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A repository for keeping common use plugins, example plugins, etc

CMake 13.16% C++ 84.16% Python 2.68%

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Multiple versions of the same plugins in different branches

We should avoid to have 2 different branches for CENTAURO and WALK-MAN for the same set of plugins.

[OpenSoTIk] WALK-MAN sprint_week_october

Hi all,
I use this issue to track the status of this plugin for the final WALK-MAN demo.
Today we experienced couple of behaviors that we may don't like.

Problems in reaching certain height with the valve task
Jerky motion

For what regards these two points, maybe adding the waist_orient task (in the last commit of sprint_week_october) we are over-constraining the motion, furthermore this could result in a more complicated stack (that means that the solve takes more times and we brake the timing/RT).
From the point of view of context switch anyway looks everything fine.

Furthermore I found an issue with the joint velocity limits:

line 117:
_joint_vel_lims.reset( new OpenSoT::constraints::velocity::VelocityLimits(qdotlims, 0.001) );
the 0.001 should be changed to the period of the plugin because we are not going for sure at 1KHz with the actual stack.

So I will suggest to remove the waist_orient task and check if the tracking of the height of the valve task goes better. Maybe we can also increase joint_velocity_limits (M_PI ?) and decrease the lambda of the Cartesian Tasks to 0.1.

We are also loggin the generated joint velocities so we can easily check if trajectories are smooth (if not I think we should remove the postural task).

Move the code to ROBOT-tools package

[OpenSotIK] Xenomai complains about memory allocation in the control loop

Ciao @EnricoMingo, as you anticipated I report here the backtrace from XENOMAI:

/home/embedded/advr-superbuild/build/install/lib/libXCM.so.0.1.0(_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE6resizeEll+0x4e)[0x7f5bad193cae]
/home/embedded/advr-superbuild/build/install/lib/libXBotInterface.so.0.1.0(_ZN5Eigen8internal24call_assignment_no_aliasINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS_9TransposeIKS3_EENS0_9assign_opIdEEEEvRT_RKT0_RKT1_+0x2c)[0x7f5baceefb4c]
/home/embedded/advr-superbuild/build/install/lib/libOpenSoT.so.0.2.0(_ZN7OpenSoT7solvers11QPOases_sot19computeCostFunctionERKN5boost10shared_ptrINS_4TaskIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS6_IdLin1ELi1ELi0ELin1ELi1EEEEEEERS7_RS8_+0x17b)[0x7f5b8b6f503b]
/home/embedded/advr-superbuild/build/install/lib/libOpenSoT.so.0.2.0(_ZN7OpenSoT7solvers11QPOases_sot5solveERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE+0xca)[0x7f5b8b6f914a]
/home/embedded/advr-superbuild/build/install/lib/libOpenSotIk.so(_ZN11MiscPlugins9OpenSotIk12control_loopEdd+0x693)[0x7f5b8b999e43]
/home/embedded/advr-superbuild/build/install/lib/libXCM.so.0.1.0(_ZN4XBot13PluginHandler3runEv+0x8b3)[0x7f5bad190e13]
/home/embedded/advr-superbuild/build/install/lib/libXBotCoreThread.so(_ZN4XBot8XBotCore12control_loopEv+0x17)[0x7f5badff26a7]
/home/embedded/advr-superbuild/build/install/lib/libecat_test_utils_rt.so.0.0.1(_ZN21Ec_Thread_Boards_base7th_loopEPv+0xb1)[0x7f5baddc00d1]
/home/embedded/advr-superbuild/build/install/lib/libecat_test_utils_rt.so.0.0.1(_Z22rt_non_periodic_threadP11Thread_hook+0x6b)[0x7f5baddcba9b]
/usr/xenomai/lib/libpthread_rt.so.1(+0x5b7c)[0x7f5baf0fdb7c]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x7464)[0x7f5baecdc464]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7f5ba721c30d]
/home/embedded/advr-superbuild/build/install/lib/libecat_test_utils_rt.so.0.0.1(+0x107f6)[0x7f5baddc97f6]
/lib/x86_64-linux-gnu/libc.so.6(+0x33250)[0x7f5ba7168250]
/lib/x86_64-linux-gnu/libpthread.so.0(read+0x2d)[0x7f5baece514d]
/home/embedded/advr-superbuild/build/install/lib/libIkRosSMPub.so(_ZN11MiscPlugins13IkRosRtPlugin12control_loopEdd+0xb9)[0x7f5b8bbc9009]
/home/embedded/advr-superbuild/build/install/lib/libXCM.so.0.1.0(_ZN4XBot13PluginHandler3runEv+0x8b3)[0x7f5bad190e13]
/home/embedded/advr-superbuild/build/install/lib/libXBotCoreThread.so(_ZN4XBot8XBotCore12control_loopEv+0x17)[0x7f5badff26a7]
/home/embedded/advr-superbuild/build/install/lib/libecat_test_utils_rt.so.0.0.1(_ZN21Ec_Thread_Boards_base7th_loopEPv+0xb1)[0x7f5baddc00d1]
/home/embedded/advr-superbuild/build/install/lib/libecat_test_utils_rt.so.0.0.1(_Z22rt_non_periodic_threadP11Thread_hook+0x6b)[0x7f5baddcba9b]
/usr/xenomai/lib/libpthread_rt.so.1(+0x5b7c)[0x7f5baf0fdb7c]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x7464)[0x7f5baecdc464]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7f5ba721c30d]
/home/embedded/advr-superbuild/build/install/lib/libecat_test_utils_rt.so.0.0.1(+0x107f6)[0x7f5baddc97f6]
/lib/x86_64-linux-gnu/libc.so.6(+0x33250)[0x7f5ba7168250]
/lib/x86_64-linux-gnu/libpthread.so.0(pthread_kill+0x2f)[0x7f5baece32df]
/usr/xenomai/lib/libxenomai.so.0(+0x2ad2)[0x7f5baeef4ad2]
/usr/xenomai/lib/libxenomai.so.0(__wrap_free+0x9)[0x7f5baeef4bd9]

@alaurenzi is the master on this.

Where to start?

Hi,

I'm new (and lost) in the use of XBotCore. Instead of directly asking a colleague at IIT, I open an issue such that other newcomers might benefit from its answer.

What do I want to achieve?
I want to develop a XBotCore Plugin, lets call it HelloXBotCore (for simplicity)
What Am I Looking for?
A recipe which answers the following:
1. How to develop a plugin? What is it structure?
2. How to use a plugin? How compile and run it?
The first question is answered by browsing trough the examples in this repo. For example Homing.cpp demonstrates all the functions needed to use the realtime loop.
Yet, this doesn't demonstrate how to use a plugin. For example, how to compile the plugin? I'm not able to compile the MiscellaneousPlugins repo on its own (It only (partly) compiles in the advr superbuild). What 'magic' does the superbuild add such that is able to compile? What does it take to compile HelloXBotCore?

I understand the Wiki is still under development. I'm happy to contribute with a HelloXBotCore tutorial, once I figured out the above. Until then, any hints to the above will be appreciated!

Martijn

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