Commit 5dd61af6 authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

fix absolute paths

parent a9a07b6a
...@@ -2,8 +2,8 @@ ...@@ -2,8 +2,8 @@
#P #P
#Paths which need to be adapted are: #Paths which need to be adapted are:
#1: ilc_rosproxy.py data_path in bringup-****.launch (Folder must exist for data to be stored) #1: ilc_rosproxy.py data_path in bringup-****.launch
#2: Paths in ilc_skills and ilc_rosproxy calls in *****.xml (Folder must exist for data to be stored) #2: Paths in ilc_skills and ilc_rosproxy calls in *****.xml
#---------------------Microsim---------------------------- #---------------------Microsim----------------------------
......
...@@ -115,7 +115,7 @@ ...@@ -115,7 +115,7 @@
<member id="force.tasks.apply_force.controllers"> <member id="force.tasks.apply_force.controllers">
<clone id="ilc_controller" prototype="first_order_impedance_controller_ilc"> <clone id="ilc_controller" prototype="first_order_impedance_controller_ilc">
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/force_ff_2.txt</member>
<member id="data_source"> <member id="data_source">
<reference reference_id="collections.force_chain.chains[0]"/> <reference reference_id="collections.force_chain.chains[0]"/>
</member> </member>
...@@ -133,7 +133,7 @@ ...@@ -133,7 +133,7 @@
<reference reference_id="force.tasks.apply_force.controllers.first_order_impedance_controller"/> <reference reference_id="force.tasks.apply_force.controllers.first_order_impedance_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member> <member id="file_name">{rospkg ilc}/logs/{time %F}/force_logger_0.csv</member>
<member id="filter">force_chain/x,force_chain/y,force_chain/z</member> <member id="filter">force_chain/x,force_chain/y,force_chain/z</member>
</clone> </clone>
...@@ -165,8 +165,8 @@ ...@@ -165,8 +165,8 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy</member> <member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member> <member id="filename_error">{rospkg ilc}/logs/{time %F}/force_logger_0.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/force_ff_2.txt</member>
<member id="traj_type">e</member> <member id="traj_type">e</member>
<member id="L">0.00005</member> <member id="L">0.00005</member>
<member id="cutoff_freq">0.9</member> <member id="cutoff_freq">0.9</member>
......
...@@ -106,7 +106,7 @@ ...@@ -106,7 +106,7 @@
<member id="tasks.tracking.controllers"> <member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc"> <clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_2.txt</member>
<member id="data_source"> <member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/> <reference reference_id="collections.target_to_tool.chains[0]"/>
...@@ -140,7 +140,7 @@ ...@@ -140,7 +140,7 @@
<member id="controllers"> <member id="controllers">
<reference reference_id="tasks.tracking.controllers.ilc_controller"/> <reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member> <member id="file_name">{rospkg ilc}/logs/{time %F}/logger_0.csv</member>
</clone> </clone>
<clone prototype="script_measurement_logger"> <clone prototype="script_measurement_logger">
...@@ -172,8 +172,8 @@ ...@@ -172,8 +172,8 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy1</member> <member id="namespace">ilc_rosproxy1</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member> <member id="filename_error">{rospkg ilc}/logs/{time %F}/logger_0.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_2.txt</member>
<member id="traj_type">const</member> <member id="traj_type">const</member>
<member id="L">0.6</member> <member id="L">0.6</member>
<member id="cutoff_freq">0.5</member> <member id="cutoff_freq">0.5</member>
......
...@@ -81,7 +81,7 @@ ...@@ -81,7 +81,7 @@
<member id="tasks.tracking.controllers"> <member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc"> <clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_2.txt</member>
<member id="data_source"> <member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/> <reference reference_id="collections.target_to_tool.chains[0]"/>
</member> </member>
...@@ -115,7 +115,7 @@ ...@@ -115,7 +115,7 @@
<reference reference_id="tasks.tracking.controllers.ilc_controller"/> <reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member> <member id="file_name">{rospkg ilc}/logs/{time %F}/logger_0.csv</member>
</clone> </clone>
</member> </member>
</clone> </clone>
...@@ -134,7 +134,7 @@ ...@@ -134,7 +134,7 @@
<member id="force.tasks.apply_force.controllers"> <member id="force.tasks.apply_force.controllers">
<clone id="ilc_controller" prototype="first_order_impedance_controller_ilc"> <clone id="ilc_controller" prototype="first_order_impedance_controller_ilc">
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/force_ff_2.txt</member>
<member id="data_source"> <member id="data_source">
<reference reference_id="collections.force_chain.chains[0]"/> <reference reference_id="collections.force_chain.chains[0]"/>
</member> </member>
...@@ -152,7 +152,7 @@ ...@@ -152,7 +152,7 @@
<reference reference_id="force.tasks.apply_force.controllers.first_order_impedance_controller"/> <reference reference_id="force.tasks.apply_force.controllers.first_order_impedance_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member> <member id="file_name">{rospkg ilc}/logs/{time %F}/force_logger_0.csv</member>
<member id="filter">force_chain/x,force_chain/y,force_chain/z</member> <member id="filter">force_chain/x,force_chain/y,force_chain/z</member>
</clone> </clone>
</member> </member>
...@@ -174,8 +174,8 @@ ...@@ -174,8 +174,8 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy</member> <member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member> <member id="filename_error">{rospkg ilc}/logs/{time %F}/logger_0.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_2.txt</member>
<member id="traj_type">cos</member> <member id="traj_type">cos</member>
<member id="L">0.6</member> <member id="L">0.6</member>
<member id="cutoff_freq">0.5</member> <member id="cutoff_freq">0.5</member>
...@@ -194,8 +194,8 @@ ...@@ -194,8 +194,8 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy2</member> <member id="namespace">ilc_rosproxy2</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member> <member id="filename_error">{rospkg ilc}/logs/{time %F}/force_logger_0.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/force_ff_2.txt</member>
<member id="traj_type">cos</member> <member id="traj_type">cos</member>
<member id="L">0.00005</member> <member id="L">0.00005</member>
<member id="cutoff_freq">0.9</member> <member id="cutoff_freq">0.9</member>
......
...@@ -130,7 +130,7 @@ ...@@ -130,7 +130,7 @@
<member id="force.tasks.apply_force.controllers"> <member id="force.tasks.apply_force.controllers">
<clone id="ilc_controller" prototype="first_order_impedance_controller_ilc"> <clone id="ilc_controller" prototype="first_order_impedance_controller_ilc">
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_in.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/force_ff_in.txt</member>
<member id="data_source"> <member id="data_source">
<reference reference_id="collections.force_chain.chains[0]"/> <reference reference_id="collections.force_chain.chains[0]"/>
</member> </member>
...@@ -148,7 +148,7 @@ ...@@ -148,7 +148,7 @@
<reference reference_id="force.tasks.apply_force.controllers.first_order_impedance_controller"/> <reference reference_id="force.tasks.apply_force.controllers.first_order_impedance_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/force_logger_in.csv</member> <member id="file_name">{rospkg ilc}/logs/{time %F}/force_logger_in.csv</member>
<member id="filter">force_chain/x,force_chain/y,force_chain/z</member> <member id="filter">force_chain/x,force_chain/y,force_chain/z</member>
</clone> </clone>
...@@ -209,7 +209,7 @@ ...@@ -209,7 +209,7 @@
<member id="tasks.tracking.controllers"> <member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc"> <clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_out.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_out.txt</member>
<member id="data_source"> <member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/> <reference reference_id="collections.target_to_tool.chains[0]"/>
...@@ -243,7 +243,7 @@ ...@@ -243,7 +243,7 @@
<member id="controllers"> <member id="controllers">
<reference reference_id="tasks.tracking.controllers.ilc_controller"/> <reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_lin_out.csv</member> <member id="file_name">{rospkg ilc}/logs/{time %F}/logger_lin_out.csv</member>
</clone> </clone>
<clone prototype="script_measurement_logger"> <clone prototype="script_measurement_logger">
...@@ -289,7 +289,7 @@ ...@@ -289,7 +289,7 @@
<member id="tasks.tracking.controllers"> <member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc"> <clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_left.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_left.txt</member>
<member id="data_source"> <member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/> <reference reference_id="collections.target_to_tool.chains[0]"/>
...@@ -323,7 +323,7 @@ ...@@ -323,7 +323,7 @@
<member id="controllers"> <member id="controllers">
<reference reference_id="tasks.tracking.controllers.ilc_controller"/> <reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_lin_left.csv</member> <member id="file_name">{rospkg ilc}/logs/{time %F}/logger_lin_left.csv</member>
</clone> </clone>
<clone prototype="script_measurement_logger"> <clone prototype="script_measurement_logger">
...@@ -543,7 +543,7 @@ ...@@ -543,7 +543,7 @@
<member id="tasks.tracking.controllers"> <member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc"> <clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_right.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_right.txt</member>
<member id="data_source"> <member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/> <reference reference_id="collections.target_to_tool.chains[0]"/>
...@@ -577,7 +577,7 @@ ...@@ -577,7 +577,7 @@
<member id="controllers"> <member id="controllers">
<reference reference_id="tasks.tracking.controllers.ilc_controller"/> <reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_lin_right.csv</member> <member id="file_name">{rospkg ilc}/logs/{time %F}/logger_lin_right.csv</member>
</clone> </clone>
<clone prototype="script_measurement_logger"> <clone prototype="script_measurement_logger">
...@@ -608,8 +608,8 @@ ...@@ -608,8 +608,8 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy1</member> <member id="namespace">ilc_rosproxy1</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/force_logger_in.csv</member> <member id="filename_error">{rospkg ilc}/logs/{time %F}/force_logger_in.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_in.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/force_ff_in.txt</member>
<member id="traj_type">e</member> <member id="traj_type">e</member>
<member id="L">0.00005</member> <member id="L">0.00005</member>
<member id="cutoff_freq">0.9</member> <member id="cutoff_freq">0.9</member>
...@@ -629,8 +629,8 @@ ...@@ -629,8 +629,8 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy2</member> <member id="namespace">ilc_rosproxy2</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_lin_out.csv</member> <member id="filename_error">{rospkg ilc}/logs/{time %F}/logger_lin_out.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_out.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_out.txt</member>
<member id="traj_type">e</member> <member id="traj_type">e</member>
<member id="L">0.6</member> <member id="L">0.6</member>
<member id="cutoff_freq">0.5</member> <member id="cutoff_freq">0.5</member>
...@@ -649,8 +649,8 @@ ...@@ -649,8 +649,8 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy3</member> <member id="namespace">ilc_rosproxy3</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_lin_left.csv</member> <member id="filename_error">{rospkg ilc}/logs/{time %F}/logger_lin_left.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_left.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_left.txt</member>
<member id="traj_type">e</member> <member id="traj_type">e</member>
<member id="L">0.6</member> <member id="L">0.6</member>
<member id="cutoff_freq">0.5</member> <member id="cutoff_freq">0.5</member>
...@@ -709,8 +709,8 @@ ...@@ -709,8 +709,8 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy6</member> <member id="namespace">ilc_rosproxy6</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_lin_right.csv</member> <member id="filename_error">{rospkg ilc}/logs/{time %F}/logger_lin_right.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_right.txt</member> <member id="filename_ff">{rospkg ilc}/logs/{time %F}/lin_ff_right.txt</member>
<member id="traj_type">e</member> <member id="traj_type">e</member>
<member id="L">0.6</member> <member id="L">0.6</member>
<member id="cutoff_freq">0.5</member> <member id="cutoff_freq">0.5</member>
......
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