Select a real world codebase for a first proof of concept

[traversaro]

No description provided.

[traversaro]

We could look into something used in real world, even if simple. We can take something from https:/robotology/icub-basic-demos or from the vvv tutorial. Ideally we should not do a example from no where, as we risk of structuring the code around our available APIs, rather then understanding how our APIs should be done to be convenient to use on real world code.

[traversaro]

A relatively simple example for sure used in real world is https:/robotology/icub-tests/blob/v1.18.0/src/positionDirect/PositionDirect.cpp#L243, but perhaps the RTF machine may be complicate its use. A more didactic example is https:/vvv-school/tutorial_joint-interface/blob/4d71c7846b61ad321b0f53f8c5a09b6880a25d1c/src/positiondirect.cpp#L171.

[traversaro]

Another interesting possible use is robotology/gazebo-yarp-plugins#529 , in which a simple test for the gazebo_yarp_controlboard is added, and in which the telemetry could be used to gather data on measured vs desired position and velocity, in place of simple prints https:/robotology/gazebo-yarp-plugins/pull/529/files#diff-5a4a105a9b072d936198482927cfd93bd43bee3159bd74640f4c1d2acf77ef48R115 .

[Nicogene]

Today I tried including the yarp::telemetry::BufferManager inside https:/vvv-school/tutorial_joint-interface, in particular in tutorial_joint-interface-position.

Here are the modifications:

--- a/src/position.cpp
+++ b/src/position.cpp
@@ -12,6 +12,7 @@
 #include <yarp/os/RFModule.h>
 #include <yarp/os/RpcServer.h>
 #include <yarp/os/Time.h>
+#include <yarp/telemetry/BufferManager.h>

 #include <yarp/dev/Drivers.h>
 #include <yarp/dev/PolyDriver.h>
@@ -20,6 +21,8 @@
 using namespace yarp::os;
 using namespace yarp::dev;

+yarp::telemetry::BufferManager<double> bm("tutorial_pos_ctrl.mat",
+                                          { {"pos",{1,1}} }, 100, true);

 class CtrlModule: public RFModule
 {
@@ -69,6 +72,8 @@ protected:
         double t0=Time::now();
         while (!done&&(Time::now()-t0<10.0))
         {
+            ienc->getEncoder(joint,&enc);
+            bm.push_back({enc}, "pos");
             yInfo()<<"Waiting...";
             Time::delay(0.1);   // release the quantum to avoid starving resources
             ipos->checkMotionDone(&done);

Result

Here is the resulting struct:

>> tutorial_pos_ctrl.pos

ans = 

  struct with fields:

          data: [1×1×67 double]
    dimensions: [67 1 1]
          name: 'pos'
    timestamps: [1×67 double]

Issues

• Using it in an external code I found out quite cumbersome to define everything in the constructor (see Evaluate if it is convenient to force to declare all the variables that need to be saved in the BufferManager constructor #36 )
• Moreover, I had issues with not having enough samples dumped(100 in this example), see https:/robotology-playground/yarp-telemetry/blob/d4d586d85487d87c644a44824b993d00a8607f4f/src/libYARP_telemetry/src/yarp/telemetry/BufferManager.h#L66-L70

[traversaro]

Moreover, I had issues with not having enough samples dumped(100 in this example), see

Tracked in #46 .

[traversaro]

@Nicogene can you paste the link to the fork/branch of the modified version of the example, and the we can close the issue?

[Nicogene]

Here is the branch where I pushed these changes https:/Nicogene/tutorial_joint-interface/tree/yarp_telemetry

Closing.