Yarp not working in iCub Head

[MrHuangWenjie]

Robot Name: iCubManchester01 S/N:011

The yarp command is not working in the iCub head, but it worked before. The thing that has ever been updated on iCub-head is the password of the user.

I am connecting to the robot with an Ubuntu 22.04 machine via ssh. The error I received when running any of yarp run, yarp-- version, and so on was yarp: Command not found. However, yarp is certainly there in the installation directory /usr/local/src/robot/robotology-superbuild/build/install/bin. Thus, I went into the directory and ran yarp again. The error was error while loading shared libraries: libACE-7.0.6.so: cannot open shared object file: No such file or directory.

Could you please help solve this problem?

Many thanks,
Wenjie

[traversaro]

Hello @MrHuangWenjie, can you please share the output of the env command in the terminal of the icub-head ?

fyi @AntonioConsilvio @Nicogene

[MrHuangWenjie]

here is the output of env:

LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36: LD_LIBRARY_PATH=:/usr/local/src/robot/icub-tests/suits/build-pc104/plugin SSH_CONNECTION=10.0.0.1 57298 10.0.0.2 22 YARP_DIR=/usr/local/src/robot/yarp/build-pc104 ROBOT_CODE=/usr/local/src/robot LANG=en_US.UTF-8 ICUB_ROOT=/usr/local/src/robot/icub-main YARP_ROOT=/usr/local/src/robot/yarp CFW2CANAPI_DIR=/lib/modules/4.9.0-4-rt-amd64/iCubDrivers//cfw002/ XDG_SESSION_ID=1 USER=icub PWD=/home/icub HOME=/home/icub ICUB_BUILD_PATHNAME=build-pc104 SSH_CLIENT=10.0.0.1 57298 22 YARP_VERBOSE_OUTPUT=0 YARP_COLORED_OUTPUT=1 YARP_ROBOT_NAME=iCubManchester01 YARP_FORWARD_LOG_ENABLE=0 SSH_TTY=/dev/pts/0 MAIL=/var/mail/icub icub_firmware_shared_DIR=/usr/local/src/robot/icub-firmware-shared/build-pc104 TERM=xterm-256color SHELL=/bin/bash ICUB_DIR=/usr/local/src/robot/icub-main/build-pc104 YARP_DATA_DIRS=/usr/local/src/robot/yarp/build-pc104/share/yarp:/usr/local/src/robot/icub-main/build-pc104/share/iCub:/usr/local/src/robot/iCubContrib/share/ICUBcontrib:/usr/local/src/robot/icub-tests/suits CMAKE_BUILD_TYPE=Release SHLVL=1 LOGNAME=icub XDG_RUNTIME_DIR=/run/user/1000 PATH=/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games:/usr/local/src/robot/icub-main/build-pc104/bin:/usr/local/src/robot/yarp/build-pc104/bin ICUBcontrib_DIR=/usr/local/src/robot/iCubContrib YARP_TRACE_ENABLE=0 _=/usr/bin/env

[traversaro]

Ok, indeed it does not seems that the installation on the icub-head was managed via the robotology-superbuild, as it may be expected from such an old robot.

I see that you also included more details in robotology/icub-tech-support#2183, in future please cross-link any related issue that you already opened, thanks.

So, I think it would be great to first understand the status of the icub-head at the moment.

In particular:

• Which operating system is installed in it?
• How was yarp and icub-main installed?

[MrHuangWenjie]

The OS system is Debian GNU/Linux 9 (stretch). The yarp and icub-main were installed by IIT, so I have no idea about this.

[traversaro]

Ok! Can you please the output of ls /usr/local/src/robot/ so that we understand if you only have YARP installed or also something else? The strange error is that "error while loading shared libraries: libACE-7.0.6.so: cannot open shared object file: No such file or directory." libace 7.0.6 is not available on Debian 9, so perhaps you update to Ubuntu 22.04 somewhere else?

[MrHuangWenjie]

Hi, the output is only 'robotology-superbuild'.

I did not update anything on icub-head, but I am using an Ubuntu 22.04 to connect to iCub-head.

[traversaro]

On old platforms, the /usr/local/src/robot was a shared network drive between icub-head and the laptop. Are you sure you did not deleted the /usr/local/src/robot/yarp/build-pc104 and /usr/local/src/robot/icub-main/build-pc104 folders from this shared network drive? That is what probably caused the icub-head to stop working.

[MrHuangWenjie]

Hi, I see your point. I logged into the old laptop with iCub, which was an Ubuntu 16.04 machine. Under the directory, /usr/local/src/robot/yarp/build-pc104 and /usr/local/src/robot/icub-main/build-pc104 are still there. However, I would like to use my new laptop to work with icub. Is it possible?

[traversaro]

Sure, you either need to re-create the yarp and icub-main folders in the new laptop (following the documentation in https://icub-tech-iit.github.io/documentation/sw_installation/linux_from_sources_manual/, but probably you need to change it to account for the old system you are using) or copy the folders from the old laptop to the new laptop.

[MrHuangWenjie]

Hi, thank you! I will try the solutions.

[MrHuangWenjie]

Hi, I have solved the yarp issue by coping the folders. At the meantime, I copies also other folders including icub-basic-demos. However, it seems that icub-basic-demos does not work straight away by doing so. I cannot see applications of those demos in yarpmanager. Do I need to re-build these applications on the new system?

[traversaro]

Yes, if you are builing yarp and icub without the suoperbuild, you also need to build icub-basic-demos outside of the superbuild.