sr ROS interface

Implement joint calibration.

Bug #792374 reported by Hugo Elias
6
This bug affects 1 person
Affects Status Importance Assigned to Milestone
sr ROS interface
Fix Committed
Wishlist
Ugo

Bug Description

This is specifically the algorithm which takes the raw ADC reading, and uses the 5-point piecewise linear algorithm to convert it to an angle in degrees. It will use the calibration table downloaded from the hand.

Revision history for this message
Hugo Elias (hugo-shadowrobot) wrote :

If it's any help, there is already some C code to do this, including tests at:
Pic32/trunk/shadow_libraries/sensor_calibration/

Hugo Elias (hugo-shadowrobot)
Changed in sr-ros-interface:
importance: Undecided → Wishlist
Ugo (ugocupcic)
Changed in sr-ros-interface:
milestone: none → alpha1
Revision history for this message
Ugo (ugocupcic) wrote :

Can we convert it to radians as lots of ROS messages are based on radians readings?

Changed in sr-ros-interface:
assignee: nobody → Ugo (ugocupcic)
status: New → In Progress
Revision history for this message
Hugo Elias (hugo-shadowrobot) wrote :

Yes, I think it would make sense to use radians internally. But it would probably also be useful for users to have the option to see degrees in the GUIs if they want.

Revision history for this message
Ugo (ugocupcic) wrote :

Hugo:

Yes, I think it would make sense to use radians internally. But it would
probably also be useful for users to have the option to see degrees in
the GUIs if they want

Ugo (ugocupcic)
Changed in sr-ros-interface:
importance: Wishlist → High
importance: High → Wishlist
Ugo (ugocupcic)
Changed in sr-ros-interface:
status: In Progress → Fix Committed
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