[controlboard] implement missing methods in GazeboYarpControlBoardDriver

[traversaro]

Several methods are not implemented in GazeboYarpControlBoardDriver.

• relativeMove(const int n_joint, const int *joints, const double *deltas)
• checkMotionDone(const int n_joint, const int *joints, bool *flags)
• setRefSpeeds(const int n_joint, const int *joints, const double *spds)
• getRefSpeeds(const int n_joint, const int *joints, double *spds)
• getRefAccelerations(const int n_joint, const int *joints, double *accs)
• stop(const int n_joint, const int *joints)
• setPositionDirectMode()
• getEncoderAcceleration(int j, double *spds)
• getEncoderAccelerations(double *accs)
• All the methods of IPidControl interface

If we want to use gazebo_yarp_controlboard for unit test of the controlboard related-software (simulated controlboard, real controlboard, wrappers) we should implement them.

cc @EnricoMingo @arocchi

[EnricoMingo]

What is a relativeMove() in joint space?
Il 13/nov/2014 09:55 "Silvio Traversaro" notifications@github.com ha
scritto:

Several methods are not implemented in GazeboYarpControlBoardDriver.

• relativeMove(const int n_joint, const int *joints, const double
  *deltas)
• checkMotionDone(const int n_joint, const int *joints, bool *flags)
• setRefSpeeds(const int n_joint, const int *joints, const double
  *spds)
• getRefSpeeds(const int n_joint, const int *joints, double *spds)
• getRefAccelerations(const int n_joint, const int *joints, double
  *accs)
• stop(const int n_joint, const int *joints)
• setPositionDirectMode()
• getEncoderAcceleration(int j, double *spds)
• getEncoderAccelerations(double *accs) If we want to use
  gazebo_yarp_controlboard for unit test of the controlboard
  related-software (simulated controlboard, real controlboard, wrappers) we
  should implement them.

cc @EnricoMingo https://github.com/EnricoMingo @arocchi
https://github.com/arocchi

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#154.

[traversaro]

Is modifies the desired position by the amount specified in delta. The "normal" relativeMove methods are implemented, the only one missing is the one for sending the command just to a subset of the joints.

[EnricoMingo]

Ok got it.
Il 13/nov/2014 10:04 "Silvio Traversaro" notifications@github.com ha
scritto:

Is modifies the desired position by the amount specified in delta. The
"normal" relativeMove methods are implemented, the only one missing is the
one for sending the command just to a subset of the joints.

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#154 (comment)
.

[arocchi]

Also didn't know about an explicit setPositionDirectMode() :P It is the same prototype we implemented in yarp_single_chain_interface BTW :P

[traversaro]

Relative to the IPidControl interfaces, we have to clean up how we load PID gains, see #119 .
Now the unit of measurement in GAZEBO_PIDS [1] I am afraid are [PidOutputUnit]/[rad*] while the IPidControl assumes that the unit of measurement are [PidOutputUnit]/[deg*] . The GAZEBO_IMPEDANCE_POSITION_PIDS gains seem ok.

To switch to degrees based groups perhaps we can load a new GAZEBO_POS_PIDS group for degree-based gains, and if this is not available we can load the old GAZEBO_PIDS group, accepting gains in radians-based units.

[1] :

gazebo-yarp-plugins/src/yarp_drivers/ControlBoardDriver.cpp

Line 351 in a6ea6d8

{

[traversaro]

The rest of methods are returning false as of #267 and are not implemented in other icub-maincontrolboards. I consider this issue to be closed when we merge #267 .

[traversaro]

Closed as #279 was closed.