Open lrapetti opened 1 year ago
cc @traversaro
For the ROS part, you can use WrenchStampedRosPublisher
as long as you expose the data also with a yarp::dev::ISixAxisForceTorqueSensors
. For the YARP part, who is using /HDE/HumanWrenchPublisher/wrench:o
? There is any assumption that the data is in vector form?
For the YARP part, who is using
/HDE/HumanWrenchPublisher/wrench:o
? There is any assumption that the data is in vector form?
I think that specific port is not used, but there is a second analogServer
here publishing on /HDE/HumanWrenchWrapper/wrench:o
. That port is generally used by the visualizer assuming it's a vector (see here). In case we develop dedicated wrapper/remapper (nws/nwc), we can easily change that part and it would probably also improve the readability. I don't know if you already had in mind another alternative solution.
I have opened https://github.com/robotology/human-dynamics-estimation/issues/361 to address the replacement of analogServer
for what concern the YARP messages. It will remain the analogServer
to stream data in ROS which should be replaced.
I think we can close this issue, am I right?
Apparently three files are still using that:
I would remove the files before closing the issue. If instead the files are still used, then we have a problem. fyi @S-Dafarra @mebbaid
Apparently three files are still using that:
I would remove the files before closing the issue. If instead the files are still used, then we have a problem. fyi @S-Dafarra @mebbaid
I think this is similar to what @dariosortino did for the iFeel part. Those wrappers were useful to stream over ROS the values of the shoes I suppose. I doubt they work anyhow, since the ROS group has disappeared from recent versions of the device.
As far as I know
human.xml
side, the main users are the iFeel human wrenches visualization guys. I think they already moved from streaming the data in that way @dariosortino may confirm.
- on the
human.xml
side, the main users are the iFeel human wrenches visualization guys. I think they already moved from streaming the data in that way @dariosortino may confirm.
Sorry but about this I don't really know much what's going on currently
- on the
human.xml
side, the main users are the iFeel human wrenches visualization guys. I think they already moved from streaming the data in that way @dariosortino may confirm.Sorry but about this I don't really know much what's going on currently
I guess it all boils down to which files you are using in the iFeel-Human demos. If you are not using https://github.com/robotology/human-dynamics-estimation/blob/48d0147a69572cb2d3c3cf06c421d2703e0bc2ed/conf/xml/Human.xml#L197 anymore, then I guess we can remove them. fyi @claudia-lat @GiulioRomualdi
Checking in our configuration files, it seems that we don't use that anymore
Perfect, I guess we can delete the human.xml
in this repo then.
- The PHRI XML files were used by @lrapetti for his experiments. Those same experiments will be reproduced by @CarlottaSartore and in this case it maybe a good chance to remove them and adapt to new versions of the device
Those file are actually older, I think they were used for An.Dy demo before I even joined! Concerning Human.xml
that's the file that was used for Xsens, I don't know if it might still be needed.
It would be nice also to correct this https://github.com/robotology/human-dynamics-estimation/blob/master/misc/hde_scheme.png
It would be nice also to correct this https://github.com/robotology/human-dynamics-estimation/blob/master/misc/hde_scheme.png
@lrapetti do you happen to know where the source of that drawing is?
@traversaro I've got the .svg of the scheme, I will fix it together with @davidegorbani.
you can use the updated figure discussed in the handover in https://github.com/ami-iit/element_ergonomy-control/issues/183#issuecomment-1872496045
Currently we are using the
analogServer
in order to stream the wrench data fromIHumanWrench
interface (see https://github.com/search?q=repo%3Arobotology%2Fhuman-dynamics-estimation%20analogServer&type=code). However, theanalogServer
corresponds to theanalogWrapper
mentioned in https://github.com/robotology/yarp/pull/2999, which will be soon be deprecated.Indeed we should understand what are the alternatives. One option could be to implement our own message, and wrapper/remapper devices as we are doing for the
IHumanState
andIHumanDynamics
, and removing theIAnalogSensor
interface from the wrench provider (see here). Clearly this will also break theROS
pipeline, which anyway should be soon addressed (see also https://github.com/robotology/human-dynamics-estimation/issues/335).Another option, would be to understand what is the alternative device.