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cisstLog.txt
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M- cisst 1.0.9 (git: 1.0.9-76-g2162939)
M- CISST_ROOT: undefined
M- cisst share: undefined
M- cmn_m: 1, cmn_kg: 1, CISST_USE_SI_UNITS is set to 1
M- Class cmnClassRegister: SetLogMaskClassMatching: log LoD has been set to "-D -M -W -E D- M- W- E- " for the following classes matching "mtsIntuitiveResearchKit": mtsIntuitiveResearchKitArm, mtsIntuitiveResearchKitArmQtWidget, mtsIntuitiveResearchKitArmTypesProxy, mtsIntuitiveResearchKitConsole, mtsIntuitiveResearchKitConsoleQt, mtsIntuitiveResearchKitConsoleQtWidget, mtsIntuitiveResearchKitECM, mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, mtsIntuitiveResearchKitSUJ, mtsIntuitiveResearchKitSUJQtWidget, mtsIntuitiveResearchKitUDPStreamer,
M- osaThread::CreateInternal: create thread named: Unnamed
M- osaThread::CreateInternal: create thread named: Unnamed
M- Class mtsIntuitiveResearchKitConsole: Configure: console using file "/home/adnan/dvrk_ws/src/dvrk-ros/dvrk_robot/config/console-PSM2.json"
----> content of configuration file:
/* -*- Mode: Javascript; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*- */
{
"arms" :
[
{
"io" : "sawRobotIO1394-PSM2-29130.xml",
"kinematic" : "psm-large-needle-driver.json",
"name" : "PSM2",
"pid" : "sawControllersPID-PSM.xml",
"type" : "PSM"
}
]
}
<----
M- Class mtsIntuitiveResearchKitConsole: Configure: using default io:period, io:port, io:firewire-protocol and io:watchdog-timeout
M- Class mtsIntuitiveResearchKitConsole: Configure:
- Period IO is 0.0003
- FireWire port is 0
- Protocol is 1
- Watchdog timeout is 0.03
FirewirePort::Init: number of ports = 1
FirewirePort::Init: successfully initialized port 0
FirewirePort::Init: successfully disabled cycle start packet
FirewirePort::ScanNodes: base node id = ffc0
FirewirePort::ScanNodes: building node map for 7 nodes:
Node 0, BoardId = 2, Firmware Version = 5
Node 1, BoardId = 3, Firmware Version = 5
Node 2, BoardId = 9, Firmware Version = 4
Node 3, BoardId = 8, Firmware Version = 4
Node 4, BoardId = 7, Firmware Version = 5
Node 5, BoardId = 6, Firmware Version = 5
FirewirePort::ScanNodes: all nodes broadcast capable and do not support shorter wait
FirewirePort::NumberOfUsers: found 2 users
Full lsof result:
COMMAND PID PPID USER FD TYPE DEVICE SIZE/OFF NODE NAME
dvrk_cons 7644 8048 adnan 20u CHR 244,0 0t0 333 /dev/fw0
dvrk_cons 7644 8048 adnan 27u CHR 244,0 0t0 333 /dev/fw0
dvrk_cons 7857 8063 adnan 20u CHR 244,0 0t0 333 /dev/fw0
dvrk_cons 7857 8063 adnan 27u CHR 244,0 0t0 333 /dev/fw0
sh 7870 7857 adnan 20u CHR 244,0 0t0 333 /dev/fw0
sh 7870 7857 adnan 27u CHR 244,0 0t0 333 /dev/fw0
E- cmnThrow with std::exception (osaIO1394Port: Found more than one user on firewire port: 0)
E- Class mtsRobotIO1394: File: mtsRobotIO1394.cpp Line: 178 - osaIO1394Port: Found more than one user on firewire port: 0