Actuator-dynamics-identification

This repository contains tools and experiments for actuator dynamics identification, with a focus on elastic and robotic actuators. It supports data-driven modeling, parameter estimation, and validation for model-based control and analysis.

The package can be used standalone or integrated as a submodule within larger ROS 2 workspaces (e.g. mec_ws).

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Repository structure

Actuator-dynamics-identification/
├── identification_process/   # Identification nodes and workflows
├── launch/                   # ROS 2 launch files
├── resource/                 # Configuration files, datasets, or resources
├── test/                     # Tests or example experiments
├── package.xml               # ROS package metadata
├── setup.py / setup.cfg      # Python package configuration
├── README.md                 # This file
└── LICENSE                   # Apache-2.0 license

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Purpose

The main objectives of this repository are:

• Collection and processing of experimental actuator data
• Identification of dynamic parameters (e.g. stiffness, damping, inertia, friction)
• Validation of actuator models against measured data
• Support for control design and simulation through identified models

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Requirements

• Linux (recommended)
• ROS 2 Humble
• colcon build system
• Standard ROS 2 dependencies for data processing and visualization

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Building the package

From a ROS 2 workspace:

colcon build
source install/setup.bash

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Running identification workflows (ROS 2 only)

All identification routines are exposed as ROS 2 nodes.

Example:

ros2 run actuator_dynamics_identification identification_node

Or via launch files:

ros2 launch actuator_dynamics_identification identification.launch.py

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Integration with mec_ws (Docker-based)

This repository is intended to be used as a Git submodule inside the mec_ws ROS 2 workspace, which provides a Docker-based development environment.

Steps

1. Start the mec_ws Docker container

From the mec_ws repository root:

docker compose up --build

Or detached:

docker compose up -d

2. Enter the container

docker compose exec ros2-dev bash

3. Initialize the submodule (inside the container)

cd ~/colcon_ws/src
git submodule update --init --recursive

4. Build the workspace

cd ~/colcon_ws
colcon build
source install/setup.bash

This ensures that the actuator dynamics identification package is built and run inside the same ROS 2 Docker environment used by mec_ws.

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Notes

• The identification workflows are designed to run entirely inside the ROS 2 Docker container.
• Both offline (rosbag-based) and online identification approaches are supported.
• Identified models can be used to improve control performance and simulation fidelity.

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License

This project is licensed under the Apache-2.0 License.