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This readme gives you instructions how to get the frame_tracker PID parameters.***********
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1. Start every component (twist_controller,frame_tracker) which is necessary for twist controlling.

2. Use rqt trajectory controller / dashboard to find a start configuration for the endeffector.

3. Configure the python script in the cob_model_indentifier/scripts folder to command different twists for the manipulator. For better results use only one direction.  (JUST CONFIGURE! DO NOT RUN THE SCRIPT YET)

4. Create a directory on the robots harddrive where the recorded date can be stored.

5. Configure cob_model_identifier yaml file and type in the previous created directory.

6. Launch the cob_model_identifier: roslaunch cob_model_identifier model_identification.launch ns:__"twistcontroller_namespace" (replace twistcontroller_namespace)

7. Run the python script: scriptname.py ns:__"twistcontroller_namespace" (replace twistcontroller_namespace)

8. After finishing the script, click into the cob_model_identifier terminal and press "a" to finish recording. Several .m files will be created into the folder (Step 4).

9. Compress the files in the robots directory with: "tar -cvf filename directory"

10. Send the compressed files to the local computer: "scp filename user@comp:."

11. Locate the .tar folder and decompress it. A new folder will be created.

12. Open "Octave" and use the "cd"-command to get to the directory where the .m files were saved into.

13. Open the .m file which represents the direction of the configured twist (Step 3). (example: z_linear or x_angular)

14. 4 plots will be opened. Ignore every plot except the PT1 Model.

15. Print the bode-plot of the model with (example: bode(Gs_z_linear_integrated1) or bode(Gs_x_angular_integrated1))

16. Follow the instructions in Christoph Mark's BPP2 report (Ask Felix Meßmer)