iCubGenova02 not starting after #178

After #178 was merged, the startup is failing. It is correctly started by moving back to previous https://github.com/robotology/robots-configuration/commit/1a05e7825afcab6ade8a9477b56f584c95a18ccf.
I think the problem is due to the fact that the Firmware of the robot FTs is not updated.
CC @marcoaccame
Here is the output:
/iCubGenova02(devel)$ yarprobotinterface --config icub_wbd.xml
[DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/robotology/robots-configuration/iCubGenova02/icub_wbd.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/robotology/robots-configuration/iCubGenova02/icub_wbd.xml
[DEBUG] Preprocessor complete in:  0.0375211 s
[INFO] |yarp.os.Port| Port /icub/yarprobotinterface active at tcp://<IP_ADDRESS>:10011/
[INFO] startup phase starting...
[DEBUG] eth::parser::print(pc104Data) for PC104:
[DEBUG] PC104/PC104IpAddress:PC104IpPort =  <IP_ADDRESS>:12345
[DEBUG] PC104/PC104TXrate =  1
[DEBUG] PC104/PC104RXrate =  5
[DEBUG] EthSender is a PeriodicThread with txrate = 1 ms
[DEBUG] EthReceiver is a PeriodicThread with rxrate = 5 ms
[WARNING] in EthReceiver::config() the config socket has queue size =  2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG] eth::parser::print(boardData) for BOARD head-eb20-j0_1
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  head-eb20-j0_1
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (head-eb20-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  head-eb20-j0_1 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] EthResource::verifyBoardPresence() found BOARD head-eb20-j0_1 with IP <IP_ADDRESS> after 0.00337386 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb20-j0_1 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb20-j0_1 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD head-eb20-j0_1 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD head-eb20-j0_1 @ IP <IP_ADDRESS> of type mc4plus with FW = ver 3.23 built on 2019 Dec 13 16:30
[DEBUG]  from BOARD <IP_ADDRESS> (head-eb20-j0_1), src LOCAL, adr 0, time 72s 237m 339u: (code 0x05000015, par16 0x2000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[DEBUG]  from BOARD <IP_ADDRESS> (head-eb20-j0_1), src LOCAL, adr 0, time 72s 238m 404u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + .
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD head-eb21-j2_5
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  head-eb21-j2_5
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (head-eb21-j2_5) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  head-eb21-j2_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] EthResource::verifyBoardPresence() found BOARD head-eb21-j2_5 with IP <IP_ADDRESS> after 0.00357771 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb21-j2_5 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb21-j2_5 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD head-eb21-j2_5 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD head-eb21-j2_5 @ IP <IP_ADDRESS> of type mc4plus with FW = ver 3.23 built on 2019 Dec 13 16:30
[DEBUG]  from BOARD <IP_ADDRESS> (head-eb21-j2_5), src LOCAL, adr 0, time 72s 386m 352u: (code 0x05000015, par16 0x4000 par64 0x000000000000ff00) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[DEBUG]  from BOARD <IP_ADDRESS> (head-eb21-j2_5), src LOCAL, adr 0, time 72s 387m 439u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + .
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icub/head : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icub/head  initting YARP initialization
[INFO] |yarp.os.Port| Port /icub/head/rpc:i active at tcp://<IP_ADDRESS>:10012/
[INFO] |yarp.os.Port| Port /icub/head/command:i active at tcp://<IP_ADDRESS>:10013/
[INFO] |yarp.os.Port| Port /icub/head/state:o active at tcp://<IP_ADDRESS>:10014/
[INFO] |yarp.os.Port| Port /icub/head/stateExt:o active at tcp://<IP_ADDRESS>:10015/
[INFO] created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD face-eb22-j0
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  face-eb22-j0
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (face-eb22-j0) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  face-eb22-j0 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] EthResource::verifyBoardPresence() found BOARD face-eb22-j0 with IP <IP_ADDRESS> after 0.00158954 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD face-eb22-j0 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD face-eb22-j0 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD face-eb22-j0 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD face-eb22-j0 @ IP <IP_ADDRESS> of type mc4plus with FW = ver 3.23 built on 2019 Dec 13 16:30
[DEBUG]  from BOARD <IP_ADDRESS> (face-eb22-j0), src LOCAL, adr 0, time 72s 697m 258u: (code 0x05000015, par16 0x1000 par64 0x00000000000f0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[DEBUG]  from BOARD <IP_ADDRESS> (face-eb22-j0), src LOCAL, adr 0, time 72s 698m 241u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + .
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icub/face : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icub/face  initting YARP initialization
[INFO] |yarp.os.Port| Port /icub/face/rpc:i active at tcp://<IP_ADDRESS>:10016/
[INFO] |yarp.os.Port| Port /icub/face/command:i active at tcp://<IP_ADDRESS>:10017/
[INFO] |yarp.os.Port| Port /icub/face/state:o active at tcp://<IP_ADDRESS>:10018/
[INFO] |yarp.os.Port| Port /icub/face/stateExt:o active at tcp://<IP_ADDRESS>:10019/
[INFO] created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD torso-eb5-j0_2
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  torso-eb5-j0_2
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (torso-eb5-j0_2) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  torso-eb5-j0_2 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[WARNING] Verbose parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8)
[WARNING] In  torso-eb5-j0_2  there isn't 2FOC.Verbose filed. For default it is enabled
[WARNING] AutoCalibration parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8)
[WARNING] In  torso-eb5-j0_2  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[DEBUG] EthResource::verifyBoardPresence() found BOARD torso-eb5-j0_2 with IP <IP_ADDRESS> after 0.00450635 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD torso-eb5-j0_2 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD torso-eb5-j0_2 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD torso-eb5-j0_2 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD torso-eb5-j0_2 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[DEBUG]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2), src LOCAL, adr 0, time 72s 658m 412u: (code 0x05000015, par16 0x3000 par64 0x000000000fff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2) @ 72s 658m 566u: CAN discovery has started for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2) @ 72s 659m 326u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2) @ 72s 659m 464u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2) @ 72s 659m 602u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2) @ 72s 659m 750u: CAN discovery is OK for 3 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2), src LOCAL, adr 0, time 72s 660m 162u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2), src LOCAL, adr 2, time 72s 730m 167u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2), src LOCAL, adr 2, time 72s 730m 266u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2), src LOCAL, adr 0, time 72s 745m 363u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2), src LOCAL, adr 0, time 72s 745m 462u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2), src LOCAL, adr 1, time 72s 760m 476u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (torso-eb5-j0_2), src LOCAL, adr 1, time 72s 760m 576u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icub/torso : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icub/torso  initting YARP initialization
[INFO] |yarp.os.Port| Port /icub/torso/rpc:i active at tcp://<IP_ADDRESS>:10020/
[INFO] |yarp.os.Port| Port /icub/torso/command:i active at tcp://<IP_ADDRESS>:10021/
[INFO] |yarp.os.Port| Port /icub/torso/state:o active at tcp://<IP_ADDRESS>:10022/
[INFO] |yarp.os.Port| Port /icub/torso/stateExt:o active at tcp://<IP_ADDRESS>:10023/
[INFO] created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb1-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb1-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  left_arm-eb1-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[WARNING] Verbose parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)
[WARNING] In  left_arm-eb1-j0_3  there isn't 2FOC.Verbose filed. For default it is enabled
[WARNING] AutoCalibration parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)
[WARNING] In  left_arm-eb1-j0_3  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb1-j0_3 with IP <IP_ADDRESS> after 0.00561213 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb1-j0_3 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb1-j0_3 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb1-j0_3 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_arm-eb1-j0_3 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 0, time 72s 927m 450u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 72s 927m 603u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 72s 928m 559u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 72s 928m 697u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 72s 928m 835u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 72s 928m 974u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 72s 929m 124u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 0, time 72s 929m 574u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 0, time 73s 14m 651u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 0, time 73s 14m 750u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 1, time 73s 29m 604u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 1, time 73s 29m 704u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 2, time 73s 44m 544u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 2, time 73s 44m 644u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 3, time 73s 60m 663u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 3, time 73s 60m 762u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb2-j4_15
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb2-j4_15
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  left_arm-eb2-j4_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb2-j4_15 with IP <IP_ADDRESS> after 0.00514817 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb2-j4_15 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb2-j4_15 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb2-j4_15 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_arm-eb2-j4_15 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 137m 703u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0.
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 138m 665u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 138m 811u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15), src LOCAL, adr 0, time 73s 138m 930u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 139m 87u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.6 and application ver 0.0.0.
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 140m 877u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 141m 18u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 1 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 141m 156u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 141m 294u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 141m 432u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 141m 571u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 73s 141m 718u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.6 and application ver 0.0.0. Search time was 1 ms
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15), src LOCAL, adr 0, time 73s 142m 97u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + .
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icub/left_arm : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icub/left_arm  initting YARP initialization
[INFO] |yarp.os.Port| Port /icub/left_arm/rpc:i active at tcp://<IP_ADDRESS>:10024/
[INFO] |yarp.os.Port| Port /icub/left_arm/command:i active at tcp://<IP_ADDRESS>:10025/
[INFO] |yarp.os.Port| Port /icub/left_arm/state:o active at tcp://<IP_ADDRESS>:10026/
[INFO] |yarp.os.Port| Port /icub/left_arm/stateExt:o active at tcp://<IP_ADDRESS>:10027/
[INFO] created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb3-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_arm-eb3-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  right_arm-eb3-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[WARNING] Verbose parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)
[WARNING] In  right_arm-eb3-j0_3  there isn't 2FOC.Verbose filed. For default it is enabled
[WARNING] AutoCalibration parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)
[WARNING] In  right_arm-eb3-j0_3  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb3-j0_3 with IP <IP_ADDRESS> after 0.00111055 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb3-j0_3 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb3-j0_3 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb3-j0_3 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_arm-eb3-j0_3 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 0, time 73s 676m 449u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 73s 676m 603u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 73s 677m 559u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 73s 677m 698u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 73s 677m 836u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 73s 677m 974u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 73s 678m 150u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 0, time 73s 678m 599u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 0, time 73s 762m 971u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 0, time 73s 763m 73u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 1, time 73s 777m 0u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 1, time 73s 778m 102u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 2, time 73s 792m 829u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 2, time 73s 792m 928u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 3, time 73s 808m 826u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 3, time 73s 808m 925u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb4-j4_15
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_arm-eb4-j4_15
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  right_arm-eb4-j4_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb4-j4_15 with IP <IP_ADDRESS> after 0.00400567 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb4-j4_15 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb4-j4_15 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb4-j4_15 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_arm-eb4-j4_15 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 873m 959u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0.
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 875m 264u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.3 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 875m 410u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15), src LOCAL, adr 0, time 73s 875m 529u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 875m 683u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.6 and application ver 0.0.0.
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 877m 431u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 877m 569u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 877m 707u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 877m 846u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 877m 984u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 878m 125u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 73s 878m 272u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.6 and application ver 0.0.0. Search time was 1 ms
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15), src LOCAL, adr 0, time 73s 878m 649u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + .
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icub/right_arm : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icub/right_arm  initting YARP initialization
[INFO] |yarp.os.Port| Port /icub/right_arm/rpc:i active at tcp://<IP_ADDRESS>:10028/
[INFO] |yarp.os.Port| Port /icub/right_arm/command:i active at tcp://<IP_ADDRESS>:10029/
[INFO] |yarp.os.Port| Port /icub/right_arm/state:o active at tcp://<IP_ADDRESS>:10030/
[INFO] |yarp.os.Port| Port /icub/right_arm/stateExt:o active at tcp://<IP_ADDRESS>:10031/
[INFO] created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb6-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb6-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  left_leg-eb6-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[WARNING] Verbose parameter not found for board left_leg-eb6-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)
[WARNING] In  left_leg-eb6-j0_3  there isn't 2FOC.Verbose filed. For default it is enabled
[WARNING] AutoCalibration parameter not found for board left_leg-eb6-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)
[WARNING] In  left_leg-eb6-j0_3  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb6-j0_3 with IP <IP_ADDRESS> after 0.00160885 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb6-j0_3 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb6-j0_3 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb6-j0_3 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_leg-eb6-j0_3 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 0, time 74s 416m 444u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 74s 416m 598u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 74s 417m 554u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 74s 417m 692u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 74s 417m 831u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 74s 417m 969u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 74s 418m 119u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 0, time 74s 418m 572u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 0, time 74s 502m 686u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 0, time 74s 502m 785u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 1, time 74s 518m 683u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 1, time 74s 518m 783u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 2, time 74s 533m 801u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 2, time 74s 533m 901u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 3, time 74s 548m 662u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 3, time 74s 548m 762u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb7-j4_5
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb7-j4_5
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  left_leg-eb7-j4_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[WARNING] Verbose parameter not found for board left_leg-eb7-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8)
[WARNING] In  left_leg-eb7-j4_5  there isn't 2FOC.Verbose filed. For default it is enabled
[WARNING] AutoCalibration parameter not found for board left_leg-eb7-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8)
[WARNING] In  left_leg-eb7-j4_5  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb7-j4_5 with IP <IP_ADDRESS> after 0.00552773 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb7-j4_5 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb7-j4_5 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb7-j4_5 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_leg-eb7-j4_5 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 0, time 74s 641m 373u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 74s 641m 526u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 74s 642m 96u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 74s 642m 234u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 74s 642m 382u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 0, time 74s 642m 754u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 0, time 74s 697m 997u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 0, time 74s 698m 98u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 1, time 74s 712m 852u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 1, time 74s 712m 952u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icub/left_leg : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icub/left_leg  initting YARP initialization
[INFO] |yarp.os.Port| Port /icub/left_leg/rpc:i active at tcp://<IP_ADDRESS>:10032/
[INFO] |yarp.os.Port| Port /icub/left_leg/command:i active at tcp://<IP_ADDRESS>:10033/
[INFO] |yarp.os.Port| Port /icub/left_leg/state:o active at tcp://<IP_ADDRESS>:10034/
[INFO] |yarp.os.Port| Port /icub/left_leg/stateExt:o active at tcp://<IP_ADDRESS>:10035/
[INFO] created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb8-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_leg-eb8-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  right_leg-eb8-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[WARNING] Verbose parameter not found for board right_leg-eb8-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)
[WARNING] In  right_leg-eb8-j0_3  there isn't 2FOC.Verbose filed. For default it is enabled
[WARNING] AutoCalibration parameter not found for board right_leg-eb8-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)
[WARNING] In  right_leg-eb8-j0_3  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb8-j0_3 with IP <IP_ADDRESS> after 0.00557661 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb8-j0_3 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb8-j0_3 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb8-j0_3 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_leg-eb8-j0_3 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 0, time 74s 878m 449u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 74s 878m 603u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 74s 879m 559u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 74s 879m 698u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 74s 879m 836u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 74s 879m 974u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 74s 880m 124u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 0, time 74s 880m 578u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 0, time 74s 964m 90u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 0, time 74s 964m 190u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 1, time 74s 979m 707u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 1, time 74s 979m 807u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 2, time 74s 994m 607u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 2, time 74s 994m 707u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 3, time 75s 9m 623u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 3, time 75s 9m 721u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb9-j4_5
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_leg-eb9-j4_5
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[WARNING] embObjMC BOARD  right_leg-eb9-j4_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[WARNING] Verbose parameter not found for board right_leg-eb9-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8)
[WARNING] In  right_leg-eb9-j4_5  there isn't 2FOC.Verbose filed. For default it is enabled
[WARNING] AutoCalibration parameter not found for board right_leg-eb9-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8)
[WARNING] In  right_leg-eb9-j4_5  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb9-j4_5 with IP <IP_ADDRESS> after 0.00441742 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb9-j4_5 with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb9-j4_5 with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb9-j4_5 with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_leg-eb9-j4_5 @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 0, time 75s 95m 373u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 75s 95m 526u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 75s 96m 95u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 75s 96m 233u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.3 Search time was 0 ms
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 75s 96m 381u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 0, time 75s 96m 752u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 0, time 75s 151m 91u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 0, time 75s 151m 190u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 1, time 75s 166m 879u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 1, time 75s 166m 979u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icub/right_leg : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icub/right_leg  initting YARP initialization
[INFO] |yarp.os.Port| Port /icub/right_leg/rpc:i active at tcp://<IP_ADDRESS>:10036/
[INFO] |yarp.os.Port| Port /icub/right_leg/command:i active at tcp://<IP_ADDRESS>:10037/
[INFO] |yarp.os.Port| Port /icub/right_leg/state:o active at tcp://<IP_ADDRESS>:10038/
[INFO] |yarp.os.Port| Port /icub/right_leg/stateExt:o active at tcp://<IP_ADDRESS>:10039/
[INFO] created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[INFO] created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Finish PassThroughInertial::open
[INFO] |yarp.os.Port| Port /imuFilter/bias:o active at tcp://<IP_ADDRESS>:10040/
[INFO] created device <imuFilter>. See C++ class yarp::dev::ImuFilter for documentation.
[INFO] created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] |yarp.devices.ServerInertial| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/inertial active at tcp://<IP_ADDRESS>:10041/
[INFO] |yarp.devices.ServerInertial| Server Inertial : no ROS initialization required
[INFO] created wrapper <inertial>. See C++ class ServerInertial for documentation.
[WARNING] Bosch BNO055 IMU -  Parameter "sensor_name" not set. Using default value  " sensor_imu_bosch_bno055 " for this parameter.
[WARNING] Bosch BNO055 IMU -  Parameter "frame_name" not set. Using the same value as "sensor_name" for this parameter.
[INFO] created device <imuBosch_BNO055>. See C++ class BoschIMU for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/left_hand/analog:o/rpc:i active at tcp://<IP_ADDRESS>:10042/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/right_hand/analog:o/rpc:i active at tcp://<IP_ADDRESS>:10043/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] The embObjMais device using BOARD left_arm-eb2-j4_15 w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - MAIS named id_l_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0)
[INFO] created device <embObjMais>. See C++ class yarp::dev::embObjMais for documentation.
[INFO] The embObjMais device using BOARD right_arm-eb4-j4_15 w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - MAIS named id_r_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0)
[INFO] created device <embObjMais>. See C++ class yarp::dev::embObjMais for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   191   0   191
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_hand
[DEBUG] |yarp.devices.AnalogWrapper| -->  192   575   0   383
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_forearm
[DEBUG] |yarp.devices.AnalogWrapper| -->  576   1343   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_arm
[INFO] |yarp.os.Port| Port /icub/skin/left_hand/rpc:i active at tcp://<IP_ADDRESS>:10044/
[INFO] |yarp.os.Port| Port /icub/skin/left_forearm/rpc:i active at tcp://<IP_ADDRESS>:10045/
[INFO] |yarp.os.Port| Port /icub/skin/left_arm/rpc:i active at tcp://<IP_ADDRESS>:10046/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 75s 809m 821u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0.
[WARNING]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15) @ 75s 809m 980u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15), src LOCAL, adr 0, time 75s 810m 140u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .
[WARNING]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15), src LOCAL, adr 0, time 75s 810m 742u: (code 0x0000000b, par16 0x025b par64 0x0084004200080017) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
[WARNING]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15), src LOCAL, adr 0, time 75s 814m 803u: (code 0x0000000d, par16 0x015e par64 0x07000017005f0008) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .
[WARNING]  from BOARD <IP_ADDRESS> (left_arm-eb2-j4_15), src LOCAL, adr 0, time 75s 825m 919u: (code 0x0000000d, par16 0x01ce par64 0x07000018006e0008) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .
[INFO] created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   191   0   191
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_hand
[DEBUG] |yarp.devices.AnalogWrapper| -->  192   575   0   383
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_forearm
[DEBUG] |yarp.devices.AnalogWrapper| -->  576   1343   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_arm
[INFO] |yarp.os.Port| Port /icub/skin/right_hand/rpc:i active at tcp://<IP_ADDRESS>:10047/
[INFO] |yarp.os.Port| Port /icub/skin/right_forearm/rpc:i active at tcp://<IP_ADDRESS>:10048/
[INFO] |yarp.os.Port| Port /icub/skin/right_arm/rpc:i active at tcp://<IP_ADDRESS>:10049/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 76s 617m 159u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0.
[WARNING]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15) @ 76s 617m 316u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15), src LOCAL, adr 0, time 76s 617m 473u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .
[WARNING]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15), src LOCAL, adr 0, time 76s 618m 87u: (code 0x0000000b, par16 0x0221 par64 0x0018002600070082) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
[WARNING]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15), src LOCAL, adr 0, time 76s 623m 147u: (code 0x0000000d, par16 0x0162 par64 0x0700001800500007) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .
[WARNING]  from BOARD <IP_ADDRESS> (right_arm-eb4-j4_15), src LOCAL, adr 0, time 76s 633m 260u: (code 0x0000000d, par16 0x01d2 par64 0x0700008300510007) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .
[INFO] created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[DEBUG] |yarp.devices.AnalogWrapper| -->  1152   2495   0   1343
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_leg_upper
[DEBUG] |yarp.devices.AnalogWrapper| -->  384   1151   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_leg_lower
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   383   0   383
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_foot
[INFO] |yarp.os.Port| Port /icub/skin/left_leg_upper/rpc:i active at tcp://<IP_ADDRESS>:10050/
[INFO] |yarp.os.Port| Port /icub/skin/left_leg_lower/rpc:i active at tcp://<IP_ADDRESS>:10051/
[INFO] |yarp.os.Port| Port /icub/skin/left_foot/rpc:i active at tcp://<IP_ADDRESS>:10052/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[DEBUG] |yarp.devices.AnalogWrapper| -->  1152   2495   0   1343
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_leg_upper
[DEBUG] |yarp.devices.AnalogWrapper| -->  384   1151   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_leg_lower
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   383   0   383
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_foot
[INFO] |yarp.os.Port| Port /icub/skin/right_leg_upper/rpc:i active at tcp://<IP_ADDRESS>:10053/
[INFO] |yarp.os.Port| Port /icub/skin/right_leg_lower/rpc:i active at tcp://<IP_ADDRESS>:10054/
[INFO] |yarp.os.Port| Port /icub/skin/right_foot/rpc:i active at tcp://<IP_ADDRESS>:10055/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] created device <skinWrapper>. See C++ class skinWrapper for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb10-skin
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb10-skin
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (left_leg-eb10-skin) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb10-skin with IP <IP_ADDRESS> after 0.00452542 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb10-skin with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb10-skin with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb10-skin with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_leg-eb10-skin @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb10-skin) @ 77s 535m 247u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0.
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb10-skin) @ 77s 535m 405u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (left_leg-eb10-skin), src LOCAL, adr 0, time 77s 535m 578u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .
[INFO] created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb11-skin
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  <IP_ADDRESS>
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_leg-eb11-skin
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD <IP_ADDRESS> (right_leg-eb11-skin) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  <IP_ADDRESS>
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb11-skin with IP <IP_ADDRESS> after 0.00515079 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb11-skin with IP <IP_ADDRESS>
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb11-skin with IP <IP_ADDRESS> : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb11-skin with IP <IP_ADDRESS> has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_leg-eb11-skin @ IP <IP_ADDRESS> of type ems4 with FW = ver 3.30 built on 2019 Dec 13 16:31
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb11-skin) @ 78s 128m 980u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0.
[WARNING]  from BOARD <IP_ADDRESS> (right_leg-eb11-skin) @ 78s 129m 139u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (right_leg-eb11-skin), src LOCAL, adr 0, time 78s 129m 312u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .
[INFO] created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   767   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  torso
[INFO] |yarp.os.Port| Port /icub/skin/torso/rpc:i active at tcp://<IP_ADDRESS>:10056/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO]  from BOARD <IP_ADDRESS> (face-eb22-j0) @ 78s 951m 52u: CAN discovery has started for 4 eobrd_mtb boards on (can1map, can2map) = (0x0780, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0.
[WARNING]  from BOARD <IP_ADDRESS> (face-eb22-j0) @ 78s 951m 212u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 4 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
[DEBUG]  from BOARD <IP_ADDRESS> (face-eb22-j0), src LOCAL, adr 0, time 78s 951m 364u: (code 0x05000005, par16 0x0001 par64 0x0000078000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .
[WARNING]  from BOARD <IP_ADDRESS> (face-eb22-j0), src LOCAL, adr 0, time 78s 951m 972u: (code 0x0000000b, par16 0x0228 par64 0x0018001400290018) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
[INFO] created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/left_arm/analog:o/rpc:i active at tcp://<IP_ADDRESS>:10057/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/right_arm/analog:o/rpc:i active at tcp://<IP_ADDRESS>:10058/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/right_leg/analog:o/rpc:i active at tcp://<IP_ADDRESS>:10059/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/left_leg/analog:o/rpc:i active at tcp://<IP_ADDRESS>:10060/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/right_foot/analog:o/rpc:i active at tcp://<IP_ADDRESS>:10061/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icub/left_foot/analog:o/rpc:i active at tcp://<IP_ADDRESS>:10062/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] The embObjStrain device using BOARD left_arm-eb1-j0_3  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0)
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 79s 436m 283u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0.
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 79s 437m 290u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.6 Search time was 0 ms
[INFO] The embObjStrain device using BOARD left_arm-eb1-j0_3  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0)
[INFO]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3) @ 79s 437m 435u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms
[DEBUG]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 0, time 79s 437m 578u: (code 0x05000008, par16 0x010d par64 0x0000000101000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[WARNING]  from BOARD <IP_ADDRESS> (left_arm-eb1-j0_3), src LOCAL, adr 0, time 79s 438m 207u: (code 0x0000000b, par16 0x020d par64 0x0020012600950063) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
[INFO] created device <embObjStrain>. See C++ class yarp::dev::embObjStrain for documentation.
[INFO] The embObjStrain device using BOARD right_arm-eb3-j0_3  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0)
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 80s 477m 451u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0.
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 80s 478m 458u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.6 Search time was 0 ms
[INFO] The embObjStrain device using BOARD right_arm-eb3-j0_3  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0)
[INFO]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3) @ 80s 478m 603u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms
[DEBUG]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 0, time 80s 478m 747u: (code 0x05000008, par16 0x010d par64 0x0000000101000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[WARNING]  from BOARD <IP_ADDRESS> (right_arm-eb3-j0_3), src LOCAL, adr 0, time 80s 479m 376u: (code 0x0000000b, par16 0x020d par64 0x008f012600950069) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
[INFO] created device <embObjStrain>. See C++ class yarp::dev::embObjStrain for documentation.
[INFO] The embObjStrain device using BOARD left_leg-eb6-j0_3  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain2 named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 81s 518m 381u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.7.
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 81s 520m 402u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms
[ERROR] embObjStrain::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD left_leg-eb6-j0_3 IP <IP_ADDRESS>
[INFO] The embObjStrain device using BOARD left_leg-eb6-j0_3  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain2 named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 81s 520m 547u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2:
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:  WRONG APPLICATION VERSION
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 0, time 81s 520m 685u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 0, time 81s 520m 814u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 81s 520m 967u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 81s 521m 115u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2:
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:  WRONG APPLICATION VERSION
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 0, time 81s 521m 555u: (code 0x0000000b, par16 0x03c7 par64 0x0062003300980020) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3), src LOCAL, adr 0, time 81s 522m 305u: (code 0x0000000b, par16 0x01d9 par64 0x002003c702e10225) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
yarpdev: ***ERROR*** driver <embObjStrain> was found but could not open
[WARNING] Cannot open device left_leg-eb6-j0_3-strain
[WARNING] Cannot open device left_leg-eb6-j0_3-strain
[INFO] The embObjStrain device using BOARD left_leg-eb7-j4_5  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain2 named id_l_lower_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[INFO]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 81s 539m 168u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.7.
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 81s 541m 171u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 1 ms
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 81s 541m 318u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2:
[ERROR] embObjStrain::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD left_leg-eb7-j4_5 IP <IP_ADDRESS>
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:  WRONG APPLICATION VERSION
[INFO] The embObjStrain device using BOARD left_leg-eb7-j4_5  w/ IP <IP_ADDRESS> has the following service config:
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 0, time 81s 541m 454u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[INFO] - acquisitionrate = 10
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 0, time 81s 541m 580u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain2 named id_l_lower_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 81s 541m 730u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 1 ms
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5) @ 81s 541m 872u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2:
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:  WRONG APPLICATION VERSION
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb7-j4_5), src LOCAL, adr 0, time 81s 542m 230u: (code 0x0000000b, par16 0x03a6 par64 0x00630021005e0069) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
yarpdev: ***ERROR*** driver <embObjStrain> was found but could not open
[WARNING] Cannot open device left_leg-eb7-j4_5-strain
[WARNING] Cannot open device left_leg-eb7-j4_5-strain
[INFO] The embObjStrain device using BOARD right_leg-eb8-j0_3  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain2 named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 81s 562m 209u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.7.
[WARNING]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 81s 564m 230u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms
[ERROR] embObjStrain::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD right_leg-eb8-j0_3 IP <IP_ADDRESS>
[INFO] The embObjStrain device using BOARD right_leg-eb8-j0_3  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain2 named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[ERROR]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 81s 564m 377u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2:
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:  WRONG APPLICATION VERSION
[ERROR]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 0, time 81s 564m 515u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[ERROR]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 0, time 81s 564m 644u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[WARNING]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 81s 564m 797u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms
[ERROR]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3) @ 81s 564m 943u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2:
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:  WRONG APPLICATION VERSION
[WARNING]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 0, time 81s 565m 382u: (code 0x0000000b, par16 0x03c2 par64 0x0069003400a30076) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
[WARNING]  from BOARD <IP_ADDRESS> (right_leg-eb8-j0_3), src LOCAL, adr 0, time 81s 566m 135u: (code 0x0000000b, par16 0x01d0 par64 0x007603c202e00222) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
yarpdev: ***ERROR*** driver <embObjStrain> was found but could not open
[WARNING] Cannot open device right_leg-eb8-j0_3-strain
[WARNING] Cannot open device right_leg-eb8-j0_3-strain
[INFO] The embObjStrain device using BOARD right_leg-eb9-j4_5  w/ IP <IP_ADDRESS> has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - useCalibration = true
[INFO] - STRAIN of type strain2 named id_r_lower_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[INFO]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 81s 576m 268u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.7.
[WARNING]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 81s 578m 270u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 1 ms
[ERROR] embObjStrain::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD right_leg-eb9-j4_5 IP <IP_ADDRESS>
[ERROR]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 81s 578m 417u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2:
[INFO] The embObjStrain device using BOARD right_leg-eb9-j4_5  w/ IP <IP_ADDRESS> has the following service config:
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:  WRONG APPLICATION VERSION
[INFO] - acquisitionrate = 10
[ERROR]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 0, time 81s 578m 553u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[INFO] - useCalibration = true
[ERROR]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 0, time 81s 578m 679u: (code 0x05000009, par16 0x010d par64 0x0000000202000200) -> CFG: EOtheSTRAIN cannot be configured. can discovery fails. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + .
[INFO] - STRAIN of type strain2 named id_r_lower_leg_strain @ CAN2:13 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[WARNING]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 81s 578m 829u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.4 Search time was 1 ms
[ERROR]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5) @ 81s 578m 971u: CAN discovery has detected 1 invalid eobrd_strain2 boards in CAN2:
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:  WRONG APPLICATION VERSION
[WARNING]  from BOARD <IP_ADDRESS> (right_leg-eb9-j4_5), src LOCAL, adr 0, time 81s 579m 329u: (code 0x0000000b, par16 0x03a4 par64 0x00630021005d0020) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .
yarpdev: ***ERROR*** driver <embObjStrain> was found but could not open
[WARNING] Cannot open device right_leg-eb9-j4_5-strain
[WARNING] Cannot open device right_leg-eb9-j4_5-strain
[DEBUG] (FirstSetOfJoints 0 3 0 3) (SecondSetOfJoints 4 6 0 2) (channels 7) (device virtualAnalogServer) (name "/icub/joint_vsens/left_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] Using VirtualAnalogServer
[INFO] |yarp.os.Port| Port /icub/joint_vsens/left_arm:i active at tcp://<IP_ADDRESS>:10063/
[INFO] created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[DEBUG] (FirstSetOfJoints 0 3 0 3) (SecondSetOfJoints 4 5 0 1) (channels 6) (device virtualAnalogServer) (name "/icub/joint_vsens/right_leg:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] Using VirtualAnalogServer
[INFO] |yarp.os.Port| Port /icub/joint_vsens/right_leg:i active at tcp://<IP_ADDRESS>:10064/
[INFO] created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[DEBUG] (FirstSetOfJoints 0 3 0 3) (SecondSetOfJoints 4 5 0 1) (channels 6) (device virtualAnalogServer) (name "/icub/joint_vsens/left_leg:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] Using VirtualAnalogServer
[INFO] |yarp.os.Port| Port /icub/joint_vsens/left_leg:i active at tcp://<IP_ADDRESS>:10065/
[INFO] created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[DEBUG] (FirstSetOfJoints 0 3 0 3) (SecondSetOfJoints 4 6 0 2) (channels 7) (device virtualAnalogServer) (name "/icub/joint_vsens/right_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] Using VirtualAnalogServer
[INFO] |yarp.os.Port| Port /icub/joint_vsens/right_arm:i active at tcp://<IP_ADDRESS>:10066/
[INFO] created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[DEBUG] (FirstSetOfJoints 0 2 0 2) (channels 3) (device virtualAnalogServer) (name "/icub/joint_vsens/torso:i") (networks (FirstSetOfJoints)) (period 10) (robotName icub)
[DEBUG] Using VirtualAnalogServer
[INFO] |yarp.os.Port| Port /icub/joint_vsens/torso:i active at tcp://<IP_ADDRESS>:10067/
[INFO] created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[INFO] created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] ***** Configuring cartesian controller *****
[INFO] Acquiring options for group GENERAL...
[INFO] Acquiring options for group DRIVER_0...
[INFO] Acquiring options for group DRIVER_1...
 See C++ class ServerCartesianController for documentation.
[INFO] ***** Configuring cartesian controller *****
[INFO] Acquiring options for group GENERAL...
[INFO] Acquiring options for group DRIVER_0...
[INFO] Acquiring options for group DRIVER_1...
 See C++ class ServerCartesianController for documentation.
[WARNING] There was some problem opening one or more devices. Please check the log and your configuration
[ERROR] One or more devices failed opening... see previous log messages for more info
[ERROR] yarprobotinterface intercepted a segmentation fault caused by a faulty plugin:
[ERROR] /usr/local/src/robot/icub-main/build/lib/iCub/cartesiancontrollerserver.so(_ZN25ServerCartesianController9detachAllEv+0x40) [0x7f7b64358b80]
Trace requested at /usr/local/src/robot/robotology-superbuild/robotology/YARP/src/yarprobotinterface/Module.cpp:86 by code called from:
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_Z16yarp_print_traceP8_IO_FILEPKcj+0x3b) [0x7f7bf5b15aab]
yarprobotinterface(+0x614a) [0x56085240a14a]
/lib/x86_64-linux-gnu/libc.so.6(+0x3ef20) [0x7f7bf514cf20]
/usr/local/src/robot/icub-main/build/lib/iCub/cartesiancontrollerserver.so(_ZN25ServerCartesianController9detachAllEv+0x40) [0x7f7b64358b80]
/usr/local/src/robot/icub-main/build/lib/iCub/cartesiancontrollerserver.so(_ZN25ServerCartesianController5closeEv+0x1a) [0x7f7b64362cfa]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_dev.so.3(_ZN4yarp3dev10PolyDriver5closeEv+0x5d) [0x7f7bf4ea937d]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3(_ZN4yarp14robotinterface6Device5closeEv+0x81) [0x7f7bf606d6d1]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3(_ZN4yarp14robotinterface5Robot7Private12closeDevicesEv+0x68) [0x7f7bf607d878]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3(_ZN4yarp14robotinterface5Robot10enterPhaseENS0_11ActionPhaseE+0x29d4) [0x7f7bf6087584]
yarprobotinterface(+0x8601) [0x56085240c601]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_ZN4yarp2os8RFModule9runModuleERNS0_14ResourceFinderE+0x72) [0x7f7bf5b5f8e2]
yarprobotinterface(+0x5110) [0x560852409110]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xe7) [0x7f7bf512fb97]
yarprobotinterface(+0x51ea) [0x5608524091ea]
Segmentation fault (core dumped)

Ciao @lrapetti ,
coudl you please remove the entire log file you add to the issue and put everything in one file . txt, it is way more readable that way.
thx in advance

yes, the firmware of the robot is not updated.
in particular the log tells that the required fw version of strain2 board is 2.0.7 and there is still 2.0.4.
[INFO] - STRAIN of type strain2 named id_l_upper_leg_strain @ CAN2:13
 with required protocol version = (2, 0) and required firmware version = (2, 0, 7)
[ERROR]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 81s 520m 547u: CAN discovery
has detected 1 invalid eobrd_strain2 boards in CAN2:
[WARNING]  from BOARD <IP_ADDRESS> (left_leg-eb6-j0_3) @ 81s 520m 967u: CAN discovery has
detected a eobrd_strain2 board in CAN2 addr 13 with
can protocol ver 2.0 and application ver 2.0.4 Search time was 2 ms
[ERROR] 1 of 1: wrong eobrd_strain2 BOARD <IP_ADDRESS>:CAN2:13 because it has:
WRONG APPLICATION VERSION

the required fw version for every board in the robot are in file: https://github.com/robotology/icub-firmware-build/blob/master/info/firmware.info.xml), and instructions on how to update are in https://github.com/robotology/icub-firmware-build/tree/master/docs

yes, the firmware of the robot is not updated.

Thanks @marcoaccame.
Some of the main iCubGenova02 users might be using old configuration files for whom the current firmware is working. I don't want to brake their applications.
I think @marco-monforte @GiuliaDAngelo (with the other iCubGenova02 users) can decide wether/when to proceed with the update of the robot firmware.

Hi everyone, I'll check that we don't have any issue in updating the firmware and I'll do it as soon as possible.

Hey guys, the firmware has been updated and now the strain2 has the 2.0.7 version.
Thanks for the help @marcoaccame .
@lrapetti when you want, we can try what you were doing and close the issue hopefully.

Thanks @marco-monforte @marcoaccame, we tried to run the robot with the configuration file in master (icub_wbd.xml) and it started correctly.
We can close the issue.