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Use the telemetry logger in the WalkingModule #97

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merged 8 commits into from
Jan 12, 2022
Merged

Use the telemetry logger in the WalkingModule #97

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321abfa
Configure ports for the new logger and stream data
paolo-viceconte Dec 20, 2021
e779e51
Update configuration files for iCubGazeboV3
paolo-viceconte Dec 20, 2021
aa316c2
Update configuration files for iCubGenova09
paolo-viceconte Dec 20, 2021
029c59d
Improve dynamic memory allocation when sending data
paolo-viceconte Dec 21, 2021
5752d4a
Change planner parameters to increase walking linear and angular speed
Jan 5, 2022
45a8c20
Fix feet orientation logging
Jan 7, 2022
4a8c938
Fix naming in the nested structure to log data
paolo-viceconte Jan 12, 2022
3501a3e
Update blf version dependency
paolo-viceconte Jan 12, 2022
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2 changes: 2 additions & 0 deletions cmake/WalkingControllersFindDependencies.cmake
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Expand Up @@ -149,6 +149,8 @@ checkandset_dependency(qpOASES)
find_package(Catch2 QUIET)
checkandset_dependency(Catch2)

find_package(BipedalLocomotionFramework 0.6.0 COMPONENTS VectorsCollection REQUIRED)

walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_tests "Compile tests?" ON WALKING_CONTROLLERS_HAS_Catch2 OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_YarpUtilities "Compile YarpHelper library?" ON WALKING_CONTROLLERS_HAS_YARP OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_iDynTreeUtilities "Compile iDynTreeHelper library?" ON "WALKING_CONTROLLERS_HAS_iDynTree;WALKING_CONTROLLERS_HAS_YARP;WALKING_CONTROLLERS_HAS_Eigen3" OFF)
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1 change: 1 addition & 0 deletions src/WalkingModule/CMakeLists.txt
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Expand Up @@ -53,6 +53,7 @@ if(WALKING_CONTROLLERS_COMPILE_WalkingModule)
WalkingControllers::WholeBodyControllers
WalkingControllers::RetargetingHelper
WalkingControllers::LoggerClient
BipedalLocomotion::VectorsCollection
ctrlLib
)

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2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/iCubGazeboV3/dcm_walking/common/walkingLogger.ini
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@@ -1,5 +1,5 @@
dataLoggerOutputPort_name /logger/data:o
dataLoggerRpcOutputPort_name /logger/rpc:o

dataLoggerInputPort_name /logger/data:i
dataLoggerInputPort_name /yarp-robot-logger/exogenous_signals/walking:i
dataLoggerRpcInputPort_name /logger/rpc:i
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/iCubGazeboV3/dcm_walking_with_joypad.ini
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Expand Up @@ -9,7 +9,7 @@ use_QP-IK 1
use_osqp 1

# remove this line if you don't want to save data of the experiment
#dump_data 1
dump_data 1

# Limit on the maximum initial velocity. This avoids the robot to jump at startup
max_initial_com_vel 0.5
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6 changes: 3 additions & 3 deletions src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini
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Expand Up @@ -6,7 +6,7 @@ unicycleGain 10.0
referencePosition (0.1 0.0)
timeWeight 2.5
positionWeight 1.0
slowWhenTurningGain 5.0
slowWhenTurningGain 2.5
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This parameter should be increased again as the robot falls down when turning due to the high speed. We could try with 4 if we want to take a higher velocity with respect to the previous value. But the new value should be tested before merging the PR.

cc @S-Dafarra

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We won't be able to test the new gain for a while. Should we revert to 5.0 and merge the PR, leaving for later the tuning of this gain?

slowWhenBackwardFactor 0.5

##Bounds
Expand All @@ -20,7 +20,7 @@ minWidth 0.16
maxAngleVariation 15.0
minAngleVariation 8.0
#Timings
maxStepDuration 0.8
maxStepDuration 1.0
minStepDuration 0.6

##Nominal Values
Expand All @@ -32,7 +32,7 @@ stepLandingVelocity 0.0
footApexTime 0.5
comHeightDelta 0.01
#Timings
nominalDuration 0.7
nominalDuration 0.8
lastStepSwitchTime 0.8
switchOverSwingRatio 0.7

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2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/walkingLogger.ini
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@@ -1,5 +1,5 @@
dataLoggerOutputPort_name /logger/data:o
dataLoggerRpcOutputPort_name /logger/rpc:o

dataLoggerInputPort_name /logger/data:i
dataLoggerInputPort_name /yarp-robot-logger/exogenous_signals/walking:i
dataLoggerRpcInputPort_name /logger/rpc:i
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini
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Expand Up @@ -9,7 +9,7 @@ use_QP-IK 1
use_osqp 1

# remove this line if you don't want to save data of the experiment
dump_data 0
dump_data 1

# Limit on the maximum initial velocity. This avoids the robot to jump at startup
max_initial_com_vel 0.15
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4 changes: 4 additions & 0 deletions src/WalkingModule/include/WalkingControllers/WalkingModule/Module.h
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Expand Up @@ -20,6 +20,8 @@
#include <yarp/os/RpcClient.h>


#include <BipedalLocomotion/YarpUtilities/VectorsCollection.h>

// iDynTree
#include <iDynTree/Core/VectorFixSize.h>
#include <iDynTree/ModelIO/ModelLoader.h>
Expand Down Expand Up @@ -147,6 +149,8 @@ namespace WalkingControllers
// debug
std::unique_ptr<iCub::ctrl::Integrator> m_velocityIntegral{nullptr};

yarp::os::BufferedPort<BipedalLocomotion::YarpUtilities::VectorsCollection> m_loggerPort; /**< Logger port. */

/**
* Get the robot model from the resource finder and set it.
* @param rf is the reference to a resource finder object.
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182 changes: 108 additions & 74 deletions src/WalkingModule/src/Module.cpp
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