iCub-main
|
This is a tool designed for ergoCub and iCub platforms aimed at giving to the user information about the accuracy of the joints calibration procedure, allowing to collect data that might help in analyzing miscalibration errors on a specific system. It has been thought to interface with YARP devices and robot control boards. The tool is made of two main parts:
The module is built on the inheritance of the YARP
interface yarp::os::RFModule
and does not much other than managing a yarp::os::Thread
and keep it running with a specific period until the user decides to stop the whole process.
The thread is basically just an implementation of a yarp::os::Thread
but it contains all the core implementations of this tool. Specifically it does the following actions:
config.ini
.csv
file that stores the input position data, which must be present in the app/fineCalibrationChecker
directory named as zeroPositionsData.csv
(an example file is already installed in the repo)Therefore the main features of this tool can be summarized as follows:
This tool is useful for developers and technicians who need to verify and fine-tune the mechanical calibration of the robot’s joints, ensuring accurate and reliable operation.
In order to correctly run the module one should type the following command from the directory that stores config.ini
file and the zeroPositionData.csv
file:
It should be noted then, that in the same directory the aforementioned file for the ground truth positions should be stored and it should have the defined name. It has to contain the data organized line by line and with the following structure: