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[TUM-ros-pkg-commit] SF.net SVN: tum-ros-pkg:[991] highlevel/SnapMapICP
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From: <tum...@li...> - 2012-02-10 13:18:50
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Revision: 991
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=991&view=rev
Author: moesenle
Date: 2012-02-10 13:18:43 +0000 (Fri, 10 Feb 2012)
Log Message:
-----------
Author: Thomas Ruehr <ru...@in...>
Date: Fri Feb 10 14:18:23 2012 +0100
overhauled for roboearth workshop.
commit 9d1ab6e850f0e8fb1e497e691c686817c3b5f2f6
Author: Thomas Ruehr <ru...@in...>
Date: Tue Apr 26 19:16:32 2011 +0200
some demo scripting
commit 1d198d168e12c3b68143cbafc09e611430e98504
Author: Thomas Ruehr <ru...@in...>
Date: Wed Apr 20 11:16:35 2011 +0200
Republishes a PC2 on another topic, e.g. FreezeCloud2 /kinect/cloud_throttled /sample, this is useful for being able to deselect points in rviz (ctrl-klick/drag), since you cant deselect something that is not displayed anymore
commit 6d63ae310c09135346b8b918477418f917e66d5d
Author: Thomas Ruehr <ru...@in...>
Date: Tue Apr 19 09:23:59 2011 +0200
all play and no work
commit bba7b8cc4de9981b34436402c3132fb85e6f449f
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 31 10:38:18 2011 +0200
SnapMap->Diamondback(eigen namespace), OperatehandleController now extrapolates relative transform from start to current by 5cm to find next hand pose; added static tf publisher to provide fake odom for amcl when wheels are dead
commit dc0014e9b51398cfd690f578b7e2d974c4b1b17e
Author: Dejan Pangercic <dej...@gm...>
Date: Wed Mar 23 15:23:51 2011 +0100
snap map compiles with eigen
commit 7094fbd46755c501c9f62e7d16e6c794a43b807f
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 3 18:05:25 2011 +0100
moved 3d perception to new class
commit 861fcc248bd1a1013d95289b6ddafe34b3da787e
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 3 15:22:05 2011 +0100
moved SnapMapICP out of ias_drawer_executive
git-commit
Modified Paths:
--------------
highlevel/SnapMapICP/manifest.xml
highlevel/SnapMapICP/src/SnapMapICP.cpp
Modified: highlevel/SnapMapICP/manifest.xml
===================================================================
--- highlevel/SnapMapICP/manifest.xml 2012-02-09 10:13:47 UTC (rev 990)
+++ highlevel/SnapMapICP/manifest.xml 2012-02-10 13:18:43 UTC (rev 991)
@@ -8,6 +8,7 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/SnapMapICP</url>
+ <depend package="std_msgs"/>
<depend package="pcl"/>
<depend package="nav_msgs"/>
<depend package="laser_geometry"/>
Modified: highlevel/SnapMapICP/src/SnapMapICP.cpp
===================================================================
--- highlevel/SnapMapICP/src/SnapMapICP.cpp 2012-02-09 10:13:47 UTC (rev 990)
+++ highlevel/SnapMapICP/src/SnapMapICP.cpp 2012-02-10 13:18:43 UTC (rev 991)
@@ -29,6 +29,7 @@
#include <ros/ros.h>
+#include <std_msgs/String.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <nav_msgs/OccupancyGrid.h>
@@ -44,22 +45,40 @@
#include <pcl/registration/icp.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/transforms.h>
+#include <pcl/kdtree/kdtree_flann.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <boost/thread/mutex.hpp>
+
+boost::mutex scan_callback_mutex;
+
//these should be parameters
// defines how good the match has to be to create a candidate for publishing a pose
-float ICP_FITNESS_THRESHOLD = 100.1;// = 0.025;
+double ICP_FITNESS_THRESHOLD = 100.1;// = 0.025;
//defines how much distance deviation from amcl to icp pose is needed to make us publish a pose
-float DIST_THRESHOLD = 0.05;
+double DIST_THRESHOLD = 0.05;
// same for angle
-float ANGLE_THRESHOLD = 0.01;
+double ANGLE_THRESHOLD = 0.01;
+double ANGLE_UPPER_THRESHOLD = M_PI / 6;
+// accept only scans one second old or younger
+double AGE_THRESHOLD = 1;
+double UPDATE_AGE_THRESHOLD = 1;
+double ICP_INLIER_THRESHOLD = 0.9;
+double ICP_INLIER_DIST = 0.1;
+double POSE_COVARIANCE_TRANS = 1.5;
+double ICP_NUM_ITER = 250;
+
+std::string BASE_LASER_FRAME = "/base_laser_link";
+std::string ODOM_FRAME = "/odom_combined";
+
ros::NodeHandle *nh = 0;
ros::Publisher pub_output_;
ros::Publisher pub_output_scan;
ros::Publisher pub_output_scan_transformed;
+ros::Publisher pub_info_;
ros::Publisher pub_pose;
@@ -78,6 +97,8 @@
bool we_have_a_scan = false;
bool we_have_a_scan_transformed = false;
+bool use_sim_time = false;
+
int lastScan = 0;
int actScan = 0;
@@ -124,6 +145,21 @@
}
+boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > cloud_xyz;
+
+pcl::KdTree<pcl::PointXYZ>::Ptr mapTree;
+
+
+pcl::KdTree<pcl::PointXYZ>::Ptr getTree(pcl::PointCloud<pcl::PointXYZ>::Ptr cloudb)
+{
+ pcl::KdTree<pcl::PointXYZ>::Ptr tree;
+ tree.reset (new pcl::KdTreeFLANN<pcl::PointXYZ>);
+
+ tree->setInputCloud (cloudb);
+ return tree;
+}
+
+
void mapCallback(const nav_msgs::OccupancyGrid& msg)
{
ROS_DEBUG("I heard frame_id: [%s]", msg.header.frame_id.c_str());
@@ -135,7 +171,7 @@
float posx = msg.info.origin.position.x;
float posy = msg.info.origin.position.y;
- boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > cloud_xyz = boost::shared_ptr< pcl::PointCloud<pcl::PointXYZ> >(new pcl::PointCloud<pcl::PointXYZ>());
+ cloud_xyz = boost::shared_ptr< pcl::PointCloud<pcl::PointXYZ> >(new pcl::PointCloud<pcl::PointXYZ>());
//cloud_xyz->width = 100; // 100
cloud_xyz->height = 1;
@@ -160,6 +196,8 @@
}
cloud_xyz->width = cloud_xyz->points.size();
+ mapTree = getTree(cloud_xyz);
+
pcl::toROSMsg (*cloud_xyz, *output_cloud);
ROS_DEBUG("Publishing PointXYZ cloud with %ld points in frame %s", cloud_xyz->points.size(),output_cloud->header.frame_id.c_str());
@@ -171,16 +209,76 @@
int count_sc_ = 0;
+bool getTransform(tf::StampedTransform &trans , const std::string parent_frame, const std::string child_frame, const ros::Time stamp)
+{
+ bool gotTransform = false;
+
+ if (!listener_->waitForTransform(parent_frame, child_frame, stamp, ros::Duration(0.05)))
+ {
+ ROS_ERROR("DIDNT GET TRANSFORM %s %s IN c at %f", parent_frame.c_str(), child_frame.c_str(), stamp.toSec());
+ return false;
+ }
+
+ try
+ {
+ gotTransform = true;
+ listener_->lookupTransform(parent_frame,child_frame,stamp , trans);
+ }
+ catch (tf::TransformException ex)
+ {
+ gotTransform = false;
+ ROS_ERROR("DIDNT GET TRANSFORM %s %s IN B", parent_frame.c_str(), child_frame.c_str());
+ }
+
+
+ return gotTransform;
+}
+
+
void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
+ if (!we_have_a_map)
+ {
+ ROS_INFO("Waiting for map");
+ return;
+ }
//projector_.transformLaserScanToPointCloud("base_link",*scan_in,cloud,listener_);
+ if (!scan_callback_mutex.try_lock())
+ return;
+
count_sc_++;
- if (count_sc_ > 10)
+ //ROS_INFO("count_sc %i MUTEX LOCKED", count_sc_);
+
+ //if (count_sc_ > 10)
+ //if (count_sc_ > 10)
{
count_sc_ = 0;
+ ros::Time scan_in_time = scan_in->header.stamp;
+ tf::StampedTransform base_at_laser;
+ if (!getTransform(base_at_laser, ODOM_FRAME, "base_link", scan_in_time))
+ {
+ ROS_ERROR("Did not get base pose at laser scan time");
+ scan_callback_mutex.unlock();
+
+ return;
+ }
+
+ // nh.param<std::string>("default_param", default_param, "default_value");
+ nh->param<bool>("USE_SIM_TIME", use_sim_time, false);
+ nh->param<double>("SnapMapICP/icp_fitness_threshold", ICP_FITNESS_THRESHOLD, 100 );
+ nh->param<double>("SnapMapICP/age_threshold", AGE_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/angle_upper_threshold", ANGLE_UPPER_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/angle_threshold", ANGLE_THRESHOLD, 0.01);
+ nh->param<double>("SnapMapICP/update_age_threshold", UPDATE_AGE_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/dist_threshold", DIST_THRESHOLD, 0.01);
+ nh->param<double>("SnapMapICP/icp_inlier_threshold", ICP_INLIER_THRESHOLD, 0.88);
+ nh->param<double>("SnapMapICP/icp_inlier_dist", ICP_INLIER_DIST, 0.1);
+ nh->param<double>("SnapMapICP/icp_num_iter", ICP_NUM_ITER, 250);
+ nh->param<double>("SnapMapICP/pose_covariance_trans", POSE_COVARIANCE_TRANS, 0.5);
+
sensor_msgs::PointCloud cloud;
sensor_msgs::PointCloud cloudInMap;
@@ -188,6 +286,22 @@
we_have_a_scan = false;
bool gotTransform = false;
+
+ if (!listener_->waitForTransform("/map", cloud.header.frame_id, cloud.header.stamp, ros::Duration(0.05)))
+ {
+ scan_callback_mutex.unlock();
+ ROS_WARN("SnapMapICP no map to cloud transform found MUTEX UNLOCKED");
+ return;
+ }
+
+ if (!listener_->waitForTransform("/map", "/base_link", cloud.header.stamp, ros::Duration(0.05)))
+ {
+ scan_callback_mutex.unlock();
+ ROS_WARN("SnapMapICP no map to base transform found MUTEX UNLOCKED");
+ return;
+ }
+
+
while (!gotTransform && (ros::ok()))
{
try
@@ -198,9 +312,16 @@
catch (...)
{
gotTransform = false;
+ ROS_ERROR("DIDNT GET TRANSFORM IN A");
}
}
+ for (size_t k =0; k < cloudInMap.points.size(); k++)
+ {
+ cloudInMap.points[k].z = 0;
+ }
+
+
gotTransform = false;
tf::StampedTransform oldPose;
while (!gotTransform && (ros::ok()))
@@ -208,12 +329,13 @@
try
{
gotTransform = true;
- listener_->lookupTransform("/map", "/base_footprint",
- ros::Time(0), oldPose);
+ listener_->lookupTransform("/map", "/base_link",
+ cloud.header.stamp , oldPose);
}
catch (tf::TransformException ex)
{
gotTransform = false;
+ ROS_ERROR("DIDNT GET TRANSFORM IN B");
}
}
if (we_have_a_map && gotTransform)
@@ -228,68 +350,133 @@
reg.setTransformationEpsilon (1e-6);
// Set the maximum distance between two correspondences (src<->tgt) to 10cm
// Note: adjust this based on the size of your datasets
- reg.setMaxCorrespondenceDistance(0.5);
- reg.setMaximumIterations (100);
+ reg.setMaxCorrespondenceDistance(1.5);
+ reg.setMaximumIterations (ICP_NUM_ITER);
// Set the point representation
- PointCloudT myMapCloud;
- PointCloudT myScanCloud;
+ PointCloudT::Ptr myMapCloud (new PointCloudT());
+ PointCloudT::Ptr myScanCloud (new PointCloudT());
- pcl::fromROSMsg(*output_cloud,myMapCloud);
- pcl::fromROSMsg(cloud2,myScanCloud);
+ pcl::fromROSMsg(*output_cloud,*myMapCloud);
+ pcl::fromROSMsg(cloud2,*myScanCloud);
- reg.setInputCloud(boost::make_shared< const PointCloudT > (myScanCloud));
- reg.setInputTarget(boost::make_shared< const PointCloudT > (myMapCloud));
+ reg.setInputCloud(myScanCloud);
+ reg.setInputTarget(myMapCloud);
PointCloudT unused;
int i = 0;
reg.align (unused); //-- running the registration in a loop to visualize intermediate results
- Eigen::Matrix4f transf = reg.getFinalTransformation();
+ const Eigen::Matrix4f &transf = reg.getFinalTransformation();
tf::Transform t;
matrixAsTransfrom(transf,t);
we_have_a_scan_transformed = false;
PointCloudT transformedCloud;
- pcl::transformPointCloud (myScanCloud, transformedCloud, reg.getFinalTransformation());
+ pcl::transformPointCloud (*myScanCloud, transformedCloud, reg.getFinalTransformation());
+
+ double inlier_perc = 0;
+
+ {
+ // count inliers
+
+ std::vector<int> nn_indices (1);
+ std::vector<float> nn_sqr_dists (1);
+
+ size_t numinliers = 0;
+
+ for (size_t k = 0; k < transformedCloud.points.size(); ++k )
+ {
+ if (mapTree->radiusSearch (transformedCloud.points[k], ICP_INLIER_DIST, nn_indices,nn_sqr_dists, 1) != 0)
+ numinliers += 1;
+ }
+ if (transformedCloud.points.size() > 0)
+ {
+ ROS_WARN("Inliers in dist %f: %zu of %zu percentage %f (%f)", ICP_INLIER_DIST, numinliers, transformedCloud.points.size(), (double) numinliers / (double) transformedCloud.points.size(), ICP_INLIER_THRESHOLD);
+ inlier_perc = (double) numinliers / (double) transformedCloud.points.size();
+ }
+ }
+
pcl::toROSMsg (transformedCloud, cloud2transformed);
we_have_a_scan_transformed = true;
-
double dist = sqrt((t.getOrigin().x() * t.getOrigin().x()) + (t.getOrigin().y() * t.getOrigin().y()));
double angleDist = t.getRotation().getAngle();
- t = t * oldPose ;
+ btVector3 rotAxis = t.getRotation().getAxis();
+ t = t * oldPose;
+ tf::StampedTransform base_after_icp;
+ if (!getTransform(base_after_icp, ODOM_FRAME, "base_link", ros::Time(0)))
+ {
+ ROS_ERROR("Did not get base pose at now");
+ scan_callback_mutex.unlock();
+
+ return;
+ }
+ else
+ {
+ tf::Transform rel = base_at_laser.inverseTimes(base_after_icp);
+ ROS_INFO("relative motion of robot while doing icp: %fcm %fdeg", rel.getOrigin().length(), rel.getRotation().getAngle() * 180 / M_PI);
+ t= t * rel;
+ }
+
//ROS_INFO("dist %f angleDist %f",dist, angleDist);
+ ros::Time scan_time = scan_in->header.stamp;
+ ros::Duration scan_age = ros::Time::now() - scan_time;
+ //ROS_INFO("SCAN_AGE seems to be %f", scan_age.toSec());
+ char msg_c_str[2048];
+ sprintf(msg_c_str,"INLIERS %f (%f) scan_age %f (%f age_threshold) dist %f angleDist %f axis(%f %f %f) fitting %f (icp_fitness_threshold %f)",inlier_perc, ICP_INLIER_THRESHOLD, scan_age.toSec(), AGE_THRESHOLD ,dist, angleDist, rotAxis.x(), rotAxis.y(), rotAxis.z(),reg.getFitnessScore(), ICP_FITNESS_THRESHOLD );
+ std_msgs::String strmsg;
+ strmsg.data = msg_c_str;
- if ((actScan - lastTimeSent > 10) && ((dist > DIST_THRESHOLD) || (angleDist > ANGLE_THRESHOLD)))
- if ( reg.getFitnessScore() <= ICP_FITNESS_THRESHOLD )
+ //ROS_INFO("%s", msg_c_str);
+
+
+ //check if we want to accept this scan, if its older than 1 sec, drop it
+ if (!use_sim_time)
+ if (scan_age.toSec() > AGE_THRESHOLD)
{
- lastTimeSent = actScan;
- geometry_msgs::PoseWithCovarianceStamped pose;
- pose.header.frame_id = "map";
- pose.pose.pose.position.x = t.getOrigin().x();
- pose.pose.pose.position.y = t.getOrigin().y();
+ ROS_ERROR("SCAN SEEMS TOO OLD (%f seconds, %f threshold)", scan_age.toSec(), AGE_THRESHOLD);
+ scan_callback_mutex.unlock();
- btQuaternion quat = t.getRotation();
- //quat.setRPY(0.0, 0.0, theta);
- tf::quaternionTFToMsg(quat,pose.pose.pose.orientation);
- float factorPos = 0.03;
- float factorRot = 0.1;
- pose.pose.covariance[6*0+0] = (0.5 * 0.5) * factorPos;
- pose.pose.covariance[6*1+1] = (0.5 * 0.5) * factorPos;
- pose.pose.covariance[6*3+3] = (M_PI/12.0 * M_PI/12.0) * factorRot;
- ROS_INFO("i %i converged %i SCORE: %f", i, reg.hasConverged (), reg.getFitnessScore() );
- ROS_INFO("PUBLISHING A NEW INITIAL POSE dist %f angleDist %f Setting pose: %.3f %.3f [frame=%s]",dist, angleDist , pose.pose.pose.position.x , pose.pose.pose.position.y , pose.header.frame_id.c_str());
- pub_pose.publish(pose);
+ return;
}
+
+
+ double cov = POSE_COVARIANCE_TRANS;
+
+ //if ((actScan - lastTimeSent > UPDATE_AGE_THRESHOLD) && ((dist > DIST_THRESHOLD) || (angleDist > ANGLE_THRESHOLD)) && (angleDist < ANGLE_UPPER_THRESHOLD))
+ // if ( reg.getFitnessScore() <= ICP_FITNESS_THRESHOLD )
+ if ((actScan - lastTimeSent > UPDATE_AGE_THRESHOLD) && ((dist > DIST_THRESHOLD) || (angleDist > ANGLE_THRESHOLD)) && (inlier_perc > ICP_INLIER_THRESHOLD) && (angleDist < ANGLE_UPPER_THRESHOLD))
+ {
+ lastTimeSent = actScan;
+ geometry_msgs::PoseWithCovarianceStamped pose;
+ pose.header.frame_id = "map";
+ pose.pose.pose.position.x = t.getOrigin().x();
+ pose.pose.pose.position.y = t.getOrigin().y();
+
+ btQuaternion quat = t.getRotation();
+ //quat.setRPY(0.0, 0.0, theta);
+ tf::quaternionTFToMsg(quat,pose.pose.pose.orientation);
+ float factorPos = 0.03;
+ float factorRot = 0.1;
+ pose.pose.covariance[6*0+0] = (cov * cov) * factorPos;
+ pose.pose.covariance[6*1+1] = (cov * cov) * factorPos;
+ pose.pose.covariance[6*3+3] = (M_PI/12.0 * M_PI/12.0) * factorRot;
+ ROS_INFO("i %i converged %i SCORE: %f", i, reg.hasConverged (), reg.getFitnessScore() );
+ ROS_INFO("PUBLISHING A NEW INITIAL POSE dist %f angleDist %f Setting pose: %.3f %.3f [frame=%s]",dist, angleDist , pose.pose.pose.position.x , pose.pose.pose.position.y , pose.header.frame_id.c_str());
+ pub_pose.publish(pose);
+ strmsg.data += " << SENT";
+ }
+
+ pub_info_.publish(strmsg);
//ROS_DEBUG("map width %i height %i size %i, %s", myMapCloud.width, myMapCloud.height, (int)myMapCloud.points.size(), myMapCloud.header.frame_id.c_str());
//ROS_DEBUG("scan width %i height %i size %i, %s", myScanCloud.width, myScanCloud.height, (int)myScanCloud.points.size(), myScanCloud.header.frame_id.c_str());
}
}
- // Do something with cloud.
+ scan_callback_mutex.unlock();
}
int main(int argc, char** argv)
@@ -300,10 +487,15 @@
ros::NodeHandle nh_;
nh = &nh_;
+ nh->param<std::string>("SnapMapICP/odom_frame", ODOM_FRAME, "/odom_combined");
+ nh->param<std::string>("SnapMapICP/base_laser_frame", BASE_LASER_FRAME, "/base_laser_link");
+
+
projector_ = new laser_geometry::LaserProjection();
tf::TransformListener listener;
listener_ = &listener;
+ pub_info_ = nh->advertise<std_msgs::String> ("SnapMapICP", 1);
pub_output_ = nh->advertise<sensor_msgs::PointCloud2> ("map_points", 1);
pub_output_scan = nh->advertise<sensor_msgs::PointCloud2> ("scan_points", 1);
pub_output_scan_transformed = nh->advertise<sensor_msgs::PointCloud2> ("scan_points_transformed", 1);
@@ -317,7 +509,7 @@
listener_->waitForTransform("/base_link", "/map",
ros::Time(0), ros::Duration(30.0));
- listener_->waitForTransform("/base_laser_link", "/map",
+ listener_->waitForTransform(BASE_LASER_FRAME, "/map",
ros::Time(0), ros::Duration(30.0));
while (ros::ok())
@@ -340,101 +532,3 @@
}
}
-
-
-/*
-Full name: /Motors/EtherCAT Device (r_wrist_l_motor)
-Component: EtherCAT Device (r_wrist_l_motor)
-Hardware ID: 68-05005-01769
-Level: Warning
-Message: Could not collect WG0X diagnostics; Could not collect diagnostics
-
-Configuration: good
-Name: r_wrist_l_motor
-Position: 31
-Product code: WG05 (6805005) Firmware Revision 1.21, PCB Revision F.02
-Robot: PR2
-Motor: Maxon 310009
-Serial Number: 68-05005-01769
-Nominal Current Scale: 0.000500
-Nominal Voltage Scale: 0.006250
-HW Max Current: 3.250000
-SW Max Current: 1.720000
-Speed Constant: 178.000000
-Resistance: 2.520000
-Motor Torque Constant: 0.053800
-Pulses Per Revolution: 1200
-Encoder Reduction: -1.000000
-Status Checksum Error Count: 0
-Safety Disable Status: ENABLED (00)
-Safety Disable Status Hold: ENABLED (00)
-Safety Disable Count: 6
-Undervoltage Count: 5
-Over Current Count: 0
-Board Over Temp Count: 0
-Bridge Over Temp Count: 0
-Operate Disable Count: 1
-Watchdog Disable Count: 1
-MBX Command IRQ Count: 181
-PDI Timeout Error Count: 0
-PDI Checksum Error Count: 0
-Supply Current: 0.051398
-Configured Offset A: 0.022000
-Configured Offset B: -0.006000
-Mailbox Write Errors: 0
-Mailbox Read Errors: 0
-Mailbox Retries: 0
-Mailbox Retry Errors: 0
-Calibration Offset: -198.797365
-Calibration Status: Calibrated by controller
-Watchdog Limit: 100ms
-Mode: ENABLE, CURRENT
-Digital out: 254
-Programmed pwm value: -291
-Programmed current: -0.197000
-Measured current: -0.194500
-Timestamp: 3546451304
-Encoder count: -38034
-Encoder index pos: -38034
-Num encoder_errors: 0
-Encoder status: 15
-Calibration reading: 15
-Last calibration rising edge: -43040
-Last calibration falling edge: -18976
-Board temperature: 44.250000
-Max board temperature: 44.375000
-Bridge temperature: 50.687500
-Max bridge temperature: 50.812500
-Supply voltage: 70.787498
-Motor voltage: -1.125000
-Current Loop Kp: 16
-Current Loop Ki: 4
-Motor Voltage Error %: 10.172653
-Max Motor Voltage Error %: 34.376442
-Abs Filtered Voltage Error %: 8.273659
-Max Abs Filtered Voltage Error %: 15.651860
-Current Error: 0.000720
-Max Current Error: 0.017975
-Abs Filtered Current Error: 0.000570
-Max Abs Filtered Current Error: 0.003362
-Motor Resistance Estimate: 4.495118
-# Published traces: 5
-Packet count: 48769
-Drops: 0
-Consecutive Drops: 0
-Max Consecutive Drops: 0
-Reset detected: No
-Valid: No
-EPU Errors: 0
-PDI Errors: 0
-Status Port 0: Has Link, Open, Has Comm
-RX Error Port 0: 0
-Forwarded RX Error Port 0: 0
-Invalid Frame Port 0: 0
-Lost Link Port 0: 0
-Status Port 1: Has Link, Open, Has Comm
-RX Error Port 1: 0
-Forwarded RX Error Port 1: 0
-Invalid Frame Port 1: 0
-Lost Link Port 1: 0
-*/
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