Fine Calibration Checker Device

Overview

This is a YARP device designed for ergoCub and iCub platforms that provides information about the accuracy of the joints calibration procedure. It helps collect and analyze data related to miscalibration errors on specific systems. The device interfaces with robot control boards and raw encoder data streams through YARP.

The device performs calibration checking by:

• Connecting to remote control boards and raw encoder data ports
• Reading and comparing joint positions with expected golden positions (in degrees)
• Analyzing calibration accuracy and generating detailed reports
• Providing visual and numerical output for calibration analysis

Main Features

The main features of this device include:

• Configuration through XML files containing joint information and parameters
• Integration with motion control and raw values publisher network wrappers
• Remote control board connectivity for joint and encoder data access
• Comparison of golden hard-stop positions with live encoder readings
• Analysis of differences between expected and measured joint positions
• Generation of CSV output files and optional visual feedback
• Asynchronous operation as a threaded YARP device

This device helps developers and technicians verify and fine-tune the mechanical calibration of robot joints, ensuring accurate and reliable operation.

Configuration Parameters

The device requires the following parameters in its configuration file:

• devicename: Name of the device instance (default: "fineCalibrationChecker")
• robotname: Name of the robot matching configuration files
• remoteRawValuesPort: Port name for raw values data (e.g., "/setup/raw_data")
• axesNamesList: List of joint names matching remapper configuration
• goldPositions: Encoder positions in iCubDegrees at chosen zero positions
• calibrationDeltas: Calibration deltas from calibration files
• encoderResolutions: Full encoder resolutions (e.g., 16384 for AEA)
• axesSigns: Encoder signs based on primary encoder resolution
• withGui: Enable/disable visual output display

Setup and Usage

To use the device:

1. Place the configuration XML file in your desired location (e.g., ./checker/fineCalibrationChecker.xml)
2. Configure the rawvaluespublisherremapper and rawValuesPublisherServer devices
3. Add the device wrappers to the main robot configuration file
4. Start the yarprobotinterface application
5. The device will automatically execute if properly configured
6. Results are saved to a CSV file in the yarprobotinterface working directory
7. If withGui is enabled, a visualization of the output data will be displayed

For configuration examples, refer to fineCalibrationCheckerConfig.xml.