yarp-device-rerun

This repository contains yarpLoggerRerun, the YARP logging device that uses Rerun.io library

1. License

This software may be modified and distributed under the terms of the BSD-3-Clause license. See the accompanying LICENSE file for details.

2. Dependencies

Before proceeding further, please install the following dependencies:

• YARP 3.12
• iDynTree

3. Install

After installing the necessary dependencies, please choose one of the following methods to build and install the device.

3.1 Build from sources

git clone https://github.com/robotology-playground/yarp-device-rerun
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<installation_path> ..
make
make install

This will download a bundle with pre-built Rerun C static libraries for most desktop platforms, all Rerun C++ sources and headers, as well as CMake build instructions for them. See the dedicated page for more details.

In order to make the device detectable, add <installation_path>/share/yarp to the YARP_DATA_DIRS environment variable of the system.

Alternatively, if YARP has been installed using the robotology-superbuild, it is possible to use <directory-where-you-downloaded-robotology-superbuild>/build/install as the <installation_path>.

4. Usage

This device has to be launched via the yarprobotinterface for logging quantities from the robot (simulated or real) based on what is specified in the configuration file.

The parameters supported so far are:

| Parameter name     | Type            | Units   | Default Value    | Required |
|:------------------:|:---------------:|:-------:|:----------------:|:--------:|
| axesNames          | vector<string>  | -       |                  |  Yes     |
| logIEncoders       | bool            | -       |     true         |  No      |
| logIMotorEncoders  | bool            | -       |     false        |  No      |
| logIPidControl     | bool            | -       |     false        |  No      |
| logURDF            | bool            | -       |     false        |  No      |
| fileName           | string          | -       |     log_test     |  No      |
| filePath           | string          | -       |/home/ergocub/test|  No      |
| saveToFile         | bool            | -       |     false        |  No      |
| viewerIp           | string          | -       |    localhost     |  No      |

Here an example of xml for using this device on ergoCubSN002:

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="yarpLoggerRerun" type="yarpLoggerRerun">
        <param name="axesNames">(neck_pitch, neck_roll, neck_yaw, l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow, l_wrist_yaw, l_wrist_roll, l_wrist_pitch, r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw, r_elbow, r_wrist_yaw, r_wrist_roll, r_wrist_pitch, torso_roll, torso_pitch, torso_yaw, r_hip_pitch, r_hip_roll, r_hip_yaw, r_knee, r_ankle_pitch, r_ankle_roll, l_hip_pitch, l_hip_roll, l_hip_yaw, l_knee, l_ankle_pitch, l_ankle_roll, l_thumb_add, l_thumb_oc, l_index_add, l_index_oc, l_middle_oc, l_ring_pinky_oc, r_thumb_add, r_thumb_oc, r_index_add, r_index_oc, r_middle_oc, r_ring_pinky_oc)</param>
        <param name="logIEncoders">false</param>
        <param name="logIMotorEncoders">false</param>
        <param name="logIPidControl">false</param>
        <param name="logURDF">true</param>
        <param name="fileName">log_test</param>
        <param name="filePath">/home/user/test</param>
        <param name="saveToFile">false</param>
        <param name="viewerIp">localhost</param>

         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                <!-- motorcontrol -->
                <elem name="head-j0">head-eb20-j0_2-mc</elem>
                <elem name="head-j2">head-eb21-j3-mc</elem>
                <elem name="torso">torso-eb5-j0_2-mc</elem>
                <elem name="left_upper_arm-j0">left_arm-eb2-j0_1-mc</elem>
                <elem name="left_upper_arm-j2">left_arm-eb4-j2_3-mc</elem>
                <elem name="left_lower_arm">left_arm-eb31-j4_6-mc</elem>
                <elem name="left_hand1">left_arm-eb23-j7_10-mc</elem>
                <elem name="left_hand2">left_arm-eb25-j11_12-mc</elem>
                <elem name="right_upper_arm-j0">right_arm-eb1-j0_1-mc</elem>
                <elem name="right_upper_arm-j2">right_arm-eb3-j2_3-mc</elem>
                <elem name="right_lower_arm">right_arm-eb30-j4_6-mc</elem>
                <elem name="right_hand1">right_arm-eb22-j7_10-mc</elem>
                <elem name="right_hand2">right_arm-eb24-j11_12-mc</elem>
                <elem name="left_upper_leg-j0">left_leg-eb8-j0_3-mc</elem>
                <elem name="left_lower_leg-j2">left_leg-eb9-j4_5-mc</elem>
                <elem name="right_upper_leg-j0">right_leg-eb6-j0_3-mc</elem>
                <elem name="right_lower_leg-j2">right_leg-eb7-j4_5-mc</elem>
             </paramlist>
        </action>
        <action phase="shutdown" level="15" type="detach" />

    </device>

Maintainers

This repository is maintained by:

	@martinaxgloria