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Add an utility to test the correct mounting of the feet IMUs sensors #62

Merged
merged 37 commits into from
Jan 22, 2021
Merged

Add an utility to test the correct mounting of the feet IMUs sensors #62

merged 37 commits into from
Jan 22, 2021

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S-Dafarra
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@S-Dafarra S-Dafarra added this to the Iteration 47 - Hot restart milestone Jul 6, 2020
@S-Dafarra S-Dafarra self-assigned this Jul 6, 2020
@GiulioRomualdi GiulioRomualdi mentioned this pull request Jul 6, 2020
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prashanthr05
prashanthr05 reviewed Jul 6, 2020
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utilities/MasImuTest/src/MasImuTest.cpp Outdated Show resolved Hide resolved
utilities/MasImuTest/src/MasImuTest.cpp Outdated Show resolved Hide resolved
@prashanthr05
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In general, the code LGTM. However, it would be great to have some documentation if it's going to be streamlined as a full-fledged testing tool for MAS orientation sensors.

@S-Dafarra
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In general, the code LGTM. However, it would be great to have some documentation if it's going to be streamlined as a full-fledged testing tool for MAS orientation sensors.

That's a good point. I will add a README.

@S-Dafarra S-Dafarra mentioned this pull request Jul 7, 2020
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@GiulioRomualdi
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Hi @S-Dafarra let me know when I can start to review the PR

@S-Dafarra S-Dafarra removed this from the Closing milestone milestone Nov 3, 2020
@traversaro
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traversaro commented Nov 10, 2020 •
edited

I don't remember if we ever discussed that, but I guess you could be interested in the iDynTree::predictSensorsMeasurements function that has some functionality similar to the one of this PR (https://github.com/robotology/idyntree/blob/114671fb1a012f6214b35b8462d463fea99781fd/src/sensors/include/iDynTree/Sensors/PredictSensorsMeasurements.h#L68), see also the tests in https://github.com/robotology/idyntree/blob/114671fb1a012f6214b35b8462d463fea99781fd/src/model_io/urdf/tests/PredictSensorsMeasurementUnitTest.cpp#L103 . Another interesting reference can be robotology/icub-tests#21 .

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As mentioned in today's meeting, it could make sense to have something similar to this but for checking the FT sensors measurements (not as part of this PR, but I wanted to leave the pointers somewhere). For this, it can be useful to use the iDynTree::ExtWrenchesAndJointTorquesEstimator::computeExpectedFTSensorsMeasurements method when the only external force acting on the robot is the one supporting it on the pole. For an example of the use of this method (that internally is calling iDynTree::predictSensorsMeasurements), see https://github.com/robotology-playground/insitu-ft-analysis/blob/44e496e1ed432dcc1c7364b2bfb49442a1e2a3f6/utils/obtainEstimatedWrenches.m#L215 .

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fyi @prashanthr05

@S-Dafarra S-Dafarra force-pushed the feature/MasImuTest branch 2 times, most recently from 2bbf8a3 to 8931e27 Compare November 25, 2020 09:21
@S-Dafarra
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Really sorry for the time it took, but I guess I am finally ready to merge this.

@S-Dafarra
More detailed message when the orientation sensor is not found.
f2354cf
@S-Dafarra
Specifying also the sensor name.
f5c2dce
@S-Dafarra
The vector to read remote_control_boards is resizable.
ad3aa01
@S-Dafarra
Fixed bug in addVectorOfStringToProperty.
496e614
@S-Dafarra
Added auto-start option.
21a40ea
@S-Dafarra
Fixed missing return.
7de42f0
@S-Dafarra
Using macro to install ini files.
96c4e7b 
Fixed some indentation problem and a flag in the cmake file for creating tests.
@S-Dafarra
Added printout of the initial calibration matrix.
edfccf2
@S-Dafarra
Printing rpy in deg.
332506c
@S-Dafarra
Specifying iDynTree 1.1.0 as dependency in the config file.
a846a14
@S-Dafarra
Yet another rebase fix.
2ce7ed3
@S-Dafarra
Added matioCpp dependency.
7c43e92
@S-Dafarra
Saving all the internal data to file.
4b3178f
@S-Dafarra
Dumping also angular velocity and acceleration.
8b1a613
@S-Dafarra
Bug fix and tests on the robot.
02700ae
@S-Dafarra
Using matioCpp conversions and logging the output string.
c6c8ed9
@S-Dafarra
The frame index was taken from the full model, resulting in wrong cal…
2960d94 
…ibration.
@S-Dafarra
Added plotting script.
98f0d00
@S-Dafarra
Renamed MasImuTest to follow utilities convention.
15a3590 
Updated the CMakeLists to use the CMake macro.
Updated the README.
@S-Dafarra
Added possibility to remap the RPY angles from conf file.
001e8ad
@S-Dafarra
Made imu tests more independent. Prepare the ground to have an arbitr…
c2db6ba 
…ary number of MAS IMU tests.
@S-Dafarra
Added the possibility to run an arbitrary number of imu tests.
8916201
@S-Dafarra
Bugfixes after tests on the robot.
40825ff
@S-Dafarra
Polished matlab script.
25581df
@S-Dafarra
Updated README and changelog.
704e327
@S-Dafarra
Removed redundant check on the existence of a frame.
1e2e761
@S-Dafarra
Using more descriptive messages when the configuration fails.
f053b43
@GiulioRomualdi
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Thank you @S-Dafarra and @prashanthr05. Merging

@GiulioRomualdi GiulioRomualdi merged commit 4234989 into ami-iit:master Jan 22, 2021
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@prashanthr05 prashanthr05 prashanthr05 approved these changes

@GiulioRomualdi GiulioRomualdi Awaiting requested review from GiulioRomualdi GiulioRomualdi is a code owner

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@S-Dafarra @prashanthr05 @GiulioRomualdi @traversaro