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Test on the robot of new features and bugfix for calibration type 10 for AMO encoder #537

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MSECode opened this issue Nov 26, 2024 · 3 comments
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@MSECode
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MSECode commented Nov 26, 2024

In this issue we are going to add the outcomes of the tests on the robot for the enhancements and bugfixes done to the calibration type 10 process discussed in the following issues:

@MSECode
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MSECode commented Nov 28, 2024

Tests have been done on ergoCubSN000

First of all I'd like to report the status I found the robot, so that if any error happens we can recover from the repos I've rebased:

  • superbuild
    Image

  • icub_firmware_shared
    Image

  • ICUB
    Image

  • YCM
    Image

  • YARP
    Image

  • icub-firmware-build
    Image

First step updating of the robotology-superbuild

Everything oks. I moved the repos as follows:

  • robotology-superbuild --> pulled from latest master
  • icub-firmware-shared --> pulled latest devel
  • ICUB --> pulled latest devel
  • YCM --> last tag v0.17.1
  • YARP --> last tag v3.10.1

Second step --> updating the boards since now ETH protocol is misaligned

  • amcbldc (CAN) --> from v2.0.13 updated to --> v2.1.0
  • amc (ETH) --> from v2.6 to --> v2.12
  • mtb4c (CAN) --> from v2.2.0 to --> v2.3.0
  • mc4plus (ETH) --> from v3.93 to --> v3.96
  • 2foc (CAN) --> from v3.3.26 to --> v.3.3.37
  • ems (ETH) --> from 3.92 to --> v3.95
  • strain2 no new version
  • rfe no new version

After boards update

Boards update all good.
At restart, before switching to my branches, I got the torso pitch joint in overcurrent while calibrating.
At second try of the calibration all good. Calibration completed for all joints.

After switching to my branches

After re-compiling icub_firmware_shared and icub_main using my own branches where I'm working the robot calibration went all good as shown by this image:
Image

Here the logs of the yri I've collected for the experiments I did:

logs-from-experiment-calib-and-diagn.zip

cc: @valegagge

@valegagge
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Hi @MSECode,
well done! Thanks for also reporting the previous state of the robot and the state after the update. 🚀 Since you didn't get errors to can proceed to create the PRs.

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MSECode commented Dec 2, 2024

PRs opened and linked all to this one: robotology/icub-firmware-build#174

@MSECode MSECode closed this as completed Dec 20, 2024
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