teoSim sensors

[jgvictores]

teoSim sensors (and how relates to base apps, and ros launch/spawn)

• YarpOpenraveRGBDSensor
• YarpOpenraveAnalogSensors: ForceTorque
• YarpOpenraveAnalogSensors: IMU
• YarpOpenraveGrabber

Related:

• [ROBOTICSLAB-SIMULATION] (https://github.com/orgs/roboticslab-uc3m/projects/12)
• https://github.com/roboticslab-uc3m/openrave-yarp-plugins
• https://github.com/roboticslab-uc3m/teo-openrave-models

[jgvictores]

Can use roboticslab-uc3m/openrave-yarp-plugins#104

[jgvictores]

First use included at 757082a. Affected by roboticslab-uc3m/openrave-yarp-plugins#108 Okay as of roboticslab-uc3m/openrave-yarp-plugins@2ad3055, Very cool thanks to roboticslab-uc3m/openrave-yarp-plugins#109

[jgvictores]

BTW at 757082a yarpmanager was not recognizing openraveYarpPluginLoaderClient as a deployer.

[PeterBowman]

BTW at 757082a yarpmanager was not recognizing openraveYarpPluginLoaderClient as a deployer.

AFAIK you'll only use the deployer tag for yarpdev to spare some characters and avoid an explicit --device parameter (example).

[jgvictores]

AFAIK you'll only use the deployer tag for yarpdev to spare some characters and avoid an explicit --device parameter (example).

Just a small rant on https://github.com/robotology/yarp/blob/b3dff81c3739112b8f65cfd808f129bcbf4e7aa5/doc/cmd_yarpmanager.dox#L173 (https://www.yarp.it/yarpmanager.html) 🙈

[jgvictores]

Happy with current implementation (757082a thanks to current state of openrave-yarp-plugins/programs/openraveYarpPluginLoaderClient + openrave-yarp-plugins/libraries/OpenravePlugins/OpenraveYarpPluginLoader), especially based on how it mirrors the real physical robot.

Just a tiny side note, regarding iCub simulation: https://github.com/robotology/icub-main/blob/72f4d060457f8d4e150546e6735dc161faeb9c68/app/simConfig/conf/iCub_parts_activation.ini

[jgvictores]

• YarpOpenraveAnalogSensors: ForceTorque

• Merged at 4dbd127

[jgvictores]

• YarpOpenraveAnalogSensors: IMU

Requires roboticslab-uc3m/openrave-yarp-plugins#110

[PeterBowman]

In the meantime, we migrated to Gazebo (teo-gazebo-models). I have already adapted our sim-related XML files to this environment, also acconting for FT/IMU/RGBD sensors: ae04cf2. @jgvictores I didn't notice this issue earlier, so I'm not sure whether my changes may conflict with yours.

[jgvictores]

@jgvictores I didn't notice this issue earlier, so I'm not sure whether my changes may conflict with yours.

Mmmm... There were no unmerged branches left dangling behind, and I'm only seeing port name improvements (which could be backported* to OR if required), I think everything is okay. 😄

* Not sure if correctly phrased here, but I think it is sufficient to transmit the idea. ^^

[jgvictores]

Regarding OpenRAVE-based teoSim, vision aspects at

teo-configuration-files/share/applications/teoSimTools.xml

Lines 4 to 39 in 69228d5

	<!-- VISION -->
	<module>
	<name>yarpview</name>
	<parameters>--name /yarpview/teoSim/rgbImage:i --title "RGB"</parameters>
	<node>localhost</node>
	</module>
	<connection>
	<from>/teoSim/camera/rgbImage:o</from>
	<to>/yarpview/teoSim/rgbImage:i</to>
	<!-- protocol? -->
	</connection>
	<module>
	<name>yarpview</name>
	<parameters>--name /yarpview/teoSim/depthImageMono:i --title "Depth mono"</parameters>
	<node>localhost</node>
	</module>
	<connection>
	<from>/teoSim/camera/depthImage:o</from>
	<to>/yarpview/teoSim/depthImageMono:i</to>
	<protocol>udp+recv.portmonitor+type.dll+file.depthimage_to_mono</protocol>
	</connection>
	<module>
	<name>yarpview</name>
	<parameters>--name /yarpview/teoSim/depthImageRGB:i --title "Depth RGB"</parameters>
	<node>localhost</node>
	</module>
	<connection>
	<from>/teoSim/camera/depthImage:o</from>
	<to>/yarpview/teoSim/depthImageRGB:i</to>
	<protocol>udp+recv.portmonitor+type.dll+file.depthimage_to_rgb</protocol>
	</connection>

/camera should be renamed to /xtion to match the real counterpart.

Note that to achieve this, some changes might have to be made at the https://github.com/roboticslab-uc3m/openrave-yarp-plugins level, as --name /xtion is not being attended (dispite "name" support for prefix at https://www.yarp.it/v3.7/RgbdSensor__nws__yarp_8cpp_source.html) at

teo-configuration-files/share/applications/teoSimBase.xml

Lines 33 to 37 in 69228d5

	<module>
	<name>openraveYarpPluginLoaderClient</name>
	<parameters>--device rgbdSensor_nws_yarp --subdevice YarpOpenraveRGBDSensor --robotIndex 0 --depthSensorIndex 0</parameters>
	<node>localhost</node>
	</module>

[PeterBowman]

Note that to achieve this, some changes might have to be made at the https://github.com/roboticslab-uc3m/openrave-yarp-plugins level, as --name /xtion is not being attended (dispite "name" support for prefix at https://www.yarp.it/v3.7/RgbdSensor__nws__yarp_8cpp_source.html) at

Our plugin loader overrides the --name parameter (ref). The correct way (according to this implementation) is to use --forceWrite (value-less) along with --name:

openraveYarpPluginLoaderClient --device rgbdSensor_nws_yarp --subdevice YarpOpenraveRGBDSensor --robotIndex 0 --depthSensorIndex 0 --name /teoSim/xtion --forceName

That being said, I would vote for making this port name more generic. In teo-gazebo-models, the port prefix I picked is /camera (ref).