[ERROR] ClusterWidget: port /icub-head is not responding #721

jimingda · 2024-12-09T06:56:00Z

jimingda
Dec 9, 2024

Hi,

I’m encountering an similar issue to #711 where I can’t connect to the icub-head. I’ve already checked the IP configuration in yarp.conf, and the yarpserver appears to be functioning properly.

Anyone have any advice on what I might be missing?

Thanks!

icub@icubsrv:~$ yarp conf
/home/icub/.config/yarp/_icub.conf
icub@icubsrv:~$ cat /home/icub/.config/yarp/_icub.conf
172.17.0.1 10000 yarp
icub@icubsrv:~$ yarp name list
registration name /icub ip 172.17.0.1 port 10000 type tcp
registration name fallback ip 224.2.1.1 port 10000 type mcast
*** end of message
icub@icubsrv:~$ 
icub@icubsrv:~$ yarpmanager
[ERROR] |yarp.os.Property| cannot read from ymanager.ini
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://192.168.1.10:10002/
[WARNING] Cannot connect to /icubsrv
[ERROR] ClusterWidget: port /icubsrv is not responding
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://192.168.1.10:10002/
[WARNING] Cannot connect to /icub-head
[ERROR] ClusterWidget: port /icub-head is not responding
icub@icubsrv's password: 
[INFO] |yarp.os.Port|/icubsrv| Port /icubsrv active at tcp://192.168.1.10:10003/
[INFO] Yarprun successfully started on port:  /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://192.168.1.10:10002/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Sending output from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Receiving input from /tmp/port/1 to /icubsrv using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/tmp/port/1| Removing output from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.impl.PortCoreInputUnit|/icubsrv| Removing input from /tmp/port/1 to /icubsrv
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://192.168.1.10:10002/
[WARNING] Cannot connect to /icub-head
[ERROR] ClusterWidget: port /icub-head is not responding

icub@icubsrv:~$ yarpserver

     ==========================
    | __  __ ___  ____   ____  |
    | \ \/ //   ||  _ \ |  _ \ |
    |  \  // /| || |/ / | |/ / |
    |  / // ___ ||  _ \ |  _/  |
    | /_//_/  |_||_| \_\|_|    |
    |                          |
     ==========================

Call with --help for information on available options
Using port database: :memory:
Using subscription database: :memory:
IP address: default
Port number: 10000
[INFO] |yarp.os.Port|/icub| Port /icub active at tcp://172.17.0.1:10000/
Registering name server with itself
 * register "/icub" tcp "172.17.0.1" 10000
   + set "/icub" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icub" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icub" ips "127.0.0.1" "192.168.1.10" "10.188.216.195" "172.19.0.1" "172.17.0.1" "172.18.0.1" "::1" "fe80::c689:274f:61fc:225f%2" "2001:da8:8001:844:5125:8f3a:dbdc:3209" "2001:da8:8001:844:fc23:8373:e176:cf61" "fe80::ad75:f809:b5ab:3d97%3" "fe80::42:52ff:febb:9449%4" "fe80::784f:e3ff:feb8:98a%8" "fe80::18ef:f1ff:fe46:fb90%10"
   + set "/icub" process 304820
 * register fallback mcast "224.2.1.1" 10000
   + set fallback offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set fallback accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set fallback ips "127.0.0.1" "192.168.1.10" "10.188.216.195" "172.19.0.1" "172.17.0.1" "172.18.0.1" "::1" "fe80::c689:274f:61fc:225f%2" "2001:da8:8001:844:5125:8f3a:dbdc:3209" "2001:da8:8001:844:fc23:8373:e176:cf61" "fe80::ad75:f809:b5ab:3d97%3" "fe80::42:52ff:febb:9449%4" "fe80::784f:e3ff:feb8:98a%8" "fe80::18ef:f1ff:fe46:fb90%10"
   + set fallback process 304820
 * set "/icub" nameserver "true"
Name server can be browsed at http://172.17.0.1:10000/
Ok. Ready!
 * get "/icub" nameserver
 * register "..."
 * set "/tmp/port/1" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
 * set "/tmp/port/1" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
 * set "/tmp/port/1" ips "127.0.0.1" "192.168.1.10" "10.188.216.195" "172.19.0.1" "172.17.0.1" "172.18.0.1" "::1" "fe80::c689:274f:61fc:225f%2" "2001:da8:8001:844:5125:8f3a:dbdc:3209" "2001:da8:8001:844:fc23:8373:e176:cf61" "fe80::ad75:f809:b5ab:3d97%3" "fe80::42:52ff:febb:9449%4" "fe80::784f:e3ff:feb8:98a%8" "fe80::18ef:f1ff:fe46:fb90%10"
 * set "/tmp/port/1" process 304916
-> announce "/tmp/port/1"
 * query "/tmp/port/1"
 * query "/icubsrv"
 * unregister "/tmp/port/1"
 * register "..."
 * set "/tmp/port/1" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
 * set "/tmp/port/1" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human mjpeg portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
 * set "/tmp/port/1" ips "127.0.0.1" "192.168.1.10" "10.188.216.195" "172.19.0.1" "172.17.0.1" "172.18.0.1" "::1" "fe80::c689:274f:61fc:225f%2" "2001:da8:8001:844:5125:8f3a:dbdc:3209" "2001:da8:8001:844:fc23:8373:e176:cf61" "fe80::ad75:f809:b5ab:3d97%3" "fe80::42:52ff:febb:9449%4" "fe80::784f:e3ff:feb8:98a%8" "fe80::18ef:f1ff:fe46:fb90%10"
 * set "/tmp/port/1" process 304916
-> announce "/tmp/port/1"
 * query "/tmp/port/1"
 * query "/icub-head"
 * unregister "/tmp/port/1"
 * bot list

Answered by pattacini

Dec 11, 2024

Hi @jimingda

The network configuration of your icubsrv seems to be quite messy: by inspecting the output of ifconfig -a, there ain't even a network adapter that is clearly configured to have the IP 10.0.0.1.

What happened to your icubsrv? Do you know if any installation/upgrade/strange operation took place?

You may try to set up the cabled ETH network adapter of icubsrv connected to the robot by following these instructions:

https://icub-tech-iit.github.io/documentation/icub_operating_systems/other-machines/icub-server-laptop/?h=#network-configuration

This adapter has to be configured with a static IP equal to 10.0.0.1 and netmask 255.255.255.0.
Make use of the Ubuntu Network Manager GU…

View full answer

pattacini · 2024-12-09T08:17:50Z

pattacini
Dec 9, 2024
Maintainer

Hi @jimingda

Apparently, you checked the yarp conf stuff on the icubsrv laptop and not on the icub-head machine.
Both machines ought to be aligned.

8 replies

jimingda Dec 10, 2024
Author

Hi @pattacini

I didn’t find any issues with the Ethernet cable, but I still can’t ping 10.0.0.2.
Is there a way to check if the robot is booting correctly? The power-up process didn’t show any errors.

pattacini Dec 10, 2024
Maintainer

Well, first off check that the ETH cable is correctly plugged into the robot socket. Then, you may scan the ETH network to seek the available nodes:

Install nmap on icubsrv.
Check that icubsrv has a good IP:
```
(sudo) ifconfig -a
```
Scan the network:
```
nmap -sP 10.0.0.*
```

What are the available nodes?

jimingda Dec 11, 2024
Author

I got the following result, it seems that didn't find 10.0.0.2.

icub@icubsrv:~$ sudo ifconfig -a
[sudo] password for icub: 
br-e6b9e6023663: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 172.19.0.1  netmask 255.255.0.0  broadcast 172.19.255.255
        inet6 fe80::42:cff:febc:fb11  prefixlen 64  scopeid 0x20<link>
        ether 02:42:0c:bc:fb:11  txqueuelen 0  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 1753  bytes 294057 (294.0 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

docker0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        inet 172.17.0.1  netmask 255.255.0.0  broadcast 172.17.255.255
        ether 02:42:e2:0a:0e:02  txqueuelen 0  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

docker_gwbridge: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        inet 172.18.0.1  netmask 255.255.0.0  broadcast 172.18.255.255
        ether 02:42:f5:91:06:2a  txqueuelen 0  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

enp0s31f6: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.1.10  netmask 255.255.255.0  broadcast 192.168.1.255
        inet6 fe80::c689:274f:61fc:225f  prefixlen 64  scopeid 0x20<link>
        ether 00:be:43:1b:ac:d0  txqueuelen 1000  (Ethernet)
        RX packets 10948  bytes 703106 (703.1 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 1406  bytes 140869 (140.8 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 16  memory 0xa2300000-a2320000  

lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10<host>
        loop  txqueuelen 1000  (Local Loopback)
        RX packets 1508860  bytes 35052436377 (35.0 GB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 1508860  bytes 35052436377 (35.0 GB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

veth075c521: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet6 fe80::1cca:e5ff:fe4e:75b4  prefixlen 64  scopeid 0x20<link>
        ether 1e:ca:e5:4e:75:b4  txqueuelen 0  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 1851  bytes 308397 (308.3 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

veth776947e: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet6 fe80::b0bf:90ff:febc:cea6  prefixlen 64  scopeid 0x20<link>
        ether b2:bf:90:bc:ce:a6  txqueuelen 0  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 1851  bytes 308397 (308.3 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

wlp0s20f3: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 10.188.216.195  netmask 255.255.224.0  broadcast 10.188.223.255
        inet6 2001:da8:8001:844:987d:a510:f3f1:69a7  prefixlen 64  scopeid 0x0<global>
        inet6 2001:da8:8001:844:fc23:8373:e176:cf61  prefixlen 64  scopeid 0x0<global>
        inet6 fe80::ad75:f809:b5ab:3d97  prefixlen 64  scopeid 0x20<link>
        ether 20:c1:9b:20:37:21  txqueuelen 1000  (Ethernet)
        RX packets 30556471  bytes 37608045465 (37.6 GB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 3626302  bytes 2390485282 (2.3 GB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

icub@icubsrv:~$ nmap -sP 10.0.0.*
Starting Nmap 7.80 ( https://nmap.org ) at 2024-12-11 17:13 CST
Nmap scan report for icubsrv (10.0.0.1)
Host is up (0.0050s latency).
Nmap done: 256 IP addresses (1 host up) scanned in 3.01 seconds

pattacini Dec 11, 2024
Maintainer

Hi @jimingda

The network configuration of your icubsrv seems to be quite messy: by inspecting the output of ifconfig -a, there ain't even a network adapter that is clearly configured to have the IP 10.0.0.1.

What happened to your icubsrv? Do you know if any installation/upgrade/strange operation took place?

You may try to set up the cabled ETH network adapter of icubsrv connected to the robot by following these instructions:

https://icub-tech-iit.github.io/documentation/icub_operating_systems/other-machines/icub-server-laptop/?h=#network-configuration

This adapter has to be configured with a static IP equal to 10.0.0.1 and netmask 255.255.255.0.
Make use of the Ubuntu Network Manager GUI for that.

Answer selected by jimingda

jimingda Dec 11, 2024
Author

Thanks @pattacini

Previously, I configured my static IP address and subnet mask as follows.

After setting the static IP to 10.0.0.1 and the subnet mask to 255.255.255.0 of the wired Network on laptop, I was able to detect the device at 10.0.0.2 on the network, as showed.

icub@icubsrv:~$ nmap -sP 10.0.0.*
Starting Nmap 7.80 ( https://nmap.org ) at 2024-12-11 21:55 CST
Nmap scan report for icubsrv (10.0.0.1)
Host is up (0.00055s latency).
Nmap scan report for icub-head (10.0.0.2)
Host is up (0.0013s latency).
Nmap done: 256 IP addresses (2 hosts up) scanned in 3.61 seconds

And thus i can connect to icub-head now.

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[ERROR] ClusterWidget: port /icub-head is not responding #721

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