YarpSensorBridge fails in attaching FT IMU in simulation

[GiulioRomualdi]

I'm trying to test icub-tech-iit/ergocub-software#217 with YarpRobotLoggerDevice. To do so I modified the configuration file of the logger as 9089463

However when I run the device I got

[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::checkAttachedMASSensors] Expecting the same number of MAS sensors attached to the Bridge as many mentioned in the initialization step. Number of MAS sensor in the interface: 0. Number of sensor in initialization: 4.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::attachAndCheckMASSensors] Could not find at least one of the required sensors.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::attachAllInertials] Unable to attach the accelerometer as MAS.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::setDriversList] Failed to attach to one or more device drivers.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpRobotLoggerDevice::attachAll] Could not attach drivers list to sensor bridge.
[ERROR] Device yarp-robot-logger cannot execute attach
[ERROR] Cannot run attach action on device yarp-robot-logger

@G-Cervettini did you ever expirienced the same issue?

[GiulioRomualdi]

I tried to replicate @G-Cervettini setup but the issue is still there

[G-Cervettini]

I'm trying to test icub-tech-iit/ergocub-software#217 with YarpRobotLoggerDevice. To do so I modified the configuration file of the logger as 9089463

However when I run the device I got

[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::checkAttachedMASSensors] Expecting the same number of MAS sensors attached to the Bridge as many mentioned in the initialization step. Number of MAS sensor in the interface: 0. Number of sensor in initialization: 4.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::attachAndCheckMASSensors] Could not find at least one of the required sensors.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::Impl::attachAllInertials] Unable to attach the accelerometer as MAS.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpSensorBridge::setDriversList] Failed to attach to one or more device drivers.
[ERROR] [2024-02-13 09:39:06.481] [thread: 438810] [blf] [YarpRobotLoggerDevice::attachAll] Could not attach drivers list to sensor bridge.
[ERROR] Device yarp-robot-logger cannot execute attach
[ERROR] Cannot run attach action on device yarp-robot-logger

@G-Cervettini did you ever expirienced the same issue?

Looks like the error I had back in time here. Even though my error was mentioning orientation while here it is about accelerometer.

[GiulioRomualdi]

I debugged the issue with @G-Cervettini it turns out to be a typo in the configuration file 😭

#808 adds the logging of the feet IMU in simulation

[S-Dafarra]

cc @rob-mau I don't remember if you were experiencing the same issue the other day

[rob-mau]

Yes, I was experiencing some similar issues (there was a problem with "l_leg_ft", "r_leg_ft" in the yarp-robot-logger.xml configuration file). I solved it by updating the ergocub-software repo.