Inertial port is not opened when using two robots via Gazebo world

[lrapetti]

@lrapetti commented on Thu Mar 14 2019

I found out that when using two icub models in a single world (such as explained in two_icubs_standup_world), in the second model (iCub_0) the inertial port can not be opened (while all the other ports are opended correctly for both the models with the proper prefix iCub/ or iCub_0).

Here is the error I see in the terminal:

$ gazebo -slibgazebo_yarp_clock.so two_icubs_standup_world/two_icub_standup.world
objc[62903]: Class OgreConfigWindowDelegate is implemented in both /usr/local/opt/ogre1.9/lib/libOgreMain.1.9.0.dylib (0x108bed9d8) and /usr/local/opt/ogre/lib/libOgreMain.1.7.4.dylib (0x11404ee30). One of the two will be used. Which one is undefined.
[DEBUG]GazeboYarpClock loaded. Clock port will be  /clock 
yarp: Port /clock active at tcp://10.240.2.33:10002/
yarp: Port /clock/rpc active at tcp://10.240.2.33:10003/
[INFO]created device <gazebo_imu>. See C++ class GazeboYarpIMUDriver for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /iCub/inertial active at tcp://10.240.2.33:10004/
[INFO]Server Inertial : no ROS initialization required 
[INFO]Starting server Inertial thread
[DEBUG]Writing an Inertial measurement.
[INFO]created wrapper <inertial>. See C++ class yarp::dev::ServerInertial for documentation.
[INFO]created device <gazebo_imu>. See C++ class GazeboYarpIMUDriver for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /iCub/inertial failed to activate at tcp://10.240.2.33:10004/ (address conflict)
[ERROR]ServerInertial, cannot open port  /iCub/inertial 
yarpdev: ***ERROR*** driver <inertial> was found but could not open
[INFO]Closing Server Inertial...
...

observation: it seems to me that it is opening a the port for the first model iCub/inertial, and then for the second model it tries again to open the inertial port with the same prefix and it fails with address conflict. Instead, the port for the second model should be open with the different prefix: iCub_0/inertial.

and here is the list of the ports opened for the two robots:

• iCub (35 ports)

registration name /iCub/head/command:i ip 10.240.2.33 port 10024 type tcp
registration name /iCub/head/rpc:i ip 10.240.2.33 port 10023 type tcp
registration name /iCub/head/state:o ip 10.240.2.33 port 10025 type tcp
registration name /iCub/head/stateExt:o ip 10.240.2.33 port 10026 type tcp
registration name /iCub/inertial ip 10.240.2.33 port 10004 type tcp
registration name /iCub/left_arm/command:i ip 10.240.2.33 port 10028 type tcp
registration name /iCub/left_arm/rpc:i ip 10.240.2.33 port 10027 type tcp
registration name /iCub/left_arm/state:o ip 10.240.2.33 port 10029 type tcp
registration name /iCub/left_arm/stateExt:o ip 10.240.2.33 port 10030 type tcp
registration name /iCub/left_hand/inertialMTB ip 10.240.2.33 port 10210 type tcp
registration name /iCub/left_hand/inertialMTB/rpc:i ip 10.240.2.33 port 10209 type tcp
registration name /iCub/left_leg/command:i ip 10.240.2.33 port 10036 type tcp
registration name /iCub/left_leg/inertialMTB ip 10.240.2.33 port 10206 type tcp
registration name /iCub/left_leg/inertialMTB/rpc:i ip 10.240.2.33 port 10205 type tcp
registration name /iCub/left_leg/rpc:i ip 10.240.2.33 port 10035 type tcp
registration name /iCub/left_leg/state:o ip 10.240.2.33 port 10037 type tcp
registration name /iCub/left_leg/stateExt:o ip 10.240.2.33 port 10038 type tcp
registration name /iCub/right_arm/command:i ip 10.240.2.33 port 10032 type tcp
registration name /iCub/right_arm/rpc:i ip 10.240.2.33 port 10031 type tcp
registration name /iCub/right_arm/state:o ip 10.240.2.33 port 10033 type tcp
registration name /iCub/right_arm/stateExt:o ip 10.240.2.33 port 10034 type tcp
registration name /iCub/right_hand/inertialMTB ip 10.240.2.33 port 10212 type tcp
registration name /iCub/right_hand/inertialMTB/rpc:i ip 10.240.2.33 port 10211 type tcp
registration name /iCub/right_leg/command:i ip 10.240.2.33 port 10040 type tcp
registration name /iCub/right_leg/inertialMTB ip 10.240.2.33 port 10208 type tcp
registration name /iCub/right_leg/inertialMTB/rpc:i ip 10.240.2.33 port 10207 type tcp
registration name /iCub/right_leg/rpc:i ip 10.240.2.33 port 10039 type tcp
registration name /iCub/right_leg/state:o ip 10.240.2.33 port 10041 type tcp
registration name /iCub/right_leg/stateExt:o ip 10.240.2.33 port 10042 type tcp
registration name /iCub/torso/command:i ip 10.240.2.33 port 10020 type tcp
registration name /iCub/torso/inertialMTB ip 10.240.2.33 port 10214 type tcp
registration name /iCub/torso/inertialMTB/rpc:i ip 10.240.2.33 port 10213 type tcp
registration name /iCub/torso/rpc:i ip 10.240.2.33 port 10019 type tcp
registration name /iCub/torso/state:o ip 10.240.2.33 port 10021 type tcp
registration name /iCub/torso/stateExt:o ip 10.240.2.33 port 10022 type tcp

• iCub_0 (34 ports)

registration name /iCub_0/head/command:i ip 10.240.2.33 port 10050 type tcp
registration name /iCub_0/head/rpc:i ip 10.240.2.33 port 10049 type tcp
registration name /iCub_0/head/state:o ip 10.240.2.33 port 10051 type tcp
registration name /iCub_0/head/stateExt:o ip 10.240.2.33 port 10052 type tcp
registration name /iCub_0/left_arm/command:i ip 10.240.2.33 port 10054 type tcp
registration name /iCub_0/left_arm/rpc:i ip 10.240.2.33 port 10053 type tcp
registration name /iCub_0/left_arm/state:o ip 10.240.2.33 port 10055 type tcp
registration name /iCub_0/left_arm/stateExt:o ip 10.240.2.33 port 10056 type tcp
registration name /iCub_0/left_hand/inertialMTB ip 10.240.2.33 port 10200 type tcp
registration name /iCub_0/left_hand/inertialMTB/rpc:i ip 10.240.2.33 port 10199 type tcp
registration name /iCub_0/left_leg/command:i ip 10.240.2.33 port 10062 type tcp
registration name /iCub_0/left_leg/inertialMTB ip 10.240.2.33 port 10196 type tcp
registration name /iCub_0/left_leg/inertialMTB/rpc:i ip 10.240.2.33 port 10195 type tcp
registration name /iCub_0/left_leg/rpc:i ip 10.240.2.33 port 10061 type tcp
registration name /iCub_0/left_leg/state:o ip 10.240.2.33 port 10063 type tcp
registration name /iCub_0/left_leg/stateExt:o ip 10.240.2.33 port 10064 type tcp
registration name /iCub_0/right_arm/command:i ip 10.240.2.33 port 10058 type tcp
registration name /iCub_0/right_arm/rpc:i ip 10.240.2.33 port 10057 type tcp
registration name /iCub_0/right_arm/state:o ip 10.240.2.33 port 10059 type tcp
registration name /iCub_0/right_arm/stateExt:o ip 10.240.2.33 port 10060 type tcp
registration name /iCub_0/right_hand/inertialMTB ip 10.240.2.33 port 10202 type tcp
registration name /iCub_0/right_hand/inertialMTB/rpc:i ip 10.240.2.33 port 10201 type tcp
registration name /iCub_0/right_leg/command:i ip 10.240.2.33 port 10066 type tcp
registration name /iCub_0/right_leg/inertialMTB ip 10.240.2.33 port 10198 type tcp
registration name /iCub_0/right_leg/inertialMTB/rpc:i ip 10.240.2.33 port 10197 type tcp
registration name /iCub_0/right_leg/rpc:i ip 10.240.2.33 port 10065 type tcp
registration name /iCub_0/right_leg/state:o ip 10.240.2.33 port 10067 type tcp
registration name /iCub_0/right_leg/stateExt:o ip 10.240.2.33 port 10068 type tcp
registration name /iCub_0/torso/command:i ip 10.240.2.33 port 10046 type tcp
registration name /iCub_0/torso/inertialMTB ip 10.240.2.33 port 10204 type tcp
registration name /iCub_0/torso/inertialMTB/rpc:i ip 10.240.2.33 port 10203 type tcp
registration name /iCub_0/torso/rpc:i ip 10.240.2.33 port 10045 type tcp
registration name /iCub_0/torso/state:o ip 10.240.2.33 port 10047 type tcp
registration name /iCub_0/torso/stateExt:o ip 10.240.2.33 port 10048 type tcp

The same thing doesn't happen when directly multiple models in Gazebo (without passing torugh a world)

---

@lrapetti commented on Thu Mar 14 2019

observation: it seems to me that it is opening a the port for the first model iCub/inertial, and then for the second model it tries again to open the inertial port with the same prefix and it fails with address conflict. Instead, the port for the second model should be open with the different prefix: iCub_0/inertial.

This seems to be confirmed by the fact that even if no model with name iCub is used, the inertial port is opened anyway with iCub prefix:

registration name /iCub/inertial ip 10.240.2.33 port 10004 type tcp
registration name /iCub1/head/command:i ip 10.240.2.33 port 10032 type tcp
registration name /iCub1/head/rpc:i ip 10.240.2.33 port 10031 type tcp
registration name /iCub1/head/state:o ip 10.240.2.33 port 10033 type tcp
registration name /iCub1/head/stateExt:o ip 10.240.2.33 port 10034 type tcp
registration name /iCub1/left_arm/command:i ip 10.240.2.33 port 10036 type tcp
registration name /iCub1/left_arm/rpc:i ip 10.240.2.33 port 10035 type tcp
registration name /iCub1/left_arm/state:o ip 10.240.2.33 port 10037 type tcp
registration name /iCub1/left_arm/stateExt:o ip 10.240.2.33 port 10038 type tcp
registration name /iCub1/left_hand/inertialMTB ip 10.240.2.33 port 10022 type tcp
registration name /iCub1/left_hand/inertialMTB/rpc:i ip 10.240.2.33 port 10021 type tcp
registration name /iCub1/left_leg/command:i ip 10.240.2.33 port 10048 type tcp
registration name /iCub1/left_leg/inertialMTB ip 10.240.2.33 port 10018 type tcp
registration name /iCub1/left_leg/inertialMTB/rpc:i ip 10.240.2.33 port 10017 type tcp
registration name /iCub1/left_leg/rpc:i ip 10.240.2.33 port 10047 type tcp
registration name /iCub1/left_leg/state:o ip 10.240.2.33 port 10049 type tcp
registration name /iCub1/left_leg/stateExt:o ip 10.240.2.33 port 10050 type tcp
registration name /iCub1/linkattacher/rpc:i ip 10.240.2.33 port 10144 type tcp
registration name /iCub1/right_arm/command:i ip 10.240.2.33 port 10040 type tcp
registration name /iCub1/right_arm/rpc:i ip 10.240.2.33 port 10039 type tcp
registration name /iCub1/right_arm/state:o ip 10.240.2.33 port 10041 type tcp
registration name /iCub1/right_arm/stateExt:o ip 10.240.2.33 port 10042 type tcp
registration name /iCub1/right_hand/inertialMTB ip 10.240.2.33 port 10024 type tcp
registration name /iCub1/right_hand/inertialMTB/rpc:i ip 10.240.2.33 port 10023 type tcp
registration name /iCub1/right_leg/command:i ip 10.240.2.33 port 10044 type tcp
registration name /iCub1/right_leg/inertialMTB ip 10.240.2.33 port 10020 type tcp
registration name /iCub1/right_leg/inertialMTB/rpc:i ip 10.240.2.33 port 10019 type tcp
registration name /iCub1/right_leg/rpc:i ip 10.240.2.33 port 10043 type tcp
registration name /iCub1/right_leg/state:o ip 10.240.2.33 port 10045 type tcp
registration name /iCub1/right_leg/stateExt:o ip 10.240.2.33 port 10046 type tcp
registration name /iCub1/torso/command:i ip 10.240.2.33 port 10028 type tcp
registration name /iCub1/torso/inertialMTB ip 10.240.2.33 port 10026 type tcp
registration name /iCub1/torso/inertialMTB/rpc:i ip 10.240.2.33 port 10025 type tcp
registration name /iCub1/torso/rpc:i ip 10.240.2.33 port 10027 type tcp
registration name /iCub1/torso/state:o ip 10.240.2.33 port 10029 type tcp
registration name /iCub1/torso/stateExt:o ip 10.240.2.33 port 10030 type tcp
registration name /iCub2/head/command:i ip 10.240.2.33 port 10067 type tcp
registration name /iCub2/head/rpc:i ip 10.240.2.33 port 10066 type tcp
registration name /iCub2/head/state:o ip 10.240.2.33 port 10068 type tcp
registration name /iCub2/head/stateExt:o ip 10.240.2.33 port 10069 type tcp
registration name /iCub2/left_arm/command:i ip 10.240.2.33 port 10071 type tcp
registration name /iCub2/left_arm/rpc:i ip 10.240.2.33 port 10070 type tcp
registration name /iCub2/left_arm/state:o ip 10.240.2.33 port 10072 type tcp
registration name /iCub2/left_arm/stateExt:o ip 10.240.2.33 port 10073 type tcp
registration name /iCub2/left_hand/inertialMTB ip 10.240.2.33 port 10057 type tcp
registration name /iCub2/left_hand/inertialMTB/rpc:i ip 10.240.2.33 port 10056 type tcp
registration name /iCub2/left_leg/command:i ip 10.240.2.33 port 10083 type tcp
registration name /iCub2/left_leg/inertialMTB ip 10.240.2.33 port 10053 type tcp
registration name /iCub2/left_leg/inertialMTB/rpc:i ip 10.240.2.33 port 10052 type tcp
registration name /iCub2/left_leg/rpc:i ip 10.240.2.33 port 10082 type tcp
registration name /iCub2/left_leg/state:o ip 10.240.2.33 port 10084 type tcp
registration name /iCub2/left_leg/stateExt:o ip 10.240.2.33 port 10085 type tcp
registration name /iCub2/right_arm/command:i ip 10.240.2.33 port 10075 type tcp
registration name /iCub2/right_arm/rpc:i ip 10.240.2.33 port 10074 type tcp
registration name /iCub2/right_arm/state:o ip 10.240.2.33 port 10076 type tcp
registration name /iCub2/right_arm/stateExt:o ip 10.240.2.33 port 10077 type tcp
registration name /iCub2/right_hand/inertialMTB ip 10.240.2.33 port 10059 type tcp
registration name /iCub2/right_hand/inertialMTB/rpc:i ip 10.240.2.33 port 10058 type tcp
registration name /iCub2/right_leg/command:i ip 10.240.2.33 port 10079 type tcp
registration name /iCub2/right_leg/inertialMTB ip 10.240.2.33 port 10055 type tcp
registration name /iCub2/right_leg/inertialMTB/rpc:i ip 10.240.2.33 port 10054 type tcp
registration name /iCub2/right_leg/rpc:i ip 10.240.2.33 port 10078 type tcp
registration name /iCub2/right_leg/state:o ip 10.240.2.33 port 10080 type tcp
registration name /iCub2/right_leg/stateExt:o ip 10.240.2.33 port 10081 type tcp
registration name /iCub2/torso/command:i ip 10.240.2.33 port 10063 type tcp
registration name /iCub2/torso/inertialMTB ip 10.240.2.33 port 10061 type tcp
registration name /iCub2/torso/inertialMTB/rpc:i ip 10.240.2.33 port 10060 type tcp
registration name /iCub2/torso/rpc:i ip 10.240.2.33 port 10062 type tcp
registration name /iCub2/torso/state:o ip 10.240.2.33 port 10064 type tcp
registration name /iCub2/torso/stateExt:o ip 10.240.2.33 port 10065 type tcp

---

@lrapetti commented on Fri Jul 12 2019

The problem seems to apply only when the models are opened trough gazebo world (see https://github.com/robotology/gazebo-yarp-plugins/issues/436#issue-467462300 and https://github.com/robotology/gazebo-yarp-plugins/issues/436#issuecomment-510926834)

[traversaro]

In the IMU case, the name of the port opened is given by https://github.com/robotology/yarp/blob/24eb21146091e4cc3d5bba0856f1ab8fe9b202df/src/libYARP_dev/src/devices/ServerInertial/ServerInertial.cpp#L316 , so it should used the one specified in https://github.com/robotology/icub-model-generator/blob/master/simmechanics/data/icub2_5/conf/gazebo_icub_inertial.ini#L3 . Again, I suspect that something strange is happening in https://github.com/robotology/gazebo-yarp-plugins/blob/06255f1a1b30580b74e237449ba2be79836d2a62/libraries/singleton/src/ConfHelpers.cc#L126, so it may be worth to add a few debug prints or checkpoints there.

[EhsanRanjbari]

I more or less have a similar issue. In fact, if I run Gezebo, spawn a model and then close it after a while. Then sometimes, when I want to run the Gazebo again with the same model I get this error after spawning the model:

[ERROR] |yarp.os.Port|/syntroSim/left_arm/rpc:i| Port /syntroSim/left_arm/rpc:i failed to activate at tcp://10.240.2.41:10002/ (address conflict)

The solution so far is just to restart the machine. I use robotology-superbuild on Windows 11.