update rob_ilc_lin_test für versuchshalle

apps/rob_ilc_lin_test.xml

@@ -63,7 +63,6 @@
                         <member id="target_frame">goal_position</member>
                     </clone>
 
-
                     <clone id="ilc_skill" prototype="skill_lin">
                         <member id="trajectory_duration">10</member>
                         <clone id="retime_factor" prototype="float_parameter">0.9</clone>
@@ -108,9 +107,8 @@
 
                         <member id="tasks.tracking.controllers">
                           <clone id="ilc_controller" prototype="p_controller_ilc">
-                              <member id="filename_in">/home/victor/Documents/ilc_Logs/lin_ff_2.txt</member>
+                              <member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
                               <member id="data_source">
-
                                   <reference reference_id="collections.target_to_tool.chains[0]"/>
                               </member>
                               <member id="setpoint_generator">
@@ -140,14 +138,23 @@
                         </member>
 
                         <member id="scripts">
+
                             <clone prototype="script_error_logger">
                                 <member id="controllers">
-                                    <!-- Controller must be declared before referencing -->
                                     <reference reference_id="tasks.tracking.controllers.ilc_controller"/>
                                 </member>
-                                <member id="file_name">/home/victor/Documents/ilc_Logs/logger_0.csv</member>
+                                <member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.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>
+                            </clone>
+
+                        </member>
+
                     </clone>
 
 
@@ -159,9 +166,9 @@
                             <clone prototype="script_trigger_ilc">
                                 <member id="namespace">ilc_rosproxy</member>
                                 <member id="service_name">ilc_service</member>
-                                <member id="file_in">/home/victor/Documents/ilc_Logs/logger_0.csv</member>
-                                <member id="file_out">/home/victor/Documents/ilc_Logs/lin_ff_2.txt</member>
-                                <member id="file_traj">/home/victor/Documents/ilc_Logs/trajectory.txt</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="traj_type">const</member>
                                 <member id="L">0.6</member>
                                 <member id="cutoff_freq">0.5</member>
@@ -174,7 +181,7 @@
                                 <member id="retime_srv">retime_setpoint_ilc</member> <!-- "retime_" + <id of cosine_setpoint_ILC prototype> -->
                                 <member id="on_start">false</member>
                                 <member id="retime_factor" reference_id="ilc_skill.retime_factor"/>
-                                <member id="convergence_threshold">0.02</member>
+                                <member id="convergence_threshold">0</member>
                                 <member id="reuse_ff">True</member>
                                 <member id="reuse_scheme">1</member>
                             </clone>