Closed nunoguedelha closed 2 years ago
sens.imu
entry to sens.legacyIMU
.I have a doubt about the torso data format (/icub/torso/inertialGYRO), I have to check with @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?
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.
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)) () () () () () ()
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.
I had found the port name
/icub/torso/inertialGYRO
in the configuration files.
Can you link which file you are referring to?
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.
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.
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.