[yarp] Deprecated functions: setPositionMode() in class yarp::dev::IPositionControl #23

rsantos88 · 2017-10-16T09:36:54Z

There are some yarp functions used in some aplications like follow-me or teo-self-presentation that are deprecated (maybe because we had a old yarp version installed).
Doing a clean installation and following the yarp instructions, we can see this error when we try to install teo-self-presentation:

[ 57%] Built target dialogueManager
[ 71%] Building CXX object programs/BodyExecution/CMakeFiles/bodyExecution.dir/BodyExecution.cpp.o
/home/raul/repos/teo-self-presentation/programs/BodyExecution/BodyExecution.cpp: In member function ‘virtual bool teo::BodyExecution::configure(yarp::os::ResourceFinder&)’:
/home/raul/repos/teo-self-presentation/programs/BodyExecution/BodyExecution.cpp:42:30: error: ‘class yarp::dev::IPositionControl’ has no member named ‘setPositionMode’
     leftArmIPositionControl->setPositionMode();
                              ^
/home/raul/repos/teo-self-presentation/programs/BodyExecution/BodyExecution.cpp:60:31: error: ‘class yarp::dev::IPositionControl’ has no member named ‘setPositionMode’
     rightArmIPositionControl->setPositionMode();
                               ^
/home/raul/repos/teo-self-presentation/programs/BodyExecution/BodyExecution.cpp:78:27: error: ‘class yarp::dev::IPositionControl’ has no member named ‘setPositionMode’
     headIPositionControl->setPositionMode();
                           ^
make[2]: *** [programs/BodyExecution/CMakeFiles/bodyExecution.dir/BodyExecution.cpp.o] Error 1
make[1]: *** [programs/BodyExecution/CMakeFiles/bodyExecution.dir/all] Error 2
make: *** [all] Error 2

This can be the last changes of YARP 2.3.70:

Removed some old interfaces methods, deprecated since yarp 2.3.65.
i.e: setPositionDirectMode(), setPositionMode(), setVelocityMode(),
setOpenLoopMode(),setTorqueMode()`, etc.

so, we can continue using the same YARP version for Debian 6.0.10 in Ubuntu systems... what do you think?

jgvictores · 2017-10-16T09:47:27Z

In the YARP version we recommend for Debian 6.0.10 (e1221283abb1abc77619429bb4d9408cbb1cf6c8 # Corresponds to 2.3.68+181-20170203.11+gite122128) the new IControlMode2 already exists, so it should be safe to upgrade applications like follow-me or teo-self-presentation.

jgvictores · 2017-10-16T09:50:49Z

PS: What TEO uses already implements the IControlMode2 interface at the current develop commit.

PeterBowman · 2017-10-16T10:24:06Z

Related: roboticslab-uc3m/questions-and-answers#16.

(...) the new IControlMode2 already exists, so it should be safe to upgrade applications like follow-me or teo-self-presentation.

Keep in mind that there is no IControlMode2 support for bindings, yet. That is, you won't be able to switch modes from Python code at YARP 2.3.70+ (of course, you can make and send your own Bottle with set icmd 0 vel or the like, "by hand").

jgvictores · 2017-10-16T10:33:39Z

Regarding bindings, it would be easy to update yarp.i and PR. Two notes on this:

There is an incoming PR that affects bindings, I'd wait for that.
I've been thinking for a while that making an inverted view() function would reduce the need to be modifying yarp.i for each interface.

rsantos88 · 2017-10-17T11:31:52Z

Ok, when I try to run teo-self-presentation, I find this error message:

||| clearing context
||| adding context [bodyExecution]
||| configuring
||| default config file specified as bodyExecution.ini
||| checking [/home/teo/repos/teo-self-presentation/build/bin/bodyExecution.ini] (pwd)
||| checking [/home/teo/.config/yarp/robots/default] (robot YARP_CONFIG_HOME)
||| checking [/home/teo/.local/share/yarp/robots/default] (robot YARP_DATA_HOME)
||| checking [/etc/xdg/xdg-ubuntu/yarp/robots/default] (robot YARP_CONFIG_DIRS)
||| checking [/usr/share/upstart/xdg/yarp/robots/default] (robot YARP_CONFIG_DIRS)
||| checking [/etc/xdg/yarp/robots/default] (robot YARP_CONFIG_DIRS)
||| checking [/usr/share/ubuntu/yarp/robots/default] (robot YARP_DATA_DIRS)
||| checking [/usr/share/gnome/yarp/robots/default] (robot YARP_DATA_DIRS)
||| checking [/usr/local/share/yarp/robots/default] (robot YARP_DATA_DIRS)
||| checking [/usr/share/yarp/robots/default] (robot YARP_DATA_DIRS)
||| checking [/usr/share/ubuntu/yarp/config/path.d] (robot path.d YARP_DATA_DIRS)
||| checking [/usr/share/gnome/yarp/config/path.d] (robot path.d YARP_DATA_DIRS)
||| checking [/usr/local/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS)
||| found /usr/local/share/yarp/config/path.d
||| checking [/usr/local/share/roboticslab-speech/robots/default] (robot yarp.d)
||| checking [/usr/local/share/roboticslab-yarp-devices/robots/default] (robot yarp.d)
||| checking [/usr/local/share/teo-configuration-files/robots/default] (robot yarp.d)
||| checking [/home/teo/.config/yarp/contexts/bodyExecution] (context YARP_CONFIG_HOME)
||| checking [/home/teo/.local/share/yarp/contexts/bodyExecution] (context YARP_DATA_HOME)
||| checking [/etc/xdg/xdg-ubuntu/yarp/contexts/bodyExecution] (context YARP_CONFIG_DIRS)
||| checking [/usr/share/upstart/xdg/yarp/contexts/bodyExecution] (context YARP_CONFIG_DIRS)
||| checking [/etc/xdg/yarp/contexts/bodyExecution] (context YARP_CONFIG_DIRS)
||| checking [/usr/share/ubuntu/yarp/contexts/bodyExecution] (context YARP_DATA_DIRS)
||| checking [/usr/share/gnome/yarp/contexts/bodyExecution] (context YARP_DATA_DIRS)
||| checking [/usr/local/share/yarp/contexts/bodyExecution] (context YARP_DATA_DIRS)
||| checking [/usr/share/yarp/contexts/bodyExecution] (context YARP_DATA_DIRS)
||| checking [/usr/local/share/roboticslab-speech/contexts/bodyExecution] (context yarp.d)
||| checking [/usr/local/share/roboticslab-yarp-devices/contexts/bodyExecution] (context yarp.d)
||| checking [/usr/local/share/teo-configuration-files/contexts/bodyExecution] (context yarp.d)
||| checking [/home/teo/.config/yarp/bodyExecution.ini] (YARP_CONFIG_HOME)
||| checking [/home/teo/.local/share/yarp/bodyExecution.ini] (YARP_DATA_HOME)
||| checking [/etc/xdg/xdg-ubuntu/yarp/bodyExecution.ini] (YARP_CONFIG_DIRS)
||| checking [/usr/share/upstart/xdg/yarp/bodyExecution.ini] (YARP_CONFIG_DIRS)
||| checking [/etc/xdg/yarp/bodyExecution.ini] (YARP_CONFIG_DIRS)
||| checking [/usr/share/ubuntu/yarp/bodyExecution.ini] (YARP_DATA_DIRS)
||| checking [/usr/share/gnome/yarp/bodyExecution.ini] (YARP_DATA_DIRS)
||| checking [/usr/local/share/yarp/bodyExecution.ini] (YARP_DATA_DIRS)
||| checking [/usr/share/yarp/bodyExecution.ini] (YARP_DATA_DIRS)
||| checking [/usr/local/share/roboticslab-speech/bodyExecution.ini] (yarp.d)
||| checking [/usr/local/share/roboticslab-yarp-devices/bodyExecution.ini] (yarp.d)
||| checking [/usr/local/share/teo-configuration-files/bodyExecution.ini] (yarp.d)
||| did not find bodyExecution.ini
yarp: cannot read from bodyExecution.ini
Run "./bodyExecution --help" for options.
./bodyExecution checking for yarp network... [ok]
--------------------------------------------------------------
yarp: Port /bodyExecution/teo/leftArm/rpc:o active at tcp://2.2.2.100:10019/
yarp: Port /bodyExecution/teo/leftArm/command:o active at tcp://2.2.2.100:10020/
yarp: Port /bodyExecution/teo/leftArm/stateExt:i active at tcp://2.2.2.100:10021/
yarp: Sending output from /bodyExecution/teo/leftArm/rpc:o to /teo/leftArm/rpc:i using tcp
yarp: Sending output from /bodyExecution/teo/leftArm/command:o to /teo/leftArm/command:i using udp
yarp: Receiving input from /teo/leftArm/stateExt:o to /bodyExecution/teo/leftArm/stateExt:i using udp
[ERROR]expecting protocol 1 9 0, but the device we are connecting to has protocol version 1 5 1
[ERROR] please update YARP or the remotecontrolboard implementation
[ERROR]checkProtocolVersion failed 
yarp: Removing output from /bodyExecution/teo/leftArm/rpc:o to /teo/leftArm/rpc:i
yarp: Removing output from /bodyExecution/teo/leftArm/command:o to /teo/leftArm/command:i
yarp: Removing input from /teo/leftArm/stateExt:o to /bodyExecution/teo/leftArm/stateExt:i
yarpdev: ***ERROR*** driver <remote_controlboard> was found but could not open
robot leftArm device not available.
[INFO]RFModule failed to open.

maybe the problem is the yarp version installed on teo-manipulation (YARP 2.3.68) I am trying to update the yarp version but I found this issue

PeterBowman · 2017-10-17T11:47:21Z

[ERROR]expecting protocol 1 9 0, but the device we are connecting to has protocol version 1 5 1

Looks like pre-2.3.70 YARP was using protocol version 1.5.1 (all the way down to YARP 2.3.65). You should install YARP 2.3.70+ on both ends: the PC you are running the presentation app on and the robot itself (teo-manipulation).

jgvictores · 2017-10-17T14:29:44Z

That's correct... WIP in #24, now called "Updating recommended version of YARP for Debian 6.0".

jgvictores · 2017-10-21T10:26:27Z

Blocked by #24 and therefore roboticslab-uc3m/yarp-devices#118.

rsantos88 · 2018-01-26T10:40:26Z

unblocked by #24

rsantos88 · 2018-01-26T10:51:21Z

no more setPositionMode() required with yarp::dev::IPositionControl
see commit here roboticslab-uc3m/teo-self-presentation@6ee98b9

PeterBowman · 2018-01-27T12:33:15Z

@rsantos88 I think it's actually a good practice to set an initial control mode prior to using the remote controlboard. You can't be sure how did previous executions end (perhaps velocity or torque mode).

jgvictores · 2018-01-27T16:24:07Z

IControlMode2 FTW! 🎉

jgvictores · 2018-01-28T10:49:45Z

This is,

headIPositionControl->setPositionMode();

And similar should not be simply erased, but instead become something more like:

headIControlMode2-> [[set to position mode via IControlMode2 method ]]

rsantos88 · 2018-01-29T11:11:15Z

Ok, so I understand that now we should use IControlMode2 to set the initial mode and them IPositionControl2 to configure the parameters (speeds, acceleration..) and set the positions.

jgvictores · 2018-01-29T11:12:15Z

Yes, precisely!

PeterBowman · 2018-01-29T13:24:24Z

Looks like pre-2.3.70 YARP was using protocol version 1.5.1 (all the way down to YARP 2.3.65). You should install YARP 2.3.70+ on both ends: the PC you are running the presentation app on and the robot itself (teo-manipulation).

I've never noticed the ignoreProtocolCheck config option in the remote_controlboard device (ref). That is, YARP v2.3.70+ might connect to the server wrapper in the onboard CPU even if still running YARP v2.3.68.

jgvictores · 2018-01-29T16:05:12Z

I've never noticed the ignoreProtocolCheck config option in the remote_controlboard device (ref). That is, YARP v2.3.70+ might connect to the server wrapper in the onboard CPU even if still running YARP v2.3.68.

That seems dangerous (refs: 1,2).

rsantos88 · 2018-01-30T14:11:11Z

I've updated teo-self-presentation using the new interfaces as we have commented here.
You can see here the changes. It works well but if you see something wrong or improvable, tell me.
This app has been updated using the new yarp version, removing deprecated function as you know.
If you want to update other apps like follow-me, please open other issue.
I'll close it :-)

jgvictores · 2018-01-30T15:15:48Z

Further improvements on current fix-bodyexecution branch, namely:

rsantos88 · 2018-01-30T15:36:30Z

Pull request for this improvements here
Thanks @jgvictores !

jgvictores · 2018-01-30T15:38:07Z

Perfect! Merged!!
Thanks a lot.

rsantos88 added the question label Oct 16, 2017

rsantos88 assigned jgvictores Oct 16, 2017

jgvictores added blocked and removed question labels Oct 21, 2017

jgvictores removed their assignment Oct 21, 2017

jgvictores changed the title ~~Yarp deprecated functions: setPositionMode() in class yarp::dev::IPositionControl~~ [install-yarp.md] Yarp deprecated functions: setPositionMode() in class yarp::dev::IPositionControl Jan 6, 2018

jgvictores changed the title ~~[install-yarp.md] Yarp deprecated functions: setPositionMode() in class yarp::dev::IPositionControl~~ [yarp] Deprecated functions: setPositionMode() in class yarp::dev::IPositionControl Jan 6, 2018

rsantos88 added status: in progress and removed blocked labels Jan 26, 2018

rsantos88 closed this as completed Jan 30, 2018

jgvictores removed the status: in progress label Dec 14, 2018

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[yarp] Deprecated functions: setPositionMode() in class yarp::dev::IPositionControl #23

[yarp] Deprecated functions: setPositionMode() in class yarp::dev::IPositionControl #23

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[yarp] Deprecated functions: setPositionMode() in class yarp::dev::IPositionControl #23

[yarp] Deprecated functions: setPositionMode() in class yarp::dev::IPositionControl #23

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