This is the application used to launch different processes to dump control board data to files (positions, velocities, accelerations, voltages, currents, tracking errors).
This is the application used to launch different processes to dump control board data to files (positions, velocities, accelerations, voltages, currents, tracking errors).
Dependencies
Assumes the robot is running.
Instantiated Modules
Parameters
See below.
How to run the Application
./
app start: start the application, run all modules and viewers
./
app connect: connect all modules and viewers (starts dumping)
./
app stop: stop the application, shut down all modules
How to config the application
In case you want to personalize this dumper application you mainly need to edit the configuration files (conf/config.sh and conf/config-nodes.sh) and single parts configuration files (e.g. conf/icubHead.ini).
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The config.sh file describes the part to be dumped (variable $PARTS_TO_DUMP).
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The config-nodes.sh file describes the machines where the single modules (controlBoardDumper and yarpdatadumper) will be executed. In particular, the $NODE_DUMPERS variable defines the machines where data will be dumped (usally in the directory $NODE_DUMPERS:/tmp/icub/dataDumper).
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The icubHead.ini file is the file used by the controlBoardDumper to dump the head joints (see similar files for the other robot parts). This file can be used to define the joints to be dumped, the sampling time and the type of data to be dumped (see the controlBoardDumper details).
- Author
- Francesco Nori
Copyright (C) 2008 RobotCub Consortium
CopyPolicy: Released under the terms of the GNU GPL v2.0.
This file can be edited at app/attentionDistributed/doc.dox