search

robotology / walking-teleoperation

Software related to walking and teleoperation.
BSD 3-Clause "New" or "Revised" License
30 stars 14 forks source link

The virtualizer module stops with error "Virtualizer misscalibrated or disconnected" #74

Closed S-Dafarra closed 2 years ago

S-Dafarra commented 2 years ago

It fails with the error Virtualizer misscalibrated or disconnected. Looking at https://github.com/robotology/walking-teleoperation/blob/9d13329716269ca1c44fefe225c38c83f1c27f79/modules/Virtualizer_module/src/VirtualizerModule.cpp#L372

I think that the problem is that the input angle jumps from +180 to -180.

cc @GiulioRomualdi @kouroshD

kouroshD commented 2 years ago

playerYaw

No, that should not be a problem, because the angle is normalized here https://github.com/robotology/walking-teleoperation/blob/9d13329716269ca1c44fefe225c38c83f1c27f79/modules/Virtualizer_module/src/VirtualizerModule.cpp#L368

kouroshD commented 2 years ago

Normally, that means that the readouts are not OK. Is the virtualizer calibrated and does it continuously get updated? You may check that with the virtualizer GUI.

S-Dafarra commented 2 years ago

Yes, I double checked the values, and I was simply moving too fast. Maybe 0.15 is too small of a threshold?

kouroshD commented 2 years ago

That value is meant as a safety threshold when we are inside the virtualizer, off course with the hand we can move fast, but when we are inside virtualizer, it is hard to reach that value with the torso moving in a normal situation!

In any case, we can increase that value if necessary.

S-Dafarra commented 2 years ago

Ok let's keep it like this for the time being. Closing. Thanks @kouroshD for the support