From 9917fc0edd0b80e4d996f154df04804cac05e3b1 Mon Sep 17 00:00:00 2001
From: Fabian PK <fabian.peller-konrad@kit.edu>
Date: Tue, 27 Jul 2021 14:20:19 +0200
Subject: [PATCH] updates to RobotStateMemory
---
.../server/RobotStateMemory/RobotStateMemory.h | 16 ++--------------
.../armem_robot_state/aron/Proprioception.xml | 12 ++++++------
.../server/proprioception/Segment.cpp | 2 +-
.../server/proprioception/Segment.h | 4 ++--
4 files changed, 11 insertions(+), 23 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index b8db6cf0f..c89a51ae4 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -50,18 +50,6 @@ namespace armarx::plugins
class RobotUnitComponentPlugin;
}
-Reason: DictNavigator::getElement: Could not find key 'forceTorque'. But I found the following keys: [
- EncoderGroupName, I2CUpdateRate, IterationId, JointStatusEmergencyStop,
- JointStatusEnabled, JointStatusError, JointStatusOperation, acceleration,
- angularVelocity.x, angularVelocity.y, angularVelocity.z, currentTarget,
- dieTemperature, elmoTemperature, filteredvelocity, gearTemperature,
- gravityCompensatedTorque, gravityTorque, inertiaTorque, inverseDynamicsTorque,
- linearAcceleration.x, linearAcceleration.y, linearAcceleration.z, maxTargetCurrent,
- motorCurrent, motorTemperature, name, orientation.qw, orientation.qx, orientation.qy,
- orientation.qz, position, positionTarget, relativePosition, sensorBoardUpdateRate,
- torque, torqueSensorTemperature, torqueTicks, velocity, velocityTarget, ].
- The path was: \
-
namespace armarx::armem::server::robot_state
{
@@ -103,9 +91,9 @@ namespace armarx::armem::server::robot_state
private:
/// Reads from `robotUnitDataQueue` and commits into memory.
- void convertRobotUnitStreamingDataToAronTask();
+ //void convertRobotUnitStreamingDataToAronTask();
/// Reads from `robotUnitDataQueue` and commits into memory.
- void storeConvertedRobotUnitDataInMemoryTask();
+ //void storeConvertedRobotUnitDataInMemoryTask();
void startRobotUnitStream();
void stopRobotUnitStream();
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
index f665ea6af..38eb6bb43 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
@@ -54,22 +54,22 @@ Robot proprioception.
<Object name="armarx::armem::prop::arondto::Platform">
- <ObjectChild key="absolutePosition">
+ <ObjectChild key="velocity">
<EigenMatrix rows="3" cols="1" type="float" />
</ObjectChild>
- <ObjectChild key="relativePosition">
+ <ObjectChild key="acceleration">
<EigenMatrix rows="3" cols="1" type="float" />
</ObjectChild>
- <ObjectChild key="velocity">
+ <ObjectChild key="rot_velocity">
<EigenMatrix rows="3" cols="1" type="float" />
</ObjectChild>
-
- <ObjectChild key="acceleration">
+
+ <ObjectChild key="rot_acceleration">
<EigenMatrix rows="3" cols="1" type="float" />
</ObjectChild>
-
+
</Object>
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 046e7b854..de880c85d 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -30,7 +30,7 @@ namespace armarx::armem::server::robot_state::proprioception
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Proprioception", 1024)
+ Base(memoryToIceAdapter, "Proprioception", nullptr, 1024)
{
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
index 7ee14aabc..cca0b35a0 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
@@ -43,9 +43,9 @@ namespace armarx
}
namespace armarx::armem::server::robot_state::proprioception
{
- class Segment : public segment::wm::AronTypedCoreSegmentBase<prop::arondto::Proprioception>
+ class Segment : public segment::wm::CoreSegmentBase
{
- using Base = segment::wm::AronTypedCoreSegmentBase<prop::arondto::Proprioception>;
+ using Base = segment::wm::CoreSegmentBase;
public:
--
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