850\t\tDEBUG\t\tHeadV1_Calibrator : set 3 : Reached zero position!\r\n \r\n816\t\t36,726866\t\tDEBUG\t\tHeadV1_Calibrator : skipping maxPwm=0 of joint  5 \r\n817\t\t36,727103\t\tDEBUG\t\tIn calibration  HeadV1_Calibrator : enabling joint  5  to test hardware limit \r\n821\t\t36,848830\t\tDEBUG\t\tHeadV1_Calibrator : Calling calibrateJoint on joint  5  with params:  0 500 20 0 \r\n824\t\t36,950574\t\tDEBUG\t\tHeadV1_Calibrator : set 4 j 5 : Calibrating... enc values AFTER calib:  12.8891 \r\n825\t\t38,982265\t\tDEBUG\t\tHeadV1_Calibrator : calib joint ended \r\n826\t\t38,982349\t\tDEBUG\t\tHeadV1_Calibrator : set 4 : Calibration ended, going to zero!\r\n \r\n827\t\t39,487152\t\tDEBUG\t\tHeadV1_Calibrator : Sending positionMove to joint 5  (desired pos:  0 desired speed:  10  ) \r\n840\t\t40,498517\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.001 des: 0.000 -> delta: 0.001 threshold: 180.000 output: 0.000 mode: pos\r\n841\t\t40,498740\t\tDEBUG\t\tHeadV1_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.001 over: 180.000\r\n842\t\t40,498843\t\tDEBUG\t\tHeadV1_Calibrator : set 4 : Reached zero position!\r\n~~~"}}