A module for implementing the IMU IDENTIFIER on the iCub.

A module for implementing the IMU IDENTIFIER on the iCub.

Date first release: 07/07/2014

CopyPolicy: Released under the terms of the GNU GPL v2.0.

Description

This is a module for implementing the IMU IDENTIFIER on the iCub. It uses a set of waypoints in order to move the iCub head to a specified position with a specified velocity. In the meanwhile, it reads both references at the PID level, and the gyro output from the inertial, sending them out through the IMU:o port for later log and use.

Libraries

YARP

Parameters

–context path

• Where to find the called resource.

–from from

• The name of the .ini file with the configuration parameters.

–name name

• The name of the module (default iCubBreather).

–robot rob

• The name of the robot (either "icub" or "icub"). Default "icub". If you are guessing: Yes, the test HAS to be performed on the real robot!

–rate rate

• The period used by the thread. Default 100ms.

–verbosity verb

• Verbosity level (default 1). The higher is the verbosity, the more information is printed out.

Ports Created

• /<name>/inertial:i it reads values from the inertial sensor
• /<name>/IMU:o it prints out useful data in order to track both the pid controllers and the inertial sensor

Input Data Files

• <name>.ini it is a (mandatory) file from which the module can retrieve the waypoints used in the experiment.

Output Data Files

Tested OS

Linux (Ubuntu 14.04, Debian Wheezy).

Author

Alessandro Roncone