Move madgwickahrs.cpp and other files common to sot-talos-balance and sot-torque-control

After discussing it with @ostasse, we think it is better to move these files in sot-core.

changed milestone to %Set up of the control graph

added on-going label

I would also move a few Python helper methods inside create_entities_utils, such as create_tracer, addTrace, and all related methods, plus create_ros_publisher and create_topic

Related to !4 (merged): the contents of utils/commands-helper.hh should be moved to dynamic-graph. Details and discussion here

mentioned in issue #50 (closed)

I think utils/causal-filter.cpp and filter-differentiator.cpp should be moved to sot-core too.

What about src/utils/statistics.cpp and utils/stop-watch.cpp? Should they be moved too? I think so.

Update: I've just created a small entity called PoseQuaternionToMatrixHomo. I mimicked the naming conventions of the operators in operator.cpp from sot-core. In the future, I think this small entity should be moved there (in which case, it will be re-implemented as a subclass of UnaryOpHeader as all other entities there, such as PoseRollPitchYawToMatrixHomo https://github.com/stack-of-tasks/sot-core/blob/908097d112b77f771e23a9a0af77002a2c874597/src/matrix/operator.cpp#L408, I didn't manage to do it here. in sot-talos-balance).

Duplication is striking back with robotpkg:

ERROR: Files from wip/sot-torque-control package:

ERROR: /opt/openrobots/lib/plugin/admittance-controller.so

ERROR: /opt/openrobots/lib/plugin/base-estimator.so

ERROR: /opt/openrobots/lib/plugin/control-manager.so

ERROR: /opt/openrobots/lib/plugin/filter-differentiator.so

ERROR: /opt/openrobots/lib/plugin/imu_offset_compensation.so

ERROR: /opt/openrobots/lib/plugin/madgwickahrs.so

ERROR: /opt/openrobots/lib/plugin/nd-trajectory-generator.so

My proposition to solve these conflicts:

• admittance-controller : rename to simple-admittance-controller

• base-estimator : I don't know whether we should move this to sot-core or not. Anyhow, I expect this entity to undergo lots of changes, so it is not mature enough to be moved. Could we rename it to something else? For instance, talos-base-estimator? What do you think?

• control-manager : same comments as base-estimator

• filter-differentiator : I think this entity is stable and mature. Also, I am pretty sure the versions in sot-talos-balance and sot-torque control are basically identical to each other. We should move this to sot-core. Along with this, causal-filter (which is not an entity) should also be moved

• imu_offset_compensation : I am not sure of what this entity is doing. It seems we are never using it. Maybe it can be simply removed from sot-talos-balance. @tflayols what do you say?

• madgwickahrs : this entity should be moved to sot-core. I made several improvements to this entity in sot-talos-balance. In particular, I turned the scalar type from float to double. Therefore, I strongly recommend using the version in sot-talos-balance

• nd-trajectory-generator : this entity is quite mature and it should be moved to sot-core. I do not know whether the version in sot-talos-balance has been modified from the one in sot-torque-control before being integrated in sot-talos-balance. In particular, I do not know whether some features have been removed. I know for sure I had to fix a few bugs in order to be able to use it to read files; therefore, my changes should be retained. Among the changes I made, there is a particular feature I disabled because I did not like how it worked; I will put it back. Also, I will check whether there are things in sot-torque control that need to be put back. After this, we can move everything to sot-core

added refactoring label

base-estimator , I agree this entity is specific to Talos in its current state, and also need some improvements. I'm ok to rename it 'talos-base-estimator' for now.

imu_offset_compensation was used with HRP2 IMU which is analog and has some bias at startup. This entity also include a high pass filter on the Gyro with very low cutoff frequency to remove any biais. I think we don't need it anymore for Talos.

nd-trajectory-generator is not ready for sot-core in my opinion. Some old checks are still specific to joint-trajectory-generator, the entity that was used as a base when we coded this one. A major issue with this entity in his current state is the file loading process, witch is blocking and can generate failure on the robot with RT constrains. We could use a separate thread to read the data... I will open an issue on this.

IMO, Another entity that should be moved out from the project is the qualisys-mocap-client.

This is mostly fixed by !13 (merged). To summarize:

• admittance-controller : renamed simple-admittance-controller
• base-estimator : renamed talos-base-estimator
• control-manager : renamed talos-control-manager
• filter-differentiator : moved to sot-core, along with causal-filter
• imu_offset_compensation : removed
• madgwickahrs : moved to sot-core
• nd-trajectory-generator : removed from sot-torque-control, waiting for the version in sot-talos-balance to be moved to sot-core when it is ready
• parameter-server : removed from sot-talos-balance. We are now using the one in sot-core
• stop-watch : moved to sot-core

Closing this issue

closed