search

roboticslab-uc3m / amor-main

AMOR assistive robot: super/meta repository.
http://amorrobot.com/
GNU Lesser General Public License v2.1
1 stars 0 forks source link

Port monitoring and AMOR sensors (tracking) #2

Closed PeterBowman closed 6 years ago

PeterBowman commented 7 years ago
PeterBowman commented 7 years ago

Linux command used to launch the serial port device (defaults):

sudo yarpdev --device serialport --comport /dev/ttyACM0 --baudrate 115200 --paritymode NONE --readtimeoutmsec 3000 --xinenb 0 --xoutenb 0 --databits 8 --stopbits 1
jgvictores commented 7 years ago

read configuration from .ini file split main output port into separate channels, one per robot part (wrap in analogServer YARP plugin?) publish outgoing data to ROS topics

These 3 could be fulfilled by:

  1. Inherit from yarp::dev::IAnalogSensor as in yarp-devices/libraries/BodyYarp/Jr3/Jr3.hpp
  2. Wrap in analogServer as in yarp-devices/libraries/BodyYarp/Jr3/Jr3.ini
  3. As seen here, you are actually getting a yarp::dev::AnalogWrapper which can publish a ROS topic by activating the --ROS parameter as can be seen on its documentation.

Additionally:

automate port connection through .xml script file (yarpmanager?)

Yes, yarpmanager could work for this.

filter peak values (issues in data acquisition?) improve current accumulation algorithm

I'd recommend leaving these processes outside the driver (maybe that's why you are looking at port arbitration? not sure how that works with ROS topics...).

jgvictores commented 7 years ago

PS: A device wrapped in analogServercan be launched as in:

yarpdev --device Jr3 --period 20 --name /jr3:o

However, in teoBase.xml#L12-L16 we have a longer version, split into channels:

<module>
        <name>yarpdev</name>
        <parameters>--device Jr3 --period 20 --name /jr3  --ports "(ch0:o ch1:o ch2:o ch3:o)" --channels 24 --ch0:o 0 5 0 5 --ch1:o 6 11 0 5 --ch2:o 12 17 0 5 --ch3:o 18 23 0 5</parameters>
        <node>/manipulation</node>
</module>
PeterBowman commented 7 years ago

I might be missing something, but creating a new device wrapped by analogServer didn't make sense to me due to its periodicity. All I want is to pipe the output of one port to a ROS-capable PortReader, preferrably with channel splitting functionality as AnalogWrapper already provides. However, this driver would fetch incoming data at a fixed rate (indicated through the --period option). At best, I'd still lose lots of bottles in the process... DevicePipe seems to accomplish what I want, but its implementation is very limited at the moment.

I'd recommend leaving these processes outside the driver (maybe that's why you are looking at port arbitration? not sure how that works with ROS topics...).

In fact, both subtasks refer to the current Lua script implementation, which still needs some polishing.

jgvictores commented 7 years ago

However, this driver would fetch incoming data at a fixed rate (indicated through the --period option).

I used to be concerned about losing info in scenarios like having a callback with new data (such as in this working example, with semaphores and a static callback function). However, recall that in practice, somewhere, you are going to have a control loop running at a fixed rate (alternatives are relatively uncommon). Publishing faster than that control loop provides no improvement (perhaps nyquist could make you think about streaming data x2, but not faster). Inheriting from IPreciselyTimed can also be done if deemed necessary.

In fact, both subtasks refer to the current Lua script implementation, which still needs some polishing.

Ok, I understand your intentions more clearly now. Not sure how far of a stretch it is to get a mechanism like http://www.yarp.it/type_modification.html to publish a ROS topic (or several ;-))... don't forget what I commented above as a fallback plan, and good luck!

PeterBowman commented 7 years ago

Quick note to self: steps we follow to open serial communications with the Arduino, launch yarpscope and connect ports.

sudo yarpdev --device serialport --comport /dev/ttyACM0 --baudrate 115200 --paritymode NONE --readtimeoutmsec 3000 --xinenb 0 --xoutenb 0 --databits 8 --stopbits 1

yarpscope --index "(0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42)" --min 0 --max 1000

yarp connect /serial/out /yarpscope tcp+recv.portmonitor+type.lua+file.amor_sensors_modifier.lua
PeterBowman commented 7 years ago

For ease of debugging, this command show the numeric values corresponding to each sensor:

yarp read ... tcp+recv.portmonitor+type.lua+file.amor_sensors_modifier.lua://serial/out
PeterBowman commented 7 years ago

I'm getting a wierd error upon connecting ports:

[ERROR]/home/bartek/Desktop/amor_sensors_modifier.lua:139: attempt to call a nil value (global 'unpack')

This was not happening a few months ago nor today on a colleague's PC, code has not changed since then. Tested on YARP 2.3.68 and 2.3.68.1.

PeterBowman commented 7 years ago

There is ongoing work on a ProximitySensors plugin that may cover some of these goals. See yarp-devices/libraries/BodyYarp/ProximitySensors/ (current HEAD).

PeterBowman commented 6 years ago

This issues should be moved to https://github.com/roboticslab-uc3m/amor-configuration-files.

jgvictores commented 6 years ago

This issues should be moved to https://github.com/roboticslab-uc3m/amor-configuration-files.

Ref: https://github.com/roboticslab-uc3m/amor-configuration-files/issues/1

PeterBowman commented 6 years ago

This issue was moved to roboticslab-uc3m/yarp-devices#177