Visualizer for XSens driver about human-dynamics-estimation HOT 9 CLOSED

@MartaLorenzini can you accept the invitation to https://github.com/orgs/robotology-playground/teams/codyco-developers so I can assigne you this issue?

from human-dynamics-estimation.

@MartaLorenzini already has a nice prototype, that is missing the part in which data is read from the XSens driver. The data is contained in https://github.com/francesco-romano/xsens-mvn/blob/master/xsenswrapper/thrift/XsensFrame.thrift .

For the time being, @MartaLorenzini can just copy the thrift file in her project and generate the code for the XSens frame type. Then, she can assume that the port will be read by a yarp::os::BufferedPort of the appropriate type, that will be then converted to a tf message sent on the TF topic.

from human-dynamics-estimation.

One thing that I do not get of the XsensFrame.thrift is how the frames are identified in the list of data. Probably this information is found in the segments method of the RPC service: https://github.com/francesco-romano/xsens-mvn/blob/master/xsenswrapper/thrift/XsensDriverService.thrift#L9 . For the time being, I think it safe to load that list from a configuration file, so that xsens-tf-bridge can also work on dumped data.

from human-dynamics-estimation.

To enable to @MartaLorenzini to integrate her work on the repository it would be convenient if we could merge repo-structure in master. @claudia-lat @francesco-romano

from human-dynamics-estimation.

@traversaro regarding #4 (comment) yes, that is the idea.
The order of the segments are exposed through the RPC method which should be called in the configuration. Frames then come in that order

from human-dynamics-estimation.

Yes, like we do for the controlboard. ROS Types such as JointState typically embed some metadata such as names in the streaming message (see for example http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html ) but that is clearly a trade-off w.r.t. to the size of the message sent.

from human-dynamics-estimation.

@traversaro @MartaLorenzini @claudia-lat branch merged.
Please move to master to use this repo, or branch off to create new features

from human-dynamics-estimation.

Xsens drivers have been pushed in the new repository: https://github.com/robotology-playground/xsens-mvn

Right now they are in a branch as testing with the suit is required

from human-dynamics-estimation.

Done

from human-dynamics-estimation.