Implement a HumanDynamicsRemapper

[Zweisteine96]

Hi @lrapetti in this issue we want to implement a HumanDynamicsRemapper.

[lrapetti]

Just to add a bit of extra information, the role of the Remapper YARP device in general is to expose the data coming from a thrifted yarp data port, trought a cpp interface. The HumanDynamicsRemapper will:

• read HumanDynamics.thrift message
• expose IHumanDynamics interface.

As an example, from which you can start, it's the HumanStateRemapper device which reads HumanState.thrift messages, exposing the IHumanState interface. As you can observe, looking at the HumanStateRemapper class header you can observe that:

• inherit from the interface that it wants to expose (see here)
• implement the callback to read the thrifted message (in this case hde::msgs::HumanState) (see here)
• implement the periodic thread (see here). (⚠️ it seems that the run() method is currently empty, so I as far as I see it is not needed to have the periodic thread)

Then in the device implementation (HumanStateRemapper.cpp), the relevant part are:

• the open method where the configuration file is parsed and the connections are done (see here)
• the onRead method where data are read from the port and saved in buffer variables
• the methods of the IHumanState interface are exposing the buffer variables data (see here)

cc @RiccardoGrieco

[Zweisteine96]

Hi @lrapetti, I updated the following files to this branch in HDE repo:

• humanDynamicsRemapper.h
• humanDynamicsRemapper.cpp
• CMakeLists.txt

About the humanDynamicsRemapper, there remains one point that I'm not very sure, that is, how could I determine the humanDynamicsDataPort shown here: https://github.com/robotology/human-dynamics-estimation/blob/humanDynamicsRemapper/remappers/HumanDynamicsRemapper/HumanDynamicsRemapper.cpp#L59.

[lrapetti]

About the humanDynamicsRemapper, there remains one point that I'm not very sure, that is, how could I determine the humanDynamicsDataPort shown here: https://github.com/robotology/human-dynamics-estimation/blob/humanDynamicsRemapper/remappers/HumanDynamicsRemapper/HumanDynamicsRemapper.cpp#L59.

This parameter will be passed trough configuration file as it is done for HumanStateRemapper in https://github.com/robotology/human-dynamics-estimation/blob/80b5e67dde7a8f9b8e675248ff3ad9109181ae7f/conf/xml/RobotPositionController_iCub.xml#L6-L8

[Zweisteine96]

I checked the configuration file here: https://github.com/robotology/human-dynamics-estimation/tree/80b5e67dde7a8f9b8e675248ff3ad9109181ae7f/conf/xml, but didn't find one that is related to the human_dynamics_remapper, did I miss something? Or should I add one such configuration file manually?

[lrapetti]

didn't find one that is related to the human_dynamics_remapper, did I miss something? Or should I add one such configuration file manually?

Since it was not implemented, there are no configuration files for human_dynamics_remapper so you should create one.

What you can test is to try to run a yarprobotinterface with the human_dynamics_wrapper such as the file Human.xml (it has the dynamics wrapper here https://github.com/robotology/human-dynamics-estimation/blob/80b5e67dde7a8f9b8e675248ff3ad9109181ae7f/conf/xml/Human.xml#L223-L232).

And then create a new yarprobotinterface with the human_dynamics_wrapper only and run it and see if it runs fine.

[traversaro]

Just to add a bit of extra information, the role of the Remapper YARP device in general is to expose the data coming from a thrifted yarp data port, trought a cpp interface.

Just FYI, what you are describing here seems to be more a "Network Wrapper Client (NWC)", see https://www.yarp.it/git-master/nws_and_nwc_architecture.html . Tipically, a remapper device is not related at all to YARP ports/ROS topics or in any case any network.

A remapper device, see for example the one listed in https://www.yarp.it/latest/group__dev__impl__remappers.html permit to take devices that a group of "quantities" such as joint-related quantities or sensor related quantities, and permit to select a subset of this quantities. For graphical display, see Slide 10 from https://github.com/vvv-school/vvv18/blob/b9b57327555bf20224dd344a520731e62224005c/material/dynamics/yarp-motor-control-for-dynamics.pdf :

[lrapetti]

Just FYI, what you are describing here seems to be more a "Network Wrapper Client (NWC)", see https://www.yarp.it/git-master/nws_and_nwc_architecture.html . Tipically, a remapper device is not related at all to YARP ports/ROS topics or in any case any network.

Ok, thanks a lot @traversaro for the clarification, I gues then we used wrong naming convention in this project. I guess the original source of confusion was the IWearRemapper device implemented in wearables which has both the role of a Client Network Wrapper and Remapper.

Indeed, if we want to align with what explained we should change all the Wrapper devices to Server Network Wrapper and the Remapper into Client Network Wrapper. However, I would consider this activity independent from @Zweisteine96 activity, we would eventually open a dedicated issue for this task.

[Zweisteine96]

The humanDynamicsRemapper has already been implemented and an PR is opened for this modification. The naming problem will be fixed in the future. Now close this issue.

[lrapetti]

The humanDynamicsRemapper has already been implemented and an PR is opened for this modification. The naming problem will be fixed in the future. Now close this issue.

I am reopening the issue since usually we close issues after merging the associated PR.

[lrapetti]

Now the PR is merged, we can close it