Wearables

Setting up

Dependencies

Here following there is a list of the required dependencies you need for using this repository. Instead, the optional dependencies, specific for each wearable-device, are listed in wearable-device-sources.

Required

• CMake open-source, cross-platform family of tools designed to build, test and package software.
• YARP software package to handle the data comunication.

It must be noted that YARP, together with a subset of the optional dependencies, can be installed together in one place using the robotology-superbuild enabling its Human-Dynamics profile.

Optional

• robometry device: if present, the IWearLogger device is installed by default.
• iDynTree: if present, the IWearFrameVisualizer module and ICub device are installed by default.
• pybind11: if present, the user can enable WEARABLES_COMPILE_PYTHON_BINDINGS to enable the compilation of the python bindings.

Build the suite

Linux/macOS

git clone https://github.com/robotology/wearables.git
cd wearables
mkdir build && cd build
cmake ../
make
[sudo] make install

Notice: sudo is not necessary if you specify the CMAKE_INSTALL_PREFIX. In this case it is necessary to add in the .bashrc or .bash_profile the following lines:

export WEARABLES_INSTALL_DIR=/path/where/you/installed
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${WEARABLES_INSTALL_DIR}/share/yarp

Note that this is not necessary if you install wearables via the robotology-superbuild.

Optional flags

The compilation of some of the software components in wearables can be enabled using the following cmake flags:

• ENABLE_FrameVisualizer: enable the compilation of the IWearFrameVisualizer module that allows to visualize wearble inertial measurements.
• ENABLE_Logger: enable the compilation of the IWearLogger device that allows to save wearable data as .mat or stream the data on YARP as analog vector data.
• ENABLE_<device>: enable the compilation of the optional wearable device (see documentation in Wearable device sources).

Wearable device sources

Wearable devices contained in /devices/ are YARP devices that exposes sensors data using IWear interface. List of the dependencies and documentation for running some of the wearable data sources can be found at the links in the table below. The compilation of some of theese devices can be enable/disabled changing the CMAKE option ENABLE_<device>.

Device Name	Description	OS	Dependencies	Documentation
IAnalogSensor	Exposes YARP IAnalogSensor Interface.	Linux/MacOS/Windows	-	-
FTShoes	Exposes YARP ftShoe data.	Linux/MacOS/Windows	forcetorque-yarp-devices	📚
XsensSuit	Exposes XsensSuit data.	Windows	xsens MVN SDK 2018.0.3	📚
ICub	Exposes iCub robot data.	Linux/MacOS/Windows	iDynTree	📚
Paexo	Exposes Paexo data.	Linux	iFeelDriver (Contact the maintainer for more details)	-
HapticGlove	Exposes SenseGlove data.	Linux/Windows	SenseGloveSDK	📚
IFrameTransform	Exposes YARP IFrameTransform Interface.	Linux/MacOS/Windows	-	-

Mantainers

• Lorenzo Rapetti (@lrapetti)