clmclogger

clmclogger tool for variable logging (C++) and data manipulation/visualization (MATLAB)

Description

clmclogger is a logging tool first developed by Stefan Schaal along with the SL robot simulator. Since then many researchers have modified the code with improvements, new features, etc... But due to the lack of a central repository, each different group developed their own variations of the code.

The goal of this repository is to 1) design/maintain the general C++ logger to be used in many different projects, 2) try integrating some of these different variations of clmclogger into a single common place, and 3) further develop existing functionality.

The current version of C++ wrapper compiles easily as a ROS Catkin project.

clmcplot tool

C++ Logger Installation

CATKIN (ROS) Workspace

Clone the software on your catkin workspace source folder:

cd ~/catkin_ws/src
git clone git@github.com:felipepolido/mrdplot.git

And compile the workspace:

cd ~/catkin_ws/
catkin_make

CMake

Clone the software on your computer:

cd ~/
git clone git@github.com:felipepolido/clmclogger.git
git submodule update --init

Compile:

mkdir build
cd build
cmake ..
make -j

C++ Logger Examples:

ROS Examples:

To launch the standalone example logger:

rosrun clmclogger example_logger

To launch the ros example, start the ros publisher:

rosrun clmclogger ros_example_pub

And in another terminal start the ros logger:

rosrun clmclogger ros_example_logger

CMake Example:

To launch the standalone example logger in CMake:

./bin/example_logger

Data Visualization:

First, open MATLAB and include /clmclogger/matlab to MATLAB's path:

• traverse to the clmclogger folder
• right click on the clmclogger/matlab folder
• go to "Add to Path"
• click on "Select Folders and Subfolders"

Then on the command window type "clmcplot" or "clmcplot" to open either tool. At this point open a log by cliking the "Open" button on the GUI.

After the log has opened, to add signals to each plot click on the signal and then click on the desired plot.

Dependencies

To include clmclogger to your ROS project, first make sure the CMakeLists.txt find the clmclogger package:

find_package(catkin REQUIRED
  clmclogger
  )

And add the dependency to your package.xml:

  <build_depend>clmclogger</build_depend>
  <run_depend>clmclogger</run_depend>

Thank you

Thank you Stefan Schaal for developing clmcplot along with the SL simulator.

Thank you for anyone who has contributed to this library along the way. If you would like to be explicitly aknowledged please let me know or create a pull request.

Thank you personally to:

Stefan Schaal , Siyuan Feng , Matt DeDonato , Chris Atkseon