Feature request: signals to be logged
Closed this issue · 8 comments
In order to improve the usability of the framework, I think it would be important to add this set of data to be logged:
- #122
positionvelocityaccelerationtorque
- #123
positionvelocityaccelerationcurrentpwm
- #124
rpygyroaccelerometer
- #125
- #126
FT
- #141
temperature
- #139
- #138
- #133
#137Moved out of the Epic.
This is the list of things we are currently logging for offline testing. Reference code: https://github.com/ami-iit/bipedal-locomotion-framework/tree/dc113093d2467e854a2b1427265af55f559f13d0/devices/YarpRobotLoggerDevice
Let me remark that this data might be robot-dependent. For example, the lists of FTs and cartesian_wrenches depend on the robot.
Moreover, we might need to add more data in the future.
It might also be useful to log the text log coming from the modules. In general anyway, it would be nice to have a shared interface between the online and offline logging.
For the TextLogging I took inspiration from what is done in YarpManager. ami-iit/bipedal-locomotion-framework#546
For the TextLogging I took inspiration from what is done in YarpManager. ami-iit/bipedal-locomotion-framework#546
@GiulioRomualdi , I guess you meant more specifically ami-iit/bipedal-locomotion-framework#541.
@S-Dafarra , I've added the following bullets/issues in the description according to your comments:
- Improve the handling of the robot dependant configuration
- Add the possibility to log the YarpTextLogging
@S-Dafarra , I had already added #133 to this epic, and just added it to the issue description.
Also added the issue #139 fixing the problems we ran into during the last test session on Friday.
Since #137 is in Backlog and not the top priority right now, I'm moving it out of the Epic for being able to close it.
If it's ok with you @S-Dafarra , I would close this Epic.
I agree. Great work!