ergoCub 1.1 S/N:001 – Error when launching the yarprobotinterface on

[DanielePucci]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

We are getting the following error when launching the robotinterface

 5.308596 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=258s 946m 170u : SYS: a service has detected that some CAN boards have stopped transmission. Type of service category is eomn_serv_category_all. Lost CAN boards are on (can1map, can2map) = ([ 2  ], [  ]). Time since last contact: 0 [ms]

5.308596 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=258s 946m 170u : SYS: a service has detected that some CAN boards have stopped transmission. Type of service category is eomn_serv_category_all. Lost CAN boards are on (can1map, can2map) = ([ 2 ], [ ]). Time since last contact: 0 [ms]

Detailed context

log_ergocub-torso_yarprobotinterface_18098.txt

Additional context

No response

How does it affect you?

No response

[sgiraz]

It may be caused by https://github.com/robotology/icub-tech-support/issues/1715#issuecomment-1903590104

cc @AntonioConsilvio @maggia80 @MSECode @Fabrizio69

[MSECode]

I think it is not related to BAT since the CAN board lost are on CAN1 as shown by the error log and BAT is on CAN2. So the board lost are the ones under CAN1, which if I'm not mistaken should be the 2FOC boards

[MSECode]

Errata: I checked the configuration files and I saw that the ems board eb2 is connected to the BMS and not to the BAT, which is instead connected to the right_arm_eb1. Anyway, as for BAT, also the BMS is configured on CAN2:2, so you are having errors on the 2FOC, which are actually configured at CAN1:1:0 and CAN1:2:0

[valegagge]

I saw the log today, I think that @MSECode was right, but, in any case, we need to investigate why the diagnostic says: Time since last contact: 0 [ms].

[valegagge]

I opened this issue for investigate further. https://github.com/robotology/icub-main/issues/937

[sgiraz]

Hi @valegagge,

As per https://github.com/robotology/icub-main/issues/937#issuecomment-1961691892, I guess We can close this issue, right?

cc @MSECode @AntonioConsilvio

[valegagge]

Hi @sgiraz, in https://github.com/robotology/icub-main/issues/937, we fixed the diagnostic messages. We didn't take care of the problem on the robot. Now with the new release the diagnostic provides correct information when a CAN board stops transmitting.

In this ticket, it seems that a 2FOC stops transmitting.

Before closing this issue, I suggest verifying if users experienced this problem again.

Thanks!