POS service #696
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POS service #696
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still WIP
so far only the magnetic encoders of pmc board are supported. they send degrees values with 0.01 resolution
This was referenced Dec 2, 2020
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The failing CI is due to robotology/icub-firmware-shared#42, which is not integrated yet. |
pattacini
requested changes
Dec 3, 2020
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Thanks @marcoaccame 👍🏻
I would first merge robotology/icub-firmware-shared#42 as CI will keep on failing otherwise in the normal icub-main workflow.
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robotology/icub-firmware-shared#42 has been merged ✔ |
pattacini
approved these changes
Dec 3, 2020
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wow, that was quick. i was checking every two or three minutes 😃 |
From my understanding this PR introduced a dependency to a specific version of icub-firmware-shared. I opened robotology/icub-firmware-shared#43 and #700 in this sense. Feel free to reject them if I misunderstood |
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This PR introduces the
POS service.Description of the service
The POS service is used to stream position values from an
ETHboard towards the relevant device started byyarprobotinterface, theembObjPOS. The values are retrieved from up to 14 encoders, so far only magnetic encoders from thepmcboard. The POS service is required to get position values of the fingers of the new hand.Changes
This PR is to be processed together with two other PRs: one for
icub-firmwareand one foricub-firmware-shared.In here are the main changes in each of these repositories. I describe them all together because one repo affects the other.
icub-firmware: added theEOthePOSobject in ems, mc4plus, mc2plus; enabled inEOtheServices; added handlers for the required ETH and CAN messages. At the moment theEOthePOSis disabled in the projects of the three ETH boards with macro EOTHESERVICES_disable_thePOS being defined at project level (-DEOTHESERVICES_disable_thePOS in section Misc Controls of C/C++ options).icub-firmware-shared: added the new entityeoprot_entity_as_posin endpointeoprot_endpoint_analogsensorswith all required stuff; added runtime configuration of the POS service inside the management entity with a neweOmn_serv_config_data_as_pos_t; advanced protocol versions of entities analogsensors and management.icub-main: added theembObjPOSdevice inside icubmod + all required stuff required to run the service (parser of xml files, handling of relevant ETH protocol messages); changed some of the obsoleteNetworkBase::getEnvironment()calls with teh suggestedyarp::conf::environment::getEnvironment().Tests
All the chain was tested on a setup made of:
yarp(master branch) plus the repos under PR plus a suitable set of xml files.emsboard with macroEOTHESERVICES_disable_thePOSdisabled,pmcboard with a fake acquisition of magnetic encoders.The service runs with success and streams the values of the target YARP port. The following shows the plot from
yarpscopereading on that port.Figure. Outcome of the POS service on
yarpscope.And in here is a video of one experiment. The talk is lost, hence in here i summarize the steps:
yarp server.yarprobotinterface --config handV3.xmlyarp read ... /hv3/left_hand/POS:oyarpscope --xml yarpscope.pos.xmlFigure. Video of one test of the POS service.
Impact on iCub
The above test worked fine as expected. And the changes done to support the new device are pretty standard and safe and used only if one uses the POS service by starting the
embObjPOSdevice from yarprobotinterface.Hence, ... I expect no harm on iCub.