Joint Angle Error Detection

Listen for Invalid Joint Angles

During the runtime, it is possible that you will receive invalid values from the joint angle sensors. To get notified about this unwanted behavior, you can subscribe to this error pattern.

Method:

void listenForInvalidRelativeJointAngle(ObjectID jointId, angle minAngle, angle maxAngle, NotificationLevel logLevel = WARNING_LEVEL)

Arguments

Name	Type	Default	Required?	Description
jointId	`ObjectID`	-	`true`	`jointId` is the joint id, which identifies the joint you want to observe
minAngle	`angle`	-	`true`	minimum relative angle
maxAngle	`angle`	-	`true`	maximum relative angle
logLevel	DEBUG_LEVEL, INFO_LEVEL, WARNING_LEVEL, ERROR_LEVEL, DANGER_LEVEL	WARNING_LEVEL	`false`	Defines the system notification level, which also determines over which topic the health check message is published (see all log levels)

Output Topics:

General format depending on the log level:

Modified parameters:

name	condition	Description
msg	-	message string list
code	Angle is not in interval	JOINT_INVALID_REL_ANGLE_NOTIFICATION
object	-	same as input parameter `jointId` - ID of to be observed object: same as `jointId` parameter

Example:

#include "roboy_error_detection/roboyErrorDetection.hpp"

// [...]

int main(int argc, char* argv[])
{
    // [...]
    ros::NodeHandlePtr nh = ros::NodeHandlePtr(new ros::NodeHandle);
    RoboyErrorDetection handler(nh);

    int JOINT_ID = 0;
    int minJointAngle = 0, maxJointAngle = 100;
    handler.listenForInvalidRelativeJointAngle(JOINT_ID, minJointAngle, maxJointAngle);
    // [...]

    return 0;
}

Example taken from the main_joint_rel_angle_check.cpp file

Listen for Too Close Joint Sensor Magnet

Joint sensors have internal magnets, which help them to discover the joint angles. But it can happen that they are too close or too far away, so that they can not calculate the angles. Therefore, this error pattern was introduced. [DEPRECATED]: In the new joint sensors, this problem won't happen any more.

Method:

void listenForJointMagnetStatus(ObjectID jointId, NotificationInterval durationOfValidity = 2000, NotificationLevel logLevel = WARNING_LEVEL)

Arguments

Name	Type	Default	Required?	Description
jointId	`ObjectID`	-	`true`	`jointId` is the joint id, which identifies the joint you want to observe
durationOfValidity	`NotificationInterval`	2000	`false`	Minimum time in milliseconds from one health check to the next health check of this motor
logLevel	DEBUG_LEVEL, INFO_LEVEL, WARNING_LEVEL, ERROR_LEVEL, DANGER_LEVEL	WARNING_LEVEL	`false`	Defines the system notification level, which also determines over which topic the health check message is published (see all log levels)

Output Topics:

General format depending on the log level:

Modified parameters:

name	condition	Description
msg	-	message string list
code	Magnet too far away	JOINT_TOO_FAR_NOTIFICATION
code	Magnet too close	JOINT_TOO_CLOSE_NOTIFICATION
object	-	same as input parameter `jointId` - ID of to be observed object: same as `jointId` parameter

Example:

#include "roboy_error_detection/roboyErrorDetection.hpp"

// [...]

int main(int argc, char* argv[])
{
    // [...]
    ros::NodeHandlePtr nh = ros::NodeHandlePtr(new ros::NodeHandle);
    RoboyErrorDetection handler(nh);

    int JOINT_ID = 0;
    handler.listenForJointMagnetStatus(JOINT_ID);
    // [...]

    return 0;
}

Example taken from the main_joint_magnet_check.cpp file