From 409e7997a5a8a0458d8eea9f73c23eab5527fbbf Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Wed, 22 Sep 2021 10:24:03 +0200
Subject: [PATCH] Add yaml hardware config file as a parameter
---
include/qrw/Params.hpp | 1 +
python/gepadd.cpp | 1 +
scripts/main_solo12_control.py | 2 +-
src/Params.cpp | 6 +++++-
src/config_solo12.yaml | 1 +
5 files changed, 9 insertions(+), 2 deletions(-)
diff --git a/include/qrw/Params.hpp b/include/qrw/Params.hpp
index 6857dcd7..6599341a 100644
--- a/include/qrw/Params.hpp
+++ b/include/qrw/Params.hpp
@@ -48,6 +48,7 @@ class Params {
// See .yaml file for meaning of parameters
// General parameters
+ std::string config_file; // Name of the yaml file containing hardware information
std::string interface; // Name of the communication interface (check with ifconfig)
bool SIMULATION; // Enable/disable PyBullet simulation or running on real robot
bool LOGGING; // Enable/disable logging during the experiment
diff --git a/python/gepadd.cpp b/python/gepadd.cpp
index d9fc8a7d..1af730f6 100644
--- a/python/gepadd.cpp
+++ b/python/gepadd.cpp
@@ -429,6 +429,7 @@ struct ParamsPythonVisitor : public bp::def_visitor<ParamsPythonVisitor<Params>>
"Initialize Params from Python.\n")
// Read Params from Python
+ .def_readwrite("config_file", &Params::config_file)
.def_readwrite("interface", &Params::interface)
.def_readwrite("SIMULATION", &Params::SIMULATION)
.def_readwrite("LOGGING", &Params::LOGGING)
diff --git a/scripts/main_solo12_control.py b/scripts/main_solo12_control.py
index db15be6d..266c43a2 100644
--- a/scripts/main_solo12_control.py
+++ b/scripts/main_solo12_control.py
@@ -121,7 +121,7 @@ def control_loop(name_interface_clone=None, des_vel_analysis=None):
device = PyBulletSimulator()
qc = None
else:
- device = oci.robot_from_yaml_file('config_solo12.yaml')
+ device = oci.robot_from_yaml_file(params.config_file)
qc = QualisysClient(ip="140.93.16.160", body_id=0)
if name_interface_clone is not None:
diff --git a/src/Params.cpp b/src/Params.cpp
index 66a529a9..d9f3bd43 100644
--- a/src/Params.cpp
+++ b/src/Params.cpp
@@ -3,7 +3,8 @@
using namespace yaml_control_interface;
Params::Params()
- : interface(""),
+ : config_file(""),
+ interface(""),
SIMULATION(false),
LOGGING(false),
PLOTTING(false),
@@ -74,6 +75,9 @@ void Params::initialize(const std::string& file_path) {
const YAML::Node& robot_node = param["robot"];
// Retrieve robot parameters
+ assert_yaml_parsing(robot_node, "robot", "config_file");
+ config_file = robot_node["config_file"].as<std::string>();
+
assert_yaml_parsing(robot_node, "robot", "interface");
interface = robot_node["interface"].as<std::string>();
diff --git a/src/config_solo12.yaml b/src/config_solo12.yaml
index 39367cd4..e0f93df3 100644
--- a/src/config_solo12.yaml
+++ b/src/config_solo12.yaml
@@ -1,5 +1,6 @@
robot:
# General parameters
+ config_file: config_solo12.yaml # Name of the yaml file containing hardware information
interface: enp2s0 # Name of the communication interface (check with ifconfig)
SIMULATION: true # Enable/disable PyBullet simulation or running on real robot
LOGGING: false # Enable/disable logging during the experiment
--
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