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Commit d2d02950 authored by Lorenz Halt's avatar Lorenz Halt 🔀
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fix absolute pathes, renaming, cleanup

parent c1d4509b
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.gitignore
View file @ d2d02950
......@@ -139,3 +139,5 @@ cython_debug/
*.log
*.pyc
logs/
\ No newline at end of file
CMakeLists.txt
View file @ d2d02950
......@@ -3,6 +3,7 @@ project(ilc CXX)
find_package(catkin REQUIRED COMPONENTS
rospy
roslib
roscpp
std_msgs
message_generation
......
apps/rob_ilc_force.xml
View file @ d2d02950
......@@ -115,7 +115,7 @@
<member id="force.tasks.apply_force.controllers">
<clone id="ilc_controller" prototype="first_order_impedance_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="data_source">
<reference reference_id="collections.force_chain.chains[0]"/>
</member>
......@@ -165,8 +165,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="traj_type">e</member>
<member id="L">0.00005</member>
<member id="cutoff_freq">0.9</member>
......
apps/rob_ilc_lin_contact.xml
View file @ d2d02950
......@@ -72,7 +72,7 @@
<member id="trajectory_duration">10</member>
<clone id="retime_factor" prototype="float_parameter">0.9</clone>
<member id="positioning_monitor.distances">0.0, 0.0, 0.0, 0.0, 0.0, 0.0</member>
<member id="monitors">
<clone prototype="monitor_duration">
......@@ -106,7 +106,7 @@
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
......@@ -172,9 +172,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy1</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="file_traj">/home/ipa325/Documents/ilc_Logs/trajectory.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="traj_type">const</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.5</member>
......
apps/rob_ilc_lin_force.xml
View file @ d2d02950
......@@ -81,7 +81,7 @@
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
......@@ -134,7 +134,7 @@
<member id="force.tasks.apply_force.controllers">
<clone id="ilc_controller" prototype="first_order_impedance_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="data_source">
<reference reference_id="collections.force_chain.chains[0]"/>
</member>
......@@ -174,9 +174,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="file_traj">/home/ipa325/Documents/ilc_Logs/trajectory.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="traj_type">cos</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.5</member>
......@@ -195,8 +194,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy2</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="traj_type">cos</member>
<member id="L">0.00005</member>
<member id="cutoff_freq">0.9</member>
......
apps/rob_ilc_lin_test.xml
View file @ d2d02950
......@@ -75,24 +75,18 @@
<member id="tasks.tracking.setpoint_generators">
<!-- <clone id="setpoint_cos" prototype="cosine_setpoint_ILC">
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="desired" reference_id="target_offsets"/>
<member id="coordinates" reference_id="coordinates"/>
<member id="prefix" reference_id="prefix"/>
<member id="duration" reference_id="trajectory_duration"/>
</clone> -->
<!-- Replace setpoint generator with rosservice callable ilc cosine setpoint_gen -->
<clone id="setpoint_ilc" prototype="cosine_setpoint_ILC">
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="duration" reference_id="trajectory_duration"/> <!-- use parameter from above for usability -->
<member id="retime_factor" reference_id="retime_factor"/> <!-- use parameter from above for usability -->
<member id="desired" reference_id="target_offsets"/>
<member id="coordinates" reference_id="coordinates"/>
<member id="prefix" reference_id="prefix"/>
<member id="duration" reference_id="trajectory_duration"/>
<member id="retime_factor" reference_id="retime_factor"/>
<member id="max_vel_groups">
<reference reference_id="max_linear_velocity"/>
<reference reference_id="max_angular_velocity"/>
......@@ -106,14 +100,14 @@
</member>
<member id="tasks.tracking.controllers">
<!-- Replace controller with ilc controller adaption taking feedforward into account -->
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="filename_ff">{rospkg ilc}/logs/{time %F}/ilc_ff.csv</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint_ilc"/>
<!-- <reference reference_id="setpoint_generators[0]"/> -->
</member>
<member id="coordinates">x, y, z</member>
<member id="prefix" reference_id="prefix"/>
......@@ -121,7 +115,7 @@
<member id="gain" reference_id="linear_controller_gain"/>
</clone>
<!-- orientation controller -->
<!-- orientation controller, not replaced yet referencing ilc setpoint_gen -->
<clone prototype="tanh_controller">
<member id="max_output" reference_id="max_angular_velocity"/>
<member id="P_lin" reference_id="angular_controller_gain"/>
......@@ -130,7 +124,6 @@
</member>
<member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint_ilc"/>
<!-- <reference reference_id="setpoint_generators[0]"/> -->
</member>
<member id="coordinates">a, b, c</member>
<member id="prefix" reference_id="prefix"/>
......@@ -138,19 +131,19 @@
</member>
<member id="scripts">
<!-- Log the control errors for ilc calculations -->
<clone prototype="script_error_logger">
<member id="controllers">
<reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
<member id="file_name">{rospkg ilc}/logs/{time %F}/error.csv</member>
</clone>
<clone prototype="script_measurement_logger">
<member id="provider">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="file_name">/home/ipa325/Documents/ilc_Meas/meas_logger_{time %F_%H_%M_%S}.csv</member>
<member id="file_name">{rospkg ilc}/logs/{time %F}/meas_lin/target_to_tool_{time %F_%H_%M_%S}.csv</member>
</clone>
</member>
......@@ -166,9 +159,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="file_traj">/home/ipa325/Documents/ilc_Logs/trajectory.txt</member>
<member id="filename_error">{rospkg ilc}/logs/{time %F}/error.csv</member>
<member id="filename_ff">{rospkg ilc}/logs/{time %F}/ilc_ff.csv</member>
<member id="traj_type">const</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.5</member>
......
apps/rob_usb_ilc.xml
View file @ d2d02950
......@@ -130,7 +130,7 @@
<member id="force.tasks.apply_force.controllers">
<clone id="ilc_controller" prototype="first_order_impedance_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/force_ff_in.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_in.txt</member>
<member id="data_source">
<reference reference_id="collections.force_chain.chains[0]"/>
</member>
......@@ -209,7 +209,7 @@
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_out.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_out.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
......@@ -289,7 +289,7 @@
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_left.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_left.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
......@@ -375,7 +375,7 @@
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_up.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_up.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
......@@ -463,7 +463,7 @@
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_down.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_down.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
......@@ -543,7 +543,7 @@
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_right.txt</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_right.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
......@@ -608,8 +608,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy1</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/force_logger_in.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/force_ff_in.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/force_logger_in.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/force_ff_in.txt</member>
<member id="traj_type">e</member>
<member id="L">0.00005</member>
<member id="cutoff_freq">0.9</member>
......@@ -629,8 +629,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy2</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/logger_lin_out.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_out.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_lin_out.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_out.txt</member>
<member id="traj_type">e</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.5</member>
......@@ -649,8 +649,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy3</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/logger_lin_left.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_left.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_lin_left.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_left.txt</member>
<member id="traj_type">e</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.5</member>
......@@ -669,8 +669,8 @@
<!-- <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy4</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/lin_logger_up.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_up.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/lin_logger_up.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_up.txt</member>
<member id="traj_type">e</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.9</member>
......@@ -689,8 +689,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy5</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/lin_logger_down.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_down.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/lin_logger_down.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_down.txt</member>
<member id="traj_type">e</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.9</member>
......@@ -709,8 +709,8 @@
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy6</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/logger_lin_right.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_right.txt</member>
<member id="filename_error">/home/ipa325/Documents/ilc_Logs/logger_lin_right.csv</member>
<member id="filename_ff">/home/ipa325/Documents/ilc_Logs/lin_ff_right.txt</member>
<member id="traj_type">e</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.5</member>
......
include/controller_ilc.hpp
View file @ d2d02950
......@@ -6,6 +6,9 @@
#include <iostream>
#include <fstream>
#include <ros/package.h>
#include <regex>
template<class T>
class ILC : public T
{
......@@ -13,13 +16,14 @@ class ILC : public T
public:
ILC(const string& name)
: T(name),
filename_in_{""}
filename_ff_{""}
{
}
bool init(Dict& params) override {
extract(params["filename_in"], filename_in_);
extract(params["filename_ff"], filename_ff_);
filename_ff_ = decode_filename(filename_ff_);
return T::init(params);
}
......@@ -28,9 +32,9 @@ public:
feedforward_.clear();
ff_coordinates_.clear();
std::ifstream fin(filename_in_, std::ios::out);
std::ifstream fin(filename_ff_, std::ios::out);
if (!fin.is_open()){
pi_error("Unable to load file: {}", filename_in_);
pi_error("Unable to load file: {}", filename_ff_);
return true;
}
string line;
......@@ -106,7 +110,7 @@ protected:
coordinate,
res,
it->second,
res_ff);
res_ff);
res = res_ff;
}
} else {
......@@ -115,8 +119,47 @@ protected:
return res;
}
string decode_filename(const string file_name)
{
/*
* replace '{time|rospkg (...)}' accordingly
*/
std::regex time_regex("\\{(\\w*) ([^\\}]*)\\}");
// Get time now, that it does not differ within matches
auto t = std::time(nullptr);
auto tm = *std::localtime(&t);
std::string out;
std::string::const_iterator it = file_name.cbegin(), end = file_name.cend();
for (std::smatch match; std::regex_search(it, end, match, time_regex); it = match[0].second)
{
out += match.prefix();
if (match[1].str().compare("time") == 0) {
std::ostringstream oss;
string match_timeformat = match[2].str();
oss << std::put_time(&tm, match_timeformat.c_str());
auto time_replace = oss.str();
out += time_replace; // replace here
}
else if (match[1].str().compare("rospkg") == 0) {
out += ros::package::getPath(match[2].str()); // replace with rospackage path
}
else {
pi_warn_named("controller_ilc", "Replacement for '{}' in '{}' not defined!", match[1].str(), match.str());
out += match.str(); // no replace here
}
}
out.append(it, end);
return out;
}
protected:
string filename_in_;
string filename_ff_;
Tick start_;
std::map<int, std::map<string, double>> feedforward_; // maps tick in ms -> object that maps coordinate -> feedforward value
......
launch/bringup_microsim.launch
View file @ d2d02950
......@@ -33,6 +33,9 @@
<rosparam param="wrench_noise_std">0</rosparam>
</node>
<!-- republish the joint velocities from a C++ node (https://gitlab.cc-asp.fraunhofer.de/pitasc/pitasc/-/issues/367) -->
<node name="joint_vel_republisher" pkg="microsim" type="joint_vel_republisher_node" output="screen" />
<!-- <param name="robot_description" command="$(find xacro)/xacro - -inorder '$(find peg_in_hole)/urdf/ur10_robotiq2F.urdf.xacro'" /> -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
......
models/ilc_controllers.xml
View file @ d2d02950
......@@ -11,7 +11,7 @@
<clone prototype="orocos">
<member id="package">ilc_controllers</member>
<member id="component">PControllerILC</member>
<member id="arguments">gain, limit, filename_in, data_source, setpoint_generator, coordinates, prefix</member>
<member id="arguments">gain, limit, filename_ff, data_source, setpoint_generator, coordinates, prefix</member>
</clone>
</member>
</meta>
......@@ -24,7 +24,7 @@
<member id="description">Limit</member>
<data>1.0</data>
</type>
<type id="filename_in" prototype="string_parameter">
<type id="filename_ff" prototype="string_parameter">
<member id="description">Filename to be loaded for feedforward</member>
</type>
......@@ -50,13 +50,13 @@
<clone prototype="orocos">
<member id="package">ilc_controllers</member>
<member id="component">VelocityControllerILC</member>
<member id="arguments">filename_in, data_source, setpoint_generator, coordinates, prefix, velocities</member>
<member id="arguments">filename_ff, data_source, setpoint_generator, coordinates, prefix, velocities</member>
</clone>
</member>
</meta>
<data>
<type id="filename_in" prototype="string_parameter">
<type id="filename_ff" prototype="string_parameter">
<member id="description">Filename to be loaded for feedforward</member>
</type>
......@@ -84,13 +84,13 @@
<clone prototype="orocos">
<member id="package">ilc_controllers</member>
<member id="component">FirstOrderImpedanceILC</member>
<member id="arguments">filename_in, compliance, f0_hz, update_rate, data_source, setpoint_generator, coordinates, prefix</member>
<member id="arguments">filename_ff, compliance, f0_hz, update_rate, data_source, setpoint_generator, coordinates, prefix</member>
</clone>
</member>
</meta>
<data>
<type id="filename_in" prototype="string_parameter">
<type id="filename_ff" prototype="string_parameter">
<member id="description">Filename to be loaded for feedforward</member>
</type>
......@@ -131,12 +131,12 @@
<clone prototype="orocos">
<member id="package">ilc_controllers</member>
<member id="component">TanHControllerILC</member>
<member id="arguments">filename_in, max_output, P_lin, update_rate, data_source, setpoint_generator, coordinates, prefix</member>
<member id="arguments">filename_ff, max_output, P_lin, update_rate, data_source, setpoint_generator, coordinates, prefix</member>
</clone>
</member>
</meta>
<data>
<type id="filename_in" prototype="string_parameter">
<type id="filename_ff" prototype="string_parameter">
<member id="description">Filename to be loaded for feedforward</member>
</type>
......
models/ilc_scripts.xml
View file @ d2d02950
......@@ -6,7 +6,7 @@
<type id="script_trigger_ilc" prototype="script_service_caller">
<meta>
<member id="description">Triggers a ros script to generate a file including ilc feedforward (file_out) based on given error loggings (file_in)</member>
<member id="description">Triggers a ros script to generate a file including ilc feedforward (filename_ff) based on given error loggings (filename_error)</member>
<member id="implementation">
<clone prototype="orocos">
<member id="package">ilc_scripts</member>
......@@ -15,18 +15,14 @@
</member>
</meta>
<data>
<type id="file_in" prototype="string_parameter">
<type id="filename_error" prototype="string_parameter">
<member id="description">Filename to be loaded for feedforward</member>
</type>
<type id="file_out" prototype="string_parameter">
<type id="filename_ff" prototype="string_parameter">
<member id="description">Filename to be generated for feedforward</member>
</type>
<type id="file_traj" prototype="string_parameter">
<member id="description">Filename to be generated/loaded for trajectory</member>
</type>
<type id="traj_type" prototype="string_parameter">
<member id="description">trajectory type to be used</member>
</type>
......@@ -59,7 +55,7 @@
<type id="script_trigger_ilc_meas" prototype="script_trigger_ilc">
<meta>
<member id="description">Triggers a ros script to generate a file including ilc feedforward (file_out) based on given measeurement loggings (file_in) and the setpoint</member>
<member id="description">Triggers a ros script to generate a file including ilc feedforward (filename_ff) based on given measeurement loggings (filename_error) and the setpoint</member>
<member id="implementation">
<clone prototype="orocos">
<member id="package">ilc_scripts</member>
......
scripts/ilc_lib/ilc_rosproxy.py
View file @ d2d02950
......@@ -65,7 +65,7 @@ class Ilc_serviceproxy:
def callback_ilc_calc_meas(self, req):
try:
print
path = self.decode_filename(req.file_in)
path = self.decode_filename(req.filename_error)
### Read measurement data
data_org, header = ilc_lib.read(path)
......@@ -85,7 +85,7 @@ class Ilc_serviceproxy:
def callback_ilc_calc(self, req):
try:
path = self.decode_filename(req.file_in)
path = self.decode_filename(req.filename_error)
### Read Error data
data_org, header = ilc_lib.read(path)
......@@ -120,7 +120,7 @@ class Ilc_serviceproxy:
### ILC Gain
data_ff = ilc_lib.ilc_calculations(data_ff_shift, req.L)
### Combine with last iteration, if existing
path_out = self.decode_filename(req.file_out)
path_out = self.decode_filename(req.filename_ff)
if self.initialized and os.path.exists(path_out):
last_ff, _ = ilc_lib.read(path_out)
......
src/ilc/scripts_ilc.cpp
View file @ d2d02950
......@@ -15,16 +15,14 @@ public:
}
bool init(Dict& params) override {
extract(params["file_in"], fin_);
extract(params["file_out"], fout_);
extract(params["file_traj"], trajout_);
extract(params["filename_error"], fin_);
extract(params["filename_ff"], fout_);
extract(params["traj_type"], trajtype_);
extract(params["L"], Lgain_);
extract(params["cutoff_freq"], cutoff_);
service_.request.file_in = fin_;
service_.request.file_out = fout_;
service_.request.file_traj = trajout_;
service_.request.filename_error = fin_;
service_.request.filename_ff = fout_;
service_.request.traj_type = trajtype_;
service_.request.L = Lgain_;
service_.request.cutoff_freq = cutoff_;
......@@ -44,7 +42,6 @@ public:
private:
string fin_;
string fout_;
string trajout_;
string trajtype_;
double Lgain_;
double cutoff_;
......@@ -61,18 +58,16 @@ public:
}
bool init(Dict& params) override {
extract(params["file_in"], fin_);
extract(params["filename_error"], fin_);
extract(params["setpoint"], setpoint_);
extract(params["file_out"], fout_);
extract(params["file_traj"], trajout_);
extract(params["filename_ff"], fout_);
extract(params["traj_type"], trajtype_);
extract(params["L"], Lgain_);
extract(params["cutoff_freq"], cutoff_);
service_.request.file_in = fin_;
service_.request.filename_error = fin_;
service_.request.setpoint = setpoint_;
service_.request.file_out = fout_;
service_.request.file_traj = trajout_;
service_.request.filename_ff = fout_;
service_.request.traj_type = trajtype_;
service_.request.L = Lgain_;
service_.request.cutoff_freq = cutoff_;
......@@ -93,7 +88,6 @@ private:
string fin_;
vector<double> setpoint_;
string fout_;
string trajout_;
string trajtype_;
double Lgain_;
double cutoff_;
......
srv/TriggerILC.srv
View file @ d2d02950
string file_in
string file_out