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Package Summary
| Tags | No category tags. |
| Version | 0.8.24 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/4am-robotics/cob_control.git |
| VCS Type | git |
| VCS Version | melodic_dev |
| Last Updated | 2024-04-30 |
| Dev Status | END-OF-LIFE |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The cob_model_identifier package provides nodes to analyse the system response behavior of actuators to optimally tune PID controllers to be used with cob_twist_controller framework.
Additional Links
No additional links.
Maintainers
- Felix Messmer
Authors
- Christoph Mark
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This readme gives you instructions how to get the frame_tracker PID parameters.***********
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1. Start every component (twist_controller,frame_tracker) which is necessary for twist controlling.
2. Use rqt trajectory controller / dashboard to find a start configuration for the endeffector.
3. Configure the python script in the cob_model_indentifier/scripts folder to command different twists for the manipulator. For better results use only one direction. (JUST CONFIGURE! DO NOT RUN THE SCRIPT YET)
4. Create a directory on the robots harddrive where the recorded date can be stored.
5. Configure cob_model_identifier yaml file and type in the previous created directory.
6. Launch the cob_model_identifier: roslaunch cob_model_identifier model_identification.launch ns:__"twistcontroller_namespace" (replace twistcontroller_namespace)
7. Run the python script: scriptname.py ns:__"twistcontroller_namespace" (replace twistcontroller_namespace)
8. After finishing the script, click into the cob_model_identifier terminal and press "a" to finish recording. Several .m files will be created into the folder (Step 4).
9. Compress the files in the robots directory with: "tar -cvf filename directory"
10. Send the compressed files to the local computer: "scp filename user@comp:."
11. Locate the .tar folder and decompress it. A new folder will be created.
12. Open "Octave" and use the "cd"-command to get to the directory where the .m files were saved into.
13. Open the .m file which represents the direction of the configured twist (Step 3). (example: z_linear or x_angular)
14. 4 plots will be opened. Ignore every plot except the PT1 Model.
15. Print the bode-plot of the model with (example: bode(Gs_z_linear_integrated1) or bode(Gs_x_angular_integrated1))
16. Follow the instructions in Christoph Mark's BPP2 report (Ask Felix Meßmer)
CHANGELOG
Changelog for package cob_model_identifier
0.8.24 (2024-04-30)
0.8.23 (2024-02-20)
0.8.22 (2023-04-29)
0.8.21 (2023-01-04)
0.8.20 (2022-11-17)
0.8.19 (2022-07-29)
0.8.18 (2022-01-12)
0.8.17 (2021-12-23)
0.8.16 (2021-10-19)
0.8.15 (2021-05-17)
0.8.14 (2021-05-10)
0.8.13 (2021-04-06)
- Merge pull request #247 from fmessmer/fix_catkin_lint_melodic [melodic] fix catkin_lint
- fix catkin_lint
- Contributors: Felix Messmer, fmessmer
0.8.12 (2020-10-21)
- Merge pull request #243 from fmessmer/test_noetic test noetic
- conditional depend for orocos-kdl
- Bump CMake version to avoid CMP0048 warning
- Contributors: Felix Messmer, fmessmer
0.8.11 (2020-03-21)
0.8.10 (2020-03-18)
- Merge pull request #228 from fmessmer/feature/python3_compatibility_melodic [ci_updates] pylint + Python3 compatibility - melodic
- fix pylint errors
- Merge pull request #226 from fmessmer/ci_updates_melodic [travis] ci updates - melodic
- catkin_lint fixes
- Contributors: Felix Messmer, fmessmer
0.8.1 (2019-11-07)
0.8.0 (2019-08-09)
0.7.8 (2019-08-09)
0.7.7 (2019-08-06)
0.7.6 (2019-06-07)
0.7.5 (2019-05-20)
0.7.4 (2019-04-05)
0.7.3 (2019-03-14)
0.7.2 (2018-07-21)
- update maintainer
- Contributors: fmessmer
0.7.1 (2018-01-07)
- Merge remote-tracking branch 'origin/kinetic_release_candidate' into kinetic_dev
- Merge pull request #169 from ipa-fxm/kinetic_updates_indigo Kinetic updates indigo
- Merge branch 'indigo_dev' of github.com:ipa320/cob_control into kinetic_dev Conflicts: .travis.yml
- Merge pull request #159 from ipa-fxm/APACHE_license use license apache 2.0
- use license apache 2.0
- Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk
0.7.0 (2017-07-18)
- Merge branch 'indigo_dev' of github.com:ipa320/cob_control into multi_distro_travis_kinetic Conflicts: .travis.yml README.md
- Added Eigen3 Indigo/Kinetic compatibility
- Contributors: Denis Štogl, ipa-fxm
0.6.15 (2017-07-18)
- Merge pull request #122 from ipa-fxm/indigo_roslint roslint some packages
- starting to roslint some packages
- manually fix changelog
- Contributors: Nadia Hammoudeh García, ipa-fxm
0.6.14 (2016-10-10)
0.6.13 (2016-10-10)
0.6.12 (2016-10-10)
0.6.11 (2016-04-01)
- working on log output
- Contributors: ipa-fxm
0.6.10 (2015-08-31)
0.6.9 (2015-08-25)
- boost revision
- do not install headers in executable-only packages
- explicit dependency to boost
- more dependency fixes according to review comments
- explicit dependency to boost
- more fixes for migration afer merge
- remove trailing whitespaces
- migrate to package format 2
- cleanup
- sort dependencies
- update with ipa320
- review dependencies
- code styling cob_model_identifier
- beautify and code-review
- Contributors: ipa-fxm
0.6.8 (2015-06-17)
0.6.7 (2015-06-17)
- restructure namespaces for parameters of cartesian controllers
- cleanup/replace cob_srvs
- beautify CMakeLists
- remove obsolete files
- remove obsolete config
- new features
- Added README
- cleaned up
- last commit before pull
- cleaning up cob_model_identifier
- neutral file path
- input script for model_identifier
- close file
- fixed console bug
- input_generator as python script
- new features
- merge with fmx-cm
- add tracking_action
- test
- Contributors: Christian Ehrmann, ipa-fxm, ipa-fxm-cm
0.6.6 (2014-12-18)
0.6.5 (2014-12-18)
0.6.4 (2014-12-16)
0.6.3 (2014-12-16)
0.6.2 (2014-12-15)
- fix cppcheck errors
- few more changes after testing new structure
- merge with fxm-cm
- cleaning up
- add dependencies
- more topic renaming according to new structure
- temporary commit
- fix install tag
- fix compiler warning
- cleanup, restructure and fix
- moved file
- fixed dependency
- merge with fxm
- fixes + latest changes
- add new package cob_model_identifier
- add new package cob_model_identifier
- Contributors: Florian Weisshardt, ipa-fxm, ipa-fxm-cm
- fix cppcheck errors
- few more changes after testing new structure
- merge with fxm-cm
- cleaning up
- add dependencies
- more topic renaming according to new structure
- temporary commit
- fix install tag
- fix compiler warning
- cleanup, restructure and fix
- moved file
- fixed dependency
- merge with fxm
- fixes + latest changes
- add new package cob_model_identifier
- add new package cob_model_identifier
- Contributors: Florian Weisshardt, ipa-fxm, ipa-fxm-cm
0.6.1 (2014-09-22)
0.6.0 (2014-09-18)
0.5.4 (2014-08-26 10:26)
0.1.0 (2014-08-26 10:23)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| rospy | |
| cmake_modules | |
| geometry_msgs | |
| kdl_parser | |
| orocos_kdl | |
| roscpp | |
| roslint | |
| sensor_msgs | |
| std_srvs | |
| tf |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cob_control |
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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