Visualise `inertials` (from all IMUs)

[nunoguedelha]

Visualise the inertial data (rpy, gyro, accelerometer) from all the IMUs available on the robot, e.g. on iCubGenova09:

The sensors Yarp wrapper configuration files are located at ami-iit/robots-configuration#devel_iCubGenova09.

IMU sensor location	Config file	YARP port	Device Type
Head	head-inertials_wrapper.xml	/icub/head/inertials/measures:o	multipleanalogsensorsserver
Left arm	left_arm-IMU_wrapper.xml	/icub/left_arm/imu/measures:o	multipleanalogsensorsserver
Right arm	right_arm-IMU_wrapper.xml	/icub/right_arm/imu/measures:o	multipleanalogsensorsserver
Left leg	left_leg-IMU_wrapper.xml	/icub/left_leg/imu/measures:o	multipleanalogsensorsserver
Right leg	right_leg-IMU_wrapper.xml	/icub/right_leg/imu/measures:o	multipleanalogsensorsserver
Left foot	left_foot-IMU_wrapper.xml	/icub/left_foot/imu/measures:o	multipleanalogsensorsserver
Right foot	right_foot-IMU_wrapper.xml	/icub/right_foot/imu/measures:o	multipleanalogsensorsserver
Torso	torso_inertial_wrapper.xml	/icub/torso/inertialGYRO	analogServer

Device Type	Data Format
multipleanalogsensorsserver	( ((Euler x-y-z) timestamp) ((Accelerometer x-y-z) timestamp) ((Gyroscope x-y-z) timestamp) ((Magnetometer x-y-z) timestamp) ) () () () ...
analogServer	(Euler x-y-z Accelerometer x-y-z Gyroscope x-y-z Magnetometer x-y-z)

[nunoguedelha]

Implementation Steps

• [x] [iCubTelemVizServer] Rename sens.imu entry to sens.legacyIMU.
• [x] [icubdictionary] Add m.a.s. IMUs entries for head, torso and limbs.
• [x] [icubtelemetry] Add m.a.s. IMUs data parsing.
• [x] [Config] Add ports for head, torso and limbs IMUs.

[nunoguedelha]

I have a doubt about the torso data format (/icub/torso/inertialGYRO), I have to check with @S-Dafarra ...

[S-Dafarra]

I have a doubt about the torso data format (/icub/torso/inertialGYRO), I have to check with @S-Dafarra ...

Can you please give me some detail about what you would need to check?

[nunoguedelha]

I need to check the format of the output data on /icub/torso/inertialGYRO. It would be enough if you just read the port on a terminal and send me an output sample.

[S-Dafarra]

I need to check the format of the output data on /icub/torso/inertialGYRO. It would be enough if you just read the port on a terminal and send me an output sample.

There is no such port on iCub3.

I tried to read /icub/left_arm/imu/measures:o and here is the output

(((-0.0625 0.0 0.0) 1661963846.1387887001)) (((-2.66999999999999992895 -1.09000000000000007994 -9.39000000000000056843) 1661963846.13878726959)) (((0.0 0.0 0.0) 1661963846.13878774643)) (((-173.9375 15.8125 283.75) 1661963846.13878893852)) () () () () () ()
(((-0.0625 0.0 0.0) 1661963846.1387887001)) (((-2.66999999999999992895 -1.09000000000000007994 -9.39000000000000056843) 1661963846.13878726959)) (((0.0 0.0 0.0) 1661963846.13878774643)) (((-173.9375 15.8125 283.75) 1661963846.13878893852)) () () () () () ()
(((-0.0625 -0.125 -0.25) 1661963846.18890333176)) (((-2.66999999999999992895 -1.10000000000000008882 -9.39000000000000056843) 1661963846.18890309334)) (((0.0 0.0 0.0) 1661963846.18890309334)) (((-173.9375 15.8125 283.75) 1661963846.18890357018)) () () () () () ()
(((-0.0625 -0.125 -0.25) 1661963846.18890333176)) (((-2.66999999999999992895 -1.10000000000000008882 -9.39000000000000056843) 1661963846.18890309334)) (((0.0 0.0 0.0) 1661963846.18890309334)) (((-173.9375 15.8125 283.75) 1661963846.18890357018)) () () () () () ()
(((-0.0625 -0.125 -0.25) 1661963846.18890333176)) (((-2.66999999999999992895 -1.10000000000000008882 -9.39000000000000056843) 1661963846.18890309334)) (((0.0 0.0 0.0) 1661963846.18890309334)) (((-173.9375 15.8125 283.75) 1661963846.18890357018)) () () () () () ()

[nunoguedelha]

Yes that's the format I was expecting for the arms and legs IMUs ports. I find it strange that the magnetometer values are so high... I had found the port name /icub/torso/inertialGYRO in the configuration files.

[S-Dafarra]

I had found the port name /icub/torso/inertialGYRO in the configuration files.

Can you link which file you are referring to?

[nunoguedelha]

Sorry I didn't mention, the links of the configuration files are in the table in the issue description: https://github.com/ami-iit/robots-configuration/blob/devel_iCubGenova09/iCubGenova09/wrappers/inertials/torso_inertial_wrapper.xml .

Probably the file is not added to the main icub interface configuration file.

[nunoguedelha]

As you mentioned in the meeting today that there is no actual IMU on the torso, or at least yet, and as agreed in the meeting, we drop the torso IMU in these changes. I'll update ASAP the PR.