Make joint encoder acceleration reading optional

[LoreMoretti]

It targets #875

[GiulioRomualdi]

That's fine. Notice that the logger will still try to get the acceleration

[LoreMoretti]

That's fine. Notice that the logger will still try to get the acceleration

That's right, thanks @GiulioRomualdi for pointing this out.

Maybe I could add a configuration parameter for the logger? Now the sensorBridge in the logger has the following configuration parameters:

bipedal-locomotion-framework/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml

Lines 39 to 46 in 4ea3780

	<param name="check_for_nan">false</param>
	<param name="stream_joint_states">true</param>
	<param name="stream_inertials">true</param>
	<param name="stream_cartesian_wrenches">false</param>
	<param name="stream_forcetorque_sensors">true</param>
	<param name="stream_pids">false</param>
	<param name="stream_motor_PWM">false</param>
	<param name="stream_temperatures">true</param>

Maybe I can add stream_joint_accelerations. The logic would be that this parameter has effect only if it is set to false, and in this case we will not stream joint accelerations. Otherwise (i.e. if not present or set to true) the acceleration will be streamed.

I see that there is already stream_joint_states, and adding stream_joint_accelerations could look a bit redundant or ambiguous, but I could not figure out other way to achieve the final goal yet.

If you have better suggestions let me know!

[GiulioRomualdi]

A possibility is also to add a parameter directly to sensor bridge. Simular to readIMU. Something like readJointAcceleration

[LoreMoretti]

A possibility is also to add a parameter directly to sensor bridge. Simular to readIMU. Something like readJointAcceleration

Not sure I got it. Could you expand it a bit?

By chance it is what I have done here?

[traversaro]

A possibility is also to add a parameter directly to sensor bridge. Simular to readIMU. Something like readJointAcceleration

Not sure I got it. Could you expand it a bit?

By chance it is what I have done here?

I think @GiulioRomualdi was referring to the possibility of setting that attribute using a configuration parameter in

bipedal-locomotion-framework/src/RobotInterface/YarpImplementation/src/YarpSensorBridge.cpp

Line 40 in 64db41f

, so that the measure can be disabled by just adding a parameter in the configuration file, without the need to call a method, that requires instead to modify the code of who is using the sensorbridge. Perhaps for consistency with other parameters the parameter name could be stream_joint_accelerations or something like that?

[LoreMoretti]

Ok, I got it now thanks.

So what I can do is:

1. Remove the method that I have added

   bipedal-locomotion-framework/src/RobotInterface/YarpImplementation/include/BipedalLocomotion/RobotInterface/YarpSensorBridge.h

   Line 111 in 64db41f

   bool disableJointEncoderAccelerationReading();

2. Change the data member

   bipedal-locomotion-framework/src/RobotInterface/YarpImplementation/include/BipedalLocomotion/RobotInterface/YarpSensorBridgeImpl.h

   Line 184 in 64db41f

   bool readJointEncoderAcceleration{true}; /**< flag to enable reading joint accelerations from

   name to streamJointAccelerations and set it from a config file parameter called stream_joint_accelerations.

[traversaro]

Yes, I think that is what @GiulioRomualdi was referring to.

[GiulioRomualdi]

Thank you @LoreMoretti