Open Two CartesianControllerClient at the same time

[pattacini]

@samialperen commented on Wed Sep 12 2018

Hello,

I have created a client, server and trigger like in the assignment_motor_control to move both arms of iCub simultaneously. However, instead of using IPositionControl, I am using ICartesianControl for this purpose. It works quite fine and there is no problem with it. In another source file "frame_number_listener.cpp" I want to subscribe a ROS topic and when this ROS topic is available, I want to write pose and orientation information of all joints of right and left arms to a text file.

The problem is that when I try to open cartesiancontrollerclient device again (which is already opened in trigger.cpp for left_arm and client.cpp for right_arm) in my frame_number_listener.cpp, it could not be opened. However, what I want is to use getPose function to obtain pose information on joints. To make sure that the problem is caused because of this, I moved only left arm in my trigger.cpp (i did not open cartesiancontrollerclient for right_arm in client.cpp and I recorded right_arm's joints using frame_number_listener.cpp and it worked quite fine.

Could anyone give me any advice to solve this issue? I do not want to make ROS subscription in one of the client, server or trigger because the topic's frequency that I want to subscribe is high and I lost information while waiting for motions to be done.

Is there an easy way to get all joint's pose?

Here are my frame_number_listener.cpp:

class MyModule:public yarp::os::RFModule
{
private:
    .............   
public:
    ...

    bool updateModule()
    {
        yarp::rosmsg::std_msgs::UInt32* input_from_ros =subscriber.read();
        if( input_from_ros->data > 0 )
        {
            yInfo() << "I heard: " << input_from_ros->data;
            yarp::sig::Vector x,o;
            textfile << input_from_ros->data << std::endl;
            for (int i=0; i<=9; i++)
            {
                armL->getPose(i,x,o);
                textfile << x.toString();
                textfile << "\t\t";
                textfile << o.toString() << std::endl;
            }
        }
        else
        {
            yError() << "There is no useful data to read!";
        }
        return true;
    }

    bool LArm_config()
    {
        yarp::os::Property optLarm;
        optLarm.put("device", "cartesiancontrollerclient");
        optLarm.put("remote", "/icubSim/cartesianController/left_arm");
        optLarm.put("local", "/cartesian_server/left_arm");

        bool ok_L = false;
        double t0_L = yarp::os::Time::now();
        while (yarp::os::Time::now() - t0_L < 10.0)
        {
            if (drvLArm.open(optLarm))
            {
                ok_L = true;
                break;
            }

            yarp::os::Time::delay(1.0);
        }

        if (!ok_L)
        {
            yError() << "Unable to open the Cartesian Controller for Left Arm";
            return false;
        }

        drvLArm.view(armL);

        armL->storeContext(&startup_context_idL);

        yInfo() << "Left Arm Config is Successfull";
        return true;
    }

    bool configure(yarp::os::ResourceFinder &rf)
    {
        bool LArm_bool = false;
        LArm_bool = LArm_config();
        subscriber.topic("/saved_frame_number");

        return LArm_bool;
    }

   ....
};

int main(int argc, char * argv[])
{
    yarp::os::Network yarp;

    std::string save_dir = "~/my_save_dir/";
    MyModule module(save_dir);
    yarp::os::ResourceFinder rf;
    rf.configure(argc, argv);
        
    module.configure(rf);    
    module.runModule();   
    return 0;
}

[pattacini]

Hi @samialperen

Most likely, the problem originates from the fact that the two programs are trying to open up a client whose ports do share the same local stem-name /cartesian_server/left_arm causing address conflicts when running the second program in a row.

Opting for different local stem-names should sort it out.

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