Package Summary

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Version 0.8.23
License Apache 2.0
Build type CATKIN

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VCS Type git
VCS Version melodic_dev
Last Updated 2024-03-20
CI status Continuous Integration : 0 / 0
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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.

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  • Felix Messmer


  • Christoph Mark
This readme gives you instructions how to get the frame_tracker PID parameters.***********

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: 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 MeƟmer)


Changelog for package cob_model_identifier

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 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 into multi_distro_travis_kinetic Conflicts: .travis.yml
  • Added Eigen3 Indigo/Kinetic compatibility
  • Contributors: Denis

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