Add the documentation to run the test with pixi

robotology · Mar 11, 2024 · f815cf2 · f815cf2
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diff --git a/set_path.sh b/set_path.sh
@@ -1,4 +1,4 @@
 export CMAKE_INSTALL_PREFIX=$CONDA_PREFIX
 export YARP_DATA_DIRS=$CMAKE_INSTALL_PREFIX/share/yarp:$CMAKE_INSTALL_PREFIX/share/iCub:$PIXI_PROJECT_ROOT/suites
 export LD_LIBRARY_PATH=$CMAKE_INSTALL_PREFIX/lib/robottestingframework:$PIXI_PROJECT_ROOT/.build/plugins
-export CMAKE_PREFIX_PATH=$CONDA_PREFIX:$CMAKE_PREFIX_PATH
+export CMAKE_PREFIX_PATH=$CONDA_PREFIX
diff --git a/src/imu/README.md b/src/imu/README.md
@@ -0,0 +1,95 @@
+IMU orientation test
+====================
+
+## Prerequisites
+
+If you want to test multiple IMUs at once, the robot must expose in its `yarprobotinterface` configuration file a `multipleanalogsensorsserver` that publishes the orientation measurements for all of available sensors, with a `prefix` that matches exactly the `port` parameter of the test (the default one is `${portprefix}/alljoints/inertials`). 
+
+An example of `alljoints-inertials_wrapper.xml` for iCubV2_* models:
+
+```sh
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
+    <param name="period">      10                           </param>
+    <param name="name"> ${portprefix}/alljoints/inertials   </param>
+
+    <action phase="startup" level="10" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="15" type="detach" />
+</device>
+```
+
+and `alljoints-inertials_remapper.xml`:
+
+```sh
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
+        <param name="OrientationSensorsNames">
+            (l_arm_ft r_arm_ft head_imu_0)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head_inertial_hardware_device </elem>
+                <elem name="left_arm_imu">  left_arm_inertial_hardware_device </elem>
+                <elem name="right_arm_imu">  right_arm_inertial_hardware_device </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
+
+```
+
+## Usage
+
+There are essentially two methods to install and run the IMU orientation test, which are going to be described in the following sections. In both cases, after launching the test, a .mat file containing the relevant measurements involved in the test will be generated.
+
+### robotology-superbuild
+
+If you have installed `icub-tests` as a part of the `robotology superbuild` framework with the [Robot Testing profile](https://github.com/robotology/robotology-superbuild/blob/master/doc/cmake-options.md#robot-testing) activation, i.e. by enabling the `ROBOTOLOGY_ENABLE_ROBOT_TESTING` CMake option of the superbuild, this test, like the others, is already available.
+
+In this case, after compiling and being sure that `yarpserver` is up, you can run:
+
+```sh
+cd robotology-superbuild/src/icub-tests
+robottestingframework-testrunner --suite suites/imu.xml
+```
+
+Otherwise, if you want to launch the test in a simulation environment, in a shell open a `gazebo` environment and import, for example, your iCub model. After that, open a separated shell, and:
+
+```sh
+#set YARP_ROBOT_NAME env variable with the name of the model you imported in gazebo
+#example:
+export YARP_ROBOT_NAME=iCubGazeboV2_7
+cd robotology-superbuild/src/icub-tests
+robottestingframework-testrunner --suite suites/imu-icubGazeboSim.xml
+```
+
+### pixi
+
+If you want to run the test without depending on the whole robotology-superbuild, you can use `pixi`. First of all, be sure to have [`pixi`](https://pixi.sh/#installation) installed. Then, clone `icub-tests` and run the test as a pixi task:
+
+```sh
+git clone https://github.com/robotology/icub-tests
+cd icub-tests
+pixi run imu_test
+```
+
+In simulation, instead, import your model in `gazebo` and then run:
+
+```sh
+#set YARP_ROBOT_NAME env variable with the name of the model you imported in gazebo
+#example:
+export YARP_ROBOT_NAME=iCubGazeboV2_7
+cd icub-tests
+pixi run imu_sim_test
+```
diff --git a/src/imu/imu.h b/src/imu/imu.h
@@ -20,23 +20,19 @@
 * It takes as input the urdf of the robot and make a comparison between the expected values retrieved from the forward kinematics and the ones read from the IMU itself.
 * The test involves the movements of the joints belonging to the part on which the sensors are mounted.
 *
-* You can find the parameters involved in the test in suites/contexts/icub/test_imu.ini file. 
-* To run the test, you have to install <a href="https://pixi.sh/latest/#installation">pixi</a> and then, after cloning this repo, you can run:
+* You can find the parameters involved in the test in the following table:
 *
-* pixi run imu_test
+* | Parameter name     | Type               | Required | Description | Notes |
+* |:------------------:|:------------------:|:--------:|:-----------:|:-----:|
+* | robot              | string             | Yes      | The name of the robot. | e.g. icub |
+* | model              | string             | Yes      | The name of the robot model. | e.g. model.urdf |
+* | port               | string             | Yes      | The name of the port streaming IMU data. | e.g. /icub/alljoints/inertials |
+* | remoteControlBoards| vector of string   | Yes      | The list of the controlboards to open. | e.g. ("torso", "head") |
+* | axesNames          | vector of string   | Yes      | The list of the controlled joints. | e.g. ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw") |
+* | sensorsList        | vector of string   | Yes      | The list of the sensors to be tested. | e.g. ("head_imu_0", "l_arm_ft") or ("all")|
+* | maxError           | double             | Yes      | The tolerance on the error. | |
 *
-* This will compile the dependencies, launch the test and, at the end, a .mat file is generated containing the relevant measurements of the test.
-*
-*  Accepts the following parameters:
-* | Parameter name     | Type               | Units | Default Value | Required | Description | Notes |
-* |:------------------:|:------------------:|:-----:|:-------------:|:--------:|:-----------:|:-----:|
-* | robot              | string             | -     | -             | Yes      | The name of the robot. | e.g. icub |
-* | model              | string             | -     | -             | Yes      | The name of the robot model. | e.g. model.urdf |
-* | port               | string             | -     | -             | Yes      | The name of the port streaming IMU data. | e.g. /icub/head/inertials |
-* | remoteControlBoards| vector of string   | -     | -             | Yes      | The list of the controlboards to open. | e.g. ("torso", "head") |
-* | axesNames          | vector of string   | -     | -             | Yes      | The list of the controlled joints. | e.g. ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw") |
-* | sensorsList        | vector of string   | -     | -             | Yes      | The list of the sensors to be tested | e.g. ("head_imu_0", "l_arm_ft") or ("all)|
-* | maxError           | double             | -     | -             | Yes      | The tolerance on the error. | |
+* Further instructions about how to install, configure and run the test can be found in the <a href="http://robotology.github.io/icub-tests/doxygen/doc/html/pages.html">related page</a>.
 */
 
 class Imu : public yarp::robottestingframework::TestCase {

diff --git a/suites/contexts/icub/test_imu.ini b/suites/contexts/icub/test_imu.ini
@@ -3,6 +3,5 @@ model                   model.urdf
 port                    /${robotname}/alljoints/inertials
 remoteControlBoards     ("torso", "head", "left_arm", "right_arm")
 axesNames               ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw")
-; sensorsList             ("head_imu_0", "l_arm_ft", "r_arm_ft")
-sensorsList ("all")
+sensorsList             ("all")
 maxError                0.1