I open this issue in this package since this is the upstream package,
but the issue concerns the following packages:
dynamic-graph,dynamic-graph-python,sot-core,sot-dynamic-pinocchio,dynamic_graph_bridge,roscontrol_sot,sot-universal-robot.
I have made important modifications in these packages that I will submit in several pull requests and I suggest to include these modifications in a version 5 of the software.
Motivation and first modifications
The first motivation came from the observation that initializing a robot in a
ROS environment was difficult since two models of the robot coexist:
- one in
DynamicPinocchio that reads a URDF string from
robot_description parameter,
- one in
Device that reads some ROS parameter to known which joints are
actuated via roscontrol.
The two models do not necessarily have the same dimension. For example, Franka
robot have 7 joints controlled via roscontrol and 2 gripper joints controlled
via ros actions.
Following a long discussion among users of the software, and in order
to make initialization more general, I first extracted the integration of the
velocity from the Device and created a special entity called Integrator.
The second motivation came from the observation that on some robots, the
control loop is not regularly called as it should be, but the time since last
call is passed to the controller (https://github.com/stack-of-tasks/sot-core/blob/d49cab80bc8160dcb9da10afdd6a8e1f51e37553/include/sot/core/abstract-sot-external-interface.hh#L59).
The problem was to pass this time to the new integrator. I decided to use the
signal time to do so, converting the period into microseconds. Between two
evaluations of the integrator output, the time is now incremented by a number
much bigger than 1 (as previously).
The modifications described here are merged in the devel branches, but not
yet released. I think we should not release them.
Further modifications
Then I realized that the type for signal time (int) is encoded on 32bits. I naively thought that the size of int had changed to 64bits on modern CPUs. As a
result, everything worked fine for 35 minutes and then the time was overflown.
To fix the overflow issue, I then changed the signal type into long int
(or int64_t). This change modifies most of the API and I think we should switch
to version 5 since the overall modifications is important.
Mainly,
- I defined a
typedef dynamicgraph::size_type as Eigen Index type,
- I defined a
typedef dynamicgraph::int64_t sigtime_t,
- I changed most occurences of
int to size_type,
- I changed most occurences of
unsigned int to std::size_t,
- I simplified
SignalPtr class: it is not anymore possible to plug a
Signal<A> into a SignalPtr<B> if B is not A (formerly, A could
derive from B). This feature is not anymore used.
I open this issue in this package since this is the upstream package,
but the issue concerns the following packages:
dynamic-graph,dynamic-graph-python,sot-core,sot-dynamic-pinocchio,dynamic_graph_bridge,roscontrol_sot,sot-universal-robot.I have made important modifications in these packages that I will submit in several pull requests and I suggest to include these modifications in a version 5 of the software.
Motivation and first modifications
The first motivation came from the observation that initializing a robot in a
ROS environment was difficult since two models of the robot coexist:
DynamicPinocchiothat reads a URDF string fromrobot_descriptionparameter,Devicethat reads some ROS parameter to known which joints areactuated via roscontrol.
The two models do not necessarily have the same dimension. For example, Franka
robot have 7 joints controlled via roscontrol and 2 gripper joints controlled
via ros actions.
Following a long discussion among users of the software, and in order
to make initialization more general, I first extracted the integration of the
velocity from the Device and created a special entity called Integrator.
The second motivation came from the observation that on some robots, the
control loop is not regularly called as it should be, but the time since last
call is passed to the controller (https://github.com/stack-of-tasks/sot-core/blob/d49cab80bc8160dcb9da10afdd6a8e1f51e37553/include/sot/core/abstract-sot-external-interface.hh#L59).
The problem was to pass this time to the new integrator. I decided to use the
signal time to do so, converting the period into microseconds. Between two
evaluations of the integrator output, the time is now incremented by a number
much bigger than 1 (as previously).
The modifications described here are merged in the
develbranches, but notyet released. I think we should not release them.
Further modifications
Then I realized that the type for signal time (int) is encoded on 32bits. I naively thought that the size of
inthad changed to 64bits on modern CPUs. As aresult, everything worked fine for 35 minutes and then the time was overflown.
To fix the overflow issue, I then changed the signal type into long int
(or int64_t). This change modifies most of the API and I think we should switch
to version 5 since the overall modifications is important.
Mainly,
typedef dynamicgraph::size_typeasEigenIndextype,typedef dynamicgraph::int64_t sigtime_t,inttosize_type,unsigned inttostd::size_t,SignalPtrclass: it is not anymore possible to plug aSignal<A>into aSignalPtr<B>if B is not A (formerly, A couldderive from B). This feature is not anymore used.