New test for IMU orientation #65
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@@ -3,4 +3,5 @@ build | |
| *.*~ | ||
| CMakeLists.txt.user | ||
| result.txt | ||
| .DS_Store | ||
| .vscode | ||
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| if(NOT DEFINED CMAKE_MINIMUM_REQUIRED_VERSION) | ||
| cmake_minimum_required(VERSION 3.5) | ||
| endif() | ||
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| add_definitions(-D_USE_MATH_DEFINES) | ||
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| robottestingframework_add_plugin(imu HEADERS imu.h | ||
| SOURCES imu.cpp) | ||
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| # add required libraries | ||
| target_link_libraries(imu RobotTestingFramework::RTF | ||
| RobotTestingFramework::RTF_dll | ||
| YARP::YARP_robottestingframework | ||
| iDynTree::idyntree-high-level | ||
| iDynTree::idyntree-estimation) | ||
| # set the installation options | ||
| install(TARGETS imu | ||
| EXPORT imu | ||
| COMPONENT runtime | ||
| LIBRARY DESTINATION lib) |
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| #include <iostream> | ||
| #include <cmath> | ||
| #include <numeric> | ||
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| #include <robottestingframework/TestAssert.h> | ||
| #include <robottestingframework/dll/Plugin.h> | ||
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| #include <yarp/os/Property.h> | ||
| #include <yarp/os/Stamp.h> | ||
| #include <yarp/os/ResourceFinder.h> | ||
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| #include "imu.h" | ||
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| using namespace robottestingframework; | ||
| ROBOTTESTINGFRAMEWORK_PREPARE_PLUGIN(Imu) | ||
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| Imu::Imu() : TestCase("Imu") { } | ||
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| Imu::~Imu() { } | ||
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| bool Imu::setup(yarp::os::Property& property) { | ||
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| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("robot"), "The robot name must be given as the test parameter!"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("port"), "The port name must be given as the test parameter!"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("model"), "Please, provide the urdf model path."); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("frame"), "Please, provide the frame name."); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("sensor"), "Please, provide the sensor name."); | ||
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| robotName = property.find("robot").asString(); // robot name | ||
| portName = property.find("port").asString(); // name of the port from which the data are streamed | ||
| frameName = property.find("frame").asString(); // frame on which the sensor is attached | ||
| sensorName = property.find("sensor").asString(); // sensor name within urdf | ||
| modelName = property.find("model").asString(); // urdf model path | ||
| yarp::os::ResourceFinder &rf = yarp::os::ResourceFinder::getResourceFinderSingleton(); | ||
| std::string modelAbsolutePath = rf.findFileByName(modelName); | ||
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| ROBOTTESTINGFRAMEWORK_TEST_REPORT("Running IMU test on "+robotName+"..."); | ||
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| yarp::os::Property MASclientOptions; | ||
| MASclientOptions.put("device", "multipleanalogsensorsclient"); | ||
| MASclientOptions.put("remote", portName); | ||
| MASclientOptions.put("local", "/imuTest/"+portName); | ||
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| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver.open(MASclientOptions), "Unable to open the MAS client driver"); | ||
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| yarp::os::Property controlBoardOptions; | ||
| controlBoardOptions.put("device", "remotecontrolboardremapper"); | ||
| yarp::os::Bottle axesNames; | ||
| yarp::os::Bottle & axesList = axesNames.addList(); | ||
| axesList.addString("neck_pitch"); | ||
| axesList.addString("neck_roll"); | ||
| axesList.addString("neck_yaw"); | ||
| axesList.addString("torso_pitch"); | ||
| axesList.addString("torso_roll"); | ||
| axesList.addString("torso_yaw"); | ||
| axesList.addString("l_shoulder_pitch"); | ||
| axesList.addString("l_shoulder_roll"); | ||
| axesList.addString("l_shoulder_yaw"); | ||
| axesList.addString("l_elbow"); | ||
| axesList.addString("r_shoulder_pitch"); | ||
| axesList.addString("r_shoulder_roll"); | ||
| axesList.addString("r_shoulder_yaw"); | ||
| axesList.addString("r_elbow"); | ||
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| controlBoardOptions.put("axesNames", axesNames.get(0)); | ||
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| yarp::os::Bottle remoteControlBoards; | ||
| yarp::os::Bottle & remoteControlBoardsList = remoteControlBoards.addList(); | ||
| remoteControlBoardsList.addString("/"+robotName+"/torso"); | ||
| remoteControlBoardsList.addString("/"+robotName+"/head"); | ||
| remoteControlBoardsList.addString("/"+robotName+"/left_arm"); | ||
| remoteControlBoardsList.addString("/"+robotName+"/right_arm"); | ||
| controlBoardOptions.put("remoteControlBoards", remoteControlBoards.get(0)); | ||
| controlBoardOptions.put("localPortPrefix", "/test"); | ||
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| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.open(controlBoardOptions), "Unable to open the controlBoard driver"); | ||
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| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver.isValid(), "Device driver cannot be opened"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver.view(iorientation), "Unable to open orientation interface"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.isValid(), "Device driver cannot be opened"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.view(ipos), "Unable to open position control interface"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.view(ienc), "Unable to open encoder interface"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.view(iaxes), "Unable to open axes interface"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.view(ilim), "Unable to open limits interface"); | ||
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| outputPort.open("/test-imu/out"); | ||
| ROBOTTESTINGFRAMEWORK_TEST_REPORT("Opening port "+outputPort.getName()+"..."); | ||
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| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(ienc->getAxes(&axes), "Cannot get number of controlled axes"); | ||
| std::string axisName; | ||
| std::vector<std::string> axis; | ||
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| for (int i = 0; i < axes; i++) | ||
| { | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iaxes->getAxisName(i, axisName), "Cannot get the name of controlled axes"); | ||
| axis.push_back(axisName); | ||
| } | ||
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| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(model.loadReducedModelFromFile(modelAbsolutePath.c_str(), axis), Asserter::format("Cannot load model from %s", modelAbsolutePath.c_str())); | ||
| kinDynComp.loadRobotModel(model.model()); | ||
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| iDynTree::Vector3 baseLinkOrientationRad; | ||
| baseLinkOrientationRad.zero(); | ||
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| baseLinkOrientation = iDynTree::Rotation::RPY(baseLinkOrientationRad[0], baseLinkOrientationRad[1], baseLinkOrientationRad[2]); | ||
| I_T_base = iDynTree::Transform(baseLinkOrientation, iDynTree::Position::Zero()); | ||
| iDynTree::Twist baseVelocity = iDynTree::Twist::Zero(); | ||
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| unsigned int dofs = kinDynComp.model().getNrOfDOFs(); | ||
| s.resize(dofs); | ||
| ds.resize(dofs); | ||
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| positions.resize(axes); | ||
| velocities.resize(axes); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(ienc->getEncoders(positions.data()), "Cannot get joint positions"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(ienc->getEncoderSpeeds(velocities.data()), "Cannot get joint positions"); | ||
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| for(auto i = 0; i < axes; i++) | ||
| { | ||
| s.setVal(i, iDynTree::deg2rad(positions[i])); | ||
| ds.setVal(i, iDynTree::deg2rad(velocities[i])); | ||
| } | ||
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| gravity.zero(); | ||
| gravity(2) = -9.81; | ||
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| kinDynComp.setRobotState( | ||
| I_T_base, | ||
| s, | ||
| baseVelocity, | ||
| ds, | ||
| gravity | ||
| ); | ||
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| return true; | ||
| } | ||
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| void Imu::tearDown() { | ||
| outputPort.interrupt(); | ||
| outputPort.close(); | ||
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| controlBoardDriver.close(); | ||
| MASclientDriver.close(); | ||
| } | ||
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| void Imu::run() { | ||
| ROBOTTESTINGFRAMEWORK_TEST_REPORT("Starting reading IMU orientation values..."); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iorientation->getOrientationSensorMeasureAsRollPitchYaw(0, rpyValues, timestamp), "Unable to obtain rpy measurements."); | ||
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| iDynTree::Rotation I_R_FK = kinDynComp.getWorldTransform(frameName).getRotation(); | ||
| I_R_I_IMU = (I_R_FK * ((iDynTree::Rotation::RPY(iDynTree::deg2rad(rpyValues[0]), iDynTree::deg2rad(rpyValues[1]), iDynTree::deg2rad(rpyValues[2]))).inverse())); | ||
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| double minLim; | ||
| double maxLim; | ||
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| for (int i = kinDynComp.model().getJointIndex("neck_pitch"); i <= kinDynComp.model().getJointIndex("neck_yaw"); i++) | ||
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There was a problem hiding this comment. Also this can be generalized it making it a parameter, ideally the user has to specify the 3 joints that have to be controlled, let's remind it for future versions of the test |
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| { | ||
| ilim->getLimits(i, &minLim, &maxLim); | ||
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| moveJoint(i, minLim + 5); | ||
| yarp::os::Time::delay(1.); | ||
| moveJoint(i, maxLim - 5); | ||
| yarp::os::Time::delay(1.); | ||
| } | ||
| } | ||
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| bool Imu::sendData(iDynTree::Vector3 expectedValues, iDynTree::Vector3 imuSignal) | ||
| { | ||
| yarp::os::Bottle& out = outputPort.prepare(); | ||
| static yarp::os::Stamp stamp; | ||
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| stamp.update(); | ||
| outputPort.setEnvelope(stamp); | ||
| out.clear(); | ||
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| out.addFloat64(iDynTree::rad2deg(expectedValues[0])); | ||
| out.addFloat64(iDynTree::rad2deg(expectedValues[1])); | ||
| out.addFloat64(iDynTree::rad2deg(expectedValues[2])); | ||
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| out.addFloat64(iDynTree::rad2deg(imuSignal[0])); | ||
| out.addFloat64(iDynTree::rad2deg(imuSignal[1])); | ||
| out.addFloat64(iDynTree::rad2deg(imuSignal[2])); | ||
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| out.addFloat64(stamp.getTime()); | ||
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| outputPort.writeStrict(); | ||
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| return true; | ||
| } | ||
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| bool Imu::moveJoint(int ax, double pos) | ||
| { | ||
| bool done = false; | ||
| double refPos; | ||
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| yarp::os::Time::delay(.1); | ||
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| ipos->positionMove(ax, pos); | ||
| ipos->getTargetPosition(ax, &refPos); | ||
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| while(!done) | ||
| { | ||
| iorientation->getOrientationSensorMeasureAsRollPitchYaw(0, rpyValues, timestamp); | ||
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| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(ienc->getEncoders(positions.data()), "Cannot get joint positions"); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(ienc->getEncoderSpeeds(velocities.data()), "Cannot get joint positions"); | ||
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| for (auto i = 0; i < axes; i++) | ||
| { | ||
| s.setVal(i, iDynTree::deg2rad(positions[i])); | ||
| ds.setVal(i, iDynTree::deg2rad(velocities[i])); | ||
| } | ||
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| kinDynComp.setRobotState( | ||
| I_T_base, | ||
| s, | ||
| baseVelocity, | ||
| ds, | ||
| gravity); | ||
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| iDynTree::Rotation expectedImuSignal = kinDynComp.getWorldTransform(frameName).getRotation(); | ||
| iDynTree::Rotation imuSignal = (I_R_I_IMU * iDynTree::Rotation::RPY(iDynTree::deg2rad(rpyValues[0]), iDynTree::deg2rad(rpyValues[1]), iDynTree::deg2rad(rpyValues[2]))); | ||
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| auto error = (expectedImuSignal * imuSignal.inverse()).log(); | ||
| double err_mean = (std::accumulate(error.begin(), error.end(), 0)) / error.size(); | ||
| ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(err_mean < 0.1, "Error > 0.1! Aborting ..."); | ||
|
There was a problem hiding this comment. Similar to @Nicogene comments, in the future, the threshold could be a parameter, as if for some model/sensors are quite accurate, you may want to make sure that they contibute to be accurate. |
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| sendData(expectedImuSignal.asRPY(), imuSignal.asRPY()); | ||
| ipos->checkMotionDone(&done); | ||
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| } | ||
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| ipos->positionMove(ax, 0.0); | ||
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| return true; | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,62 @@ | ||
| #ifndef IMU_H | ||
| #define IMU_H | ||
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| #include <yarp/dev/PolyDriver.h> | ||
| #include <yarp/dev/MultipleAnalogSensorsInterfaces.h> | ||
| #include <yarp/dev/IPositionControl.h> | ||
| #include <yarp/dev/IEncoders.h> | ||
| #include <yarp/dev/IAxisInfo.h> | ||
| #include <yarp/dev/IControlLimits.h> | ||
| #include <yarp/robottestingframework/TestCase.h> | ||
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| #include <iDynTree/KinDynComputations.h> | ||
| #include <iDynTree/ModelLoader.h> | ||
| #include <iDynTree/Model.h> | ||
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| class Imu : public yarp::robottestingframework::TestCase { | ||
| public: | ||
| Imu(); | ||
| virtual ~Imu(); | ||
| virtual bool setup(yarp::os::Property& property); | ||
| virtual void tearDown(); | ||
| virtual void run(); | ||
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| private: | ||
| std::string robotName; | ||
| std::string portName; | ||
| std::string modelName; | ||
| std::string frameName; | ||
| std::string sensorName; | ||
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| yarp::dev::PolyDriver MASclientDriver; | ||
| yarp::dev::PolyDriver controlBoardDriver; | ||
| yarp::dev::IOrientationSensors* iorientation; | ||
| yarp::dev::IPositionControl* ipos; | ||
| yarp::dev::IEncoders* ienc; | ||
| yarp::dev::IAxisInfo* iaxes; | ||
| yarp::dev::IControlLimits* ilim; | ||
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| yarp::os::BufferedPort <yarp::os::Bottle> outputPort; | ||
| yarp::sig::Vector rpyValues; | ||
| yarp::sig::Vector positions; | ||
| yarp::sig::Vector velocities; | ||
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| int axes; | ||
| double timestamp; | ||
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| iDynTree::ModelLoader model; | ||
| iDynTree::KinDynComputations kinDynComp; | ||
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| iDynTree::VectorDynSize s; | ||
| iDynTree::VectorDynSize ds; | ||
| iDynTree::Vector3 gravity; | ||
| iDynTree::Rotation baseLinkOrientation; | ||
| iDynTree::Twist baseVelocity; | ||
| iDynTree::Transform I_T_base; | ||
| iDynTree::Rotation I_R_I_IMU; | ||
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| bool sendData(iDynTree::Vector3 expectedValues, iDynTree::Vector3 imuSignal); | ||
| bool moveJoint(int ax, double pos); | ||
| }; | ||
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| #endif //IMU_H |
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This list can be parametrized in future improvements in order to be able to test sensors in other kinematic chains