[fbeV1] simple floating base estimation algorithm

prashanthr05 commented 5 years ago

TODO: to organize the repository structure in a way that the implementation of this version of base estimator is separately accessible and coherent with the other whole-body-estimators to be implemented in the future.

Also need to take into account the current refactoring phase of the estimator-framework.

traversaro commented 5 years ago

Note that to mark draft PR, instead of marking them as WIP you can use draft PR, see https://github.blog/2019-02-14-introducing-draft-pull-requests/ .

traversaro commented 5 years ago

I am fine in copy&pasting the code from walking-controllers if it is to proceed forward fast, but it would be great if we have a strategy (i.e. moving this utilities somewhere else) to avoid this duplication.

DanielePucci commented 5 years ago

@prashanthr05 @traversaro We may discuss this today F2F

prashanthr05 commented 5 years ago

With @traversaro, we agreed that this repository should be a common-place for any estimator software developments like base-estimator (v1, v2, etc), wholebodydynamics device...

We discussed f2f a proper repository structure to have devices like base-estimator-v1, wholebodydynamics separate but also room for any common libraries that might be used.
Also, at the moment it should be noted that some libraries used by the estimator device are also used by walking-controllers.
- The actual solution would be to have a common repository for these library factors.
- The temporary solution would be to not have same library names for the factors present in both walking-controllers and whole-body-estimators in order to avoid any shared library conflicts.

I shall remodify the repository structure as desired.

Meanwhile in another PR, I will work on porting the wholebodydynamics to this repository from codyco-modules and avoid any dependencies on codyco-modules from this repository.

cc @DanielePucci

prashanthr05 commented 5 years ago

cc @traversaro I think this PR is ready for review.

traversaro commented 5 years ago

Sorry for the delay!

prashanthr05 commented 5 years ago

@traversaro Thanks Silvio!

@GiulioRomualdi is currently testing this device with torque-walking, if he gives a thumbs up with the tests, then we can merge it to devel and master.

GiulioRomualdi commented 5 years ago

Tested in simulation, it works as expected.

GiulioRomualdi commented 5 years ago

I don't know if it is a bug or something wanted but every time I run the code the device returns the following warnings

[DEBUG]Reading file /home/gromualdi/robot-code/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml 
[WARNING]Invalid syntax while loading /home/gromualdi/robot-code/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml at line 1 . No DTD found. Assuming version yarprobotinterfaceV1.0 
[DEBUG]yarprobotinterface: using xml parser for DTD v1.x 
[DEBUG]Reading file /home/gromualdi/robot-code/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml 
[WARNING]Invalid syntax while loading /home/gromualdi/robot-code/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml at line 9 . "robot" element should contain the "portprefix" attribute. Using "name" attribute

prashanthr05 commented 5 years ago

I don't know if it is a bug or something wanted but every time I run the code the device returns the following warnings

[DEBUG]Reading file /home/gromualdi/robot-code/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml 
[WARNING]Invalid syntax while loading /home/gromualdi/robot-code/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml at line 1 . No DTD found. Assuming version yarprobotinterfaceV1.0 
[DEBUG]yarprobotinterface: using xml parser for DTD v1.x 
[DEBUG]Reading file /home/gromualdi/robot-code/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml 
[WARNING]Invalid syntax while loading /home/gromualdi/robot-code/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5/launch-fbe-analogsens.xml at line 9 . "robot" element should contain the "portprefix" attribute. Using "name" attribute

This bug is because the latest YARP requires the DTD version to be 3.0x. And also few of the soft requirements of the yarprobotinreface xml syntax are being violated.

I will fix it in a commit and push, then we can merge.

prashanthr05 commented 5 years ago

@traversaro you could merge it now, thanks!

traversaro commented 5 years ago

You are the mantainer, so feel free to merge it!

prashanthr05 commented 5 years ago

@traversaro @GiulioRomualdi Merged, thank you guys!

robotology / whole-body-estimators

[fbeV1] simple floating base estimation algorithm #1