Error while opening the remote_controlboard of the icubSim head

[Sohaib448506]

Hi World, I installed ICUB and yarp from the platform of robotology. I run the code and it's work. But one of mine friend did the same process as given in Robotology and run the code. But he is getting error . Kindly have a look and guide me how to solve it.

Code:

function gazeShift_iCub()  
[objcoorPort,objs,portLeft,portRight,headDriver,headPos,headEncs]=yarpInit();
%%  Initialization
stepSize=1;
allowedPans=[-20:stepSize:+20]; 
allowedTilts=[-12:stepSize:+12]; 
headcentPans=[-20:0.1:+20]; 
headcentTilts=[-12:0.1:+12]; 
for k=1:length(allowedPans)
            for l=1:length(allowedTilts)
                panVal=allowedPans(randi(length(allowedPans)));
                tiltVal=allowedTilts(randi(length(allowedTilts)));
                headPos.positionMove(4,panVal); % Joint 4 both Eyes pan/version
                headPos.positionMove(3,tiltVal); % Joint 3 both Eyes tilt
                pause(60);
                headPos.positionMove(4,0); % Joint 4 both Eyes pan/version
                headPos.positionMove(3,0); % Joint 3 both Eyes tilt
                pause(3); 
            end
end
%% Functions
function [objcoorPort,objs,portLeft,portRight,headDriver,headPos,headEncs]=yarpInit()
yarp.matlab.LoadYarp;
import yarp.Port;
import yarp.Bottle;
import yarp.BufferedPortImageRgb
import yarp.BufferedPortBottle;
portLeft=BufferedPortImageRgb;
portRight=BufferedPortImageRgb;
portLeft.open('/matlab/LeftEye');
yarp.Network.connect('/icubSim/cam/left/fovea','/matlab/LeftEye');
portRight.open('/matlab/RightEye');
yarp.Network.connect('/icubSim/cam/right/fovea','/matlab/RightEye');
yarp.Network.init();
%  prepare a property object
headOptions = yarp.Property();
headOptions.put('device','remote_controlboard');
headOptions.put('local','/client/head');
headOptions.put('remote','/icubSim/head');
%  create remote driver
headDriver = yarp.PolyDriver(headOptions);
headPos = headDriver.viewIPositionControl();
headEncs = headDriver.viewIEncoders();
joints=headPos.getAxes();    % get the number of controlled axes in joints
% %print 'Controlling', 'joints'
encoders=yarp.Vector(joints);
headEncs.getEncoders(encoders.data());
objcoorPort=Port;
objcoorPort.open('/matlab/objcoordTx');
%objs=Bottle; 
objs=Bottle;

Following the result of same code which is working at my computer.

Error:

coordSaccadeAndVergenceLearn_iCub
Yarp library loaded and initialized
[INFO] |yarp.os.Port| Port /matlab/LeftEye active at
tcp://192.168.10.10:10054/
[INFO] |yarp.os.Port| Port /matlab/RightEye active at
tcp://192.168.10.10:10055/
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "remote_controlboard"
plugin (not built in, and no .ini file found for it)Check that
YARP_DATA_DIRS leads to at least one directory with
plugins/remote_controlboard.ini or
share/yarp/plugins/remote_controlboard.ini in it
[ERROR] |yarp.dev.PolyDriver| Could not find device <remote_controlboard>
Dot indexing is not supported for variables of this type.

Error in coordSaccadeAndVergenceLearn_iCub>yarpInit (line 319)
joints=headPos.getAxes();    % get the number of controlled axes in joints

Error in coordSaccadeAndVergenceLearn_iCub (line 6)
[objcoorPort,objs,portLeft,portRight,headDriver,headPos,headEncs]=yarpInit();

Thanks...............................

[pattacini]

Very likely, if you run the command below

$ yarpdev --list | grep remote_controlboard

you won't find any reference, meaning that YARP is unable to find the necessary information to instantiate the device driver network wrapper.

A possible solution is suggested in the output you reported:

Check that YARP_DATA_DIRS leads to at least one directory with
plugins/remote_controlboard.ini or
share/yarp/plugins/remote_controlboard.ini in it

If you install the software using the robotology-superbuild, this will be taken care of. By contrast, you ought to set up the YARP_DATA_DIRS env variable pointing to a proper path under which that particular ini file is stored.

[traversaro]

If you install the software using the robotology-superbuild, this will be taken care of. By contrast, you ought to set up the YARP_DATA_DIRS env variable pointing to a proper path under which that particular ini file is stored.

Yes, that should be the case, in particular if you correctly sourced the setup.sh or equivalent environment script, as described in https://github.com/robotology/robotology-superbuild#configure-your-environment (assuming that you are using Ubuntu). Given that you are using MATLAB, you should make sure that you are opening MATLAB in a way that it gets the environment variables set by the setup.sh script, for example my launching it from a terminal in which the setup.sh script was sourced.

To summarize, I think that if you could provide the following info it would be easier for us to help you:

• Which operating system you are using?
• How did you configured your environment?
• How are you launching MATLAB?

[Sohaib448506]

@traversaro and @pattacini ..Thanks Issues resolved by opening the MATLAB from terminal.