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robotology / robometry

Telemetry suite for logging data from your robot 🤖
https://robotology.github.io/robometry
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Migrate library/device/test/README to experimental namespace #118

Closed Nicogene closed 3 years ago

Nicogene commented 3 years ago

As suggested by @drdanz in #114 all the component has been migrated under the experimental namespace.

This is a first step towards #114

Nicogene commented 3 years ago

telemetryDeviceDumper tested (see https://github.com/robotology-playground/yarp-telemetry/issues/115#issuecomment-812452312).

In the dumped data I noticed some strange things.

The encoders are fine: Encoders

The velocities has strange spikes, but I suspect that are gazebo-related, they not seem corrupted data as in the past

Velocities

The accelerations are 0, but reading from the /icubSim/left_arm/stateExt:o I get 0 too:

(-28.236248898446064004 104.098246833306120607 0.114685257685557401297 14.9743547296484535991 0.0316131565940647937807 0.0729841697067017541878 0.10243839735215710951) [ok] (-6.9796794173607521472 6.46303708902291873528 3.18858403252668454186 8.09462129068094426998 2.59823309062079177423 -1.29811638110162208548 8.12032601170101031585) [ok] (0.0 0.0 0.0 0.0 0.0 0.0 0.0) [ok] (0.0 0.0 0.0 0.0 0.0 0.0 0.0) [fail] (0.0 0.0 0.0 0.0 0.0 0.0 0.0) [fail] (0.0 0.0 0.0 0.0 0.0 0.0 0.0) [fail] (1.00843141330330166028 3.06256830647855471383 -0.414156245777019149656 -21.0970765071796151346 0.0477632560715333526202 -0.0552420446141415749652 -0.0708640429945529420896) [ok] (1.00843141330330166028 3.06256830647855471383 -0.414156245777019149656 -21.0970765071796151346 0.0477632560715333526202 -0.0552420446141415749652 -0.0708640429945529420896) [ok] (1.00843141330330166028 3.06256830647855471383 -0.414156245777019149656 -21.0970765071796151346 0.0477632560715333526202 -0.0552420446141415749652 -0.0708640429945529420896) [ok] (7565168 7565168 7565168 7565168 7565168 7565168 7565168) [ok] (1718187123 1718187123 1718187123 1718187123 1718187123 1718187123 1718187123) [ok]

maybe the acceleration are not computed in gazebo @traversaro ?

(Sorry for the missing unit measures, Encoders -> x:seconds y:deg, Velocities -> x:seconds y:deg/s)

Nicogene commented 3 years ago

Except for those spikes, the velocities looks fine:

immagine

traversaro commented 3 years ago

maybe the acceleration are not computed in gazebo @traversaro ?

Confirmed: https://github.com/robotology/gazebo-yarp-plugins/blob/6936859f7249d234e895a97556c884159cced643/plugins/controlboard/src/ControlBoardDriverEncoders.cpp#L128 .

Nicogene commented 3 years ago

Confirmed: https://github.com/robotology/gazebo-yarp-plugins/blob/6936859f7249d234e895a97556c884159cced643/plugins/controlboard/src/ControlBoardDriverEncoders.cpp#L128 .

~Shall I open an issue for that?~

Here it is https://github.com/robotology/gazebo-yarp-plugins/issues/360