No polhemus bases (gloves) detected! #8
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fixed for kinetic
F#src 3094 calibration
Add arguments for hemisphere configuration
… this, and adding ros spinning to enable calibration service. Tested on HW.
Adding calibration service
…/polhemus_ros_driver into F#4201_viper_driver
* Fixed hpp linter errors. Signed-off-by: Ben Starmer-Smith <ben@shadowrobot.com> * Removed some trailing whitespaces. Signed-off-by: Ben Starmer-Smith <ben@shadowrobot.com>
* refactor * fix * cleanup * clean * fix nodehandle mess, add calibration param to node namespace * fix lint * remove comment Co-authored-by: giusebar <giuseppe@shadowrobot.com>
* fix * Changing broadcaster to publisher
* Update source_pose_calibration.py * Update source_pose_calibration.py
* moving polhemus mock * Create repository.rosinstall
* new calibration * v1 * Added InteractiveMarkers for solution points * Improvements * Updates * saving * Changed source for widget updates * testing * Moving calibration * Cleanup * Fixes * testing * Moving calibration * Cleanup * Fixes * Updates * Fixed bimanual issue * Update viper_calibration.yaml * Update start.launch * Applying comments * Lint fixes * Applying comment changes * Applying comment changes
* updating gui to prevent old gui breaking * lint
* Added documentation on method level * Lint fix * Update knuckle_position_calibration_action_server.py * Comment changes
* removed future imports * removed licenses * added gpl license * added gplv3 headers with shadow robot as author * Updated all linter changes. * Fixed last changes. * Removed the pylint disable, split the DataMarker assigning. Co-authored-by: Ben Starmer-Smith <ben@shadowrobot.com>
* WIP * WIP * Adding new SphereFit module (implementing scipy leat_squares optimization method) and improving data handling published to /tf * Adding 1cm compensation for each finger. Computing robot/human finger ratio and updating dynamic server * WIP * Cleaning up after glove calibration sphere fit changes * rviz qprocess update * moving calibration quality percentage to gui * WIP. As used for demo. * Cleaning up, lint, comments, removing old service etc. * Minor fix to knuckle calibration * Actual fix * updates * Update viper_calibration.yaml * Delete test.launch * Delete testing.py * linter * linter * conflicts * conflicts * linter * linter * linter * Glove calibration: addressing comments, improving documentation, adding tests etc. * Switching sphere fit distance function to numpy norm. * Tidying * Lint --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com> Co-authored-by: rnzenha-s <rodrigo@shadowrobot.com>
* Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * updating the static transform broadcaster * adding type hints * adding type hints * removing depricated python files * Delete viper_calibration.yaml * Create viper_calibration.yaml * Shadow glove calibration: fixing autoconfigure of fingertip mapping (#47) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * adding type hints * adding type hints --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com> * removing unused import * updating type * Update viper_calibration.yaml --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com>
* Shadow glove calibration: fixing autoconfigure of fingertip mapping (#47) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * adding type hints * adding type hints --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com> * Fix static transform broadcasting (#49) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * updating the static transform broadcaster * adding type hints * adding type hints * removing depricated python files * Delete viper_calibration.yaml * Create viper_calibration.yaml * Shadow glove calibration: fixing autoconfigure of fingertip mapping (#46) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * adding type hints * adding type hints --------- Co-authored-by: georgiablanco <georgia@shadowrobot.com> * removing unused import * updating type * Update viper_calibration.yaml --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com> * always sending both static tfs * adding send transform try block * removing unused method * adding and removing logging, uncommenting node launch * Update knuckle_position_calibration_action_server.py * fixing for linter * fixing for linter * fixing for linter --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com>
#50) * Fixing race condition wherein glove calibration tries to update fingertip mapping before it is ready * Addressing comments
* Shadow glove calibration: fixing autoconfigure of fingertip mapping (#47) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * adding type hints * adding type hints --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com> * Fix static transform broadcasting (#49) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * updating the static transform broadcaster * adding type hints * adding type hints * removing depricated python files * Delete viper_calibration.yaml * Create viper_calibration.yaml * Shadow glove calibration: fixing autoconfigure of fingertip mapping (#46) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * adding type hints * adding type hints --------- Co-authored-by: georgiablanco <georgia@shadowrobot.com> * removing unused import * updating type * Update viper_calibration.yaml --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com> * Update Static transform broadcaster (#51) * Shadow glove calibration: fixing autoconfigure of fingertip mapping (#46) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * adding type hints * adding type hints --------- Co-authored-by: georgiablanco <georgia@shadowrobot.com> * Fix static transform broadcasting (#48) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * updating the static transform broadcaster * adding type hints * adding type hints * removing depricated python files * Delete viper_calibration.yaml * Create viper_calibration.yaml * Shadow glove calibration: fixing autoconfigure of fingertip mapping (#47) * Shadow glove calibration: fixing autoconfigure of fingertip mapping scaling, YAML loader warnings * adding type hints * adding type hints --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com> * removing unused import * updating type * Update viper_calibration.yaml --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com> * always sending both static tfs * adding send transform try block * removing unused method * adding and removing logging, uncommenting node launch * Update knuckle_position_calibration_action_server.py * fixing for linter * fixing for linter * fixing for linter --------- Co-authored-by: ethanfowler <ethan@shadowrobot.com> * B #tqc 448 calibration mapping race release (#52) * Fixing race condition wherein glove calibration tries to update fingertip mapping before it is ready * Addressing comments * adding logic to retry receive_data_frame * adding logic to retry receive_data_frame --------- Co-authored-by: Ethan Fowler <ethan@shadowrobot.com>
* added right and left sensor number params * deleted constant * removed remap * removed unused variable and added check hands * fixed linter error * fixed linter errors * changed int for uint8_t * changed variable names * Update src/polhemus_ros_driver/viper.cpp Co-authored-by: Brice Denoun <44160426+bdenoun@users.noreply.github.com> * Update src/polhemus_ros_driver/viper.cpp Co-authored-by: Brice Denoun <44160426+bdenoun@users.noreply.github.com> * Update src/polhemus_ros_driver/viper.cpp Co-authored-by: Brice Denoun <44160426+bdenoun@users.noreply.github.com> * change retval for return_value --------- Co-authored-by: Brice Denoun <44160426+bdenoun@users.noreply.github.com>
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This is too big to review as one PR. Can split this and document the changes? |
#62) * Removing soft dependency on sr_hand_glove_internal by mocing default calibration files here. Adding optional remap of TF output topic. * Adding install of default user glove calibration files --------- Co-authored-by: Ethan Fowler <ethan.fowler@gmail.com>
* lets you start a glove in isolation from bag files (to debug calibration gui/calibration code --------- Co-authored-by: carebare47 <tom@shadowrobot.com>
* Add richer error msgs to USB errors * Fix copyright date * Clearer log messages * Throttle the error output to avoid throttling the console with identical error messages * Tidy up the use of static_cast
…#64) * Check result and add retries when sending saved boresight to stations * Fix style * Fix strange case where a range of USB errors would cause device_read to return success * Add more result checks and fix return values that were integers converted to boolean (in an incorrect way). * Style fix * Address comments
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After launch the start.launch, I received an error: No polhemus bases (gloves) detected!