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13 lines
519 B
13 lines
519 B
# Neural control
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#
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# Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
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# Publisher: mc_nn_control
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# Subscriber: logger
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uint64 timestamp # [us] Time since system start
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float32[15] observation # Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3))
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float32[4] network_output # Output from neural network
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int32 controller_time # [us] Time spent from input to output
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int32 inference_time # [us] Time spent for NN inference
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