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Human Dynamics Estimation IWear Source Devices

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Yeshasvi Tirupachuri edited this page Dec 5, 2018 · 5 revisions

Considering you followed the wiki on network level setup correctly, this wiki page will help you to run the devices Xsens suit and FTShoes that provides input data to the components of Human Dynamics Estimation (HDE). The wearables library provides a nice abstraction of the wearable multi-sensory equipment like Xsens suit and FTShoes. The data from the equipment is streamed as a wearable data format that provides the network transparency from the sources. For more details, please refer to wearables. This wiki page will help you to run the wearable devices for the xsens suit and the FTShoes.

Running Xsens Suit IWear Device

xsens-mvn repository provides the yarp drivers for the xsens mvn system. Ensure that the CMAKE_INSTALL_PREFIX is pointed to the install directory of your robotology-superbuild installation. Once xsens-mvn is installed, the following steps will help to start a Xsens suit IWear device.

  • On the windows machine, go to the desktop work space on which yarpserver.exe --ros is launched. Open three more windows power shell terminals and arrange them as shown in the image below

  • The first terminal on top left is where yarpserver.exe --ros is launched.

  • The middle terminal is where we will launch the yarprobotinterface with the config file for the xsens suit IWear device. So, run

cd <path-to-wearables>/conf/Xsens
yarprobotinterface.ext --config xsens_windows_all_wrappers.xml

  • If the suit device is launched correctly, the terminal should output [DEBUG]yarprobotinterface running happily. Otherwise, please relaunch yarprobotinterface.

  • Now, move to the third terminal and run yarp rpc /XsensSuit/Control/rpc:i. This is how we can communicate with the suit device to perform actions like calibration and data acquisition.

  • Before proceeding to data acquisition we need to calibrate the device. To achieve this, issue calibrate command on the rpc terminal. The resulting output will be as shown in the image below

  • Be cautious about the configuration parameters like default-calibration-type while performing the calibration procedure. The user of the suit should be in the set mode (either Tpose or Npose) while calibrating the suit. Once the calibration is done successfully, the rpc terminal will display Response: [ok]

  • Now, to acquire data from the suit give startAcquisition command on the rpc terminal. This will start acquiring data from the xsens suit and streams it as a wearable data format through yarp port.

  • To verify if the wearable data is streamed correctly from the suit, move to the bottom terminal and read the wearable data yarp port by running yarp read ... /XsensSuit/WearableData/data:o. This will display the data acquired from the suit on the terminal as wearable data format as shown in the image below

Running FTShoes IWear Device

To use the FTShoes the user must have them properly configured and installed on the windows machine. The installation instructions are available here. Once, the shoes are properly installed and tested to check the output data using the yarpscope, the following steps will help you to run the FTShoes Iwear device.

  • Go to a new windows desktop work space, open four windows power shell terminals and arrange them as shown in the image below

  • The top two terminal are where we will launch the yarprobotinterface with the config files for the FTShoes IWear device.

  • So, on the top left terminal run

yarprobotinterface --config ftshoesleft_ianalogsensor_to_iwear.xml

  • On the top right terminal run

yarprobotinterface --config ftshoesright_ianalogsensor_to_iwear.xml

  • If the shoes IWear devices started correctly, both the terminals should display [DEBUG]yarprobotinterface running happily as shown in the image below

  • Now, you can read the wearable data ports from the should on the bottom terminals by running
yarp read ... /FTShoeLeft/WearableData/data:o
yarp read ... /FTShoeRight/WearableData/data:o

NOTE: Pay attention to the usage of useInSituCalibration parameter in the configuration files while using the FTShoes.

TODO: Update the link references for shoes configuration files from fork/branch to main/master after the PR

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