feat(control_data_collecting_tool): add safety measures and rosbag recording and loading #134

YoshihiroKogure · 2024-10-09T23:32:30Z

Description

Add following two functionalities in this PR.

Add a feature to stop when crossing the green line.

pr_safety_measure.webm

Rosbag2 recording and loading functionalities
- When nodes are launched, topics in config/topics.yaml are automatically recorded and the data is saved in the directory where nodes are launched.
- The data from /localization/kinematic_state and /localization/acceleration located in the current directory. You can switch-off this functionality if LOAD_ROSBAG2_FILES in config/param.yaml is set to false.
  Following demo shows control data collecting tool loads data in the current directory and automatically reflects data counting plots.

pr_load_data.webm

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

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kosuke55 · 2024-10-10T03:49:38Z

control_data_collecting_tool/scripts/rosbag_play.py

+        if not target_topic_included:
+            return target_topic_included
+
+        #


Suggested change

#

Thank you for your suggestions. I fixed in 24d4175.

YoshihiroKogure · 2024-10-11T09:33:26Z

In the 00b3e0b commit, I modified it to count data only when the operation mode is set to 3.

control_data_collecting_tool/scripts/data_collecting_rosbag_record.py

kosuke55 · 2024-10-15T02:50:25Z

I confirmed that I can read the collection status from rosbag

kosuke55 · 2024-10-15T02:51:11Z

control_data_collecting_tool/scripts/data_collecting_base_node.py

+        self._present_acceleration = msg
+
+    def subscribe_operation_mode(self, msg):
+        self.present_peration_mode_ = msg.mode


Suggested change

self.present_peration_mode_ = msg.mode

self.present_operation_mode_ = msg.mode

could you please some typos?

Thank you for your feedback. I have made the changes in c95cdfb.

Please fix typo again 🙇
collectig

I rebased on main so please force push if you fix

Thank you for repeatedly pointing out my mistakes. I have made the corrections.

kosuke55 · 2024-10-15T02:55:10Z

control_data_collecting_tool/scripts/data_collecting_rosbag_record.py

+    def record_message(self):
+        # Start subscribing to topics and recording if the operation mode is 3(LOCAL)
+        if self.present_operation_mode_ == 3 and not self.subscribed and not self.recording:
+            self.writer.create_writer()
+            self.writer.subscribe_topics()
+            self.subscribed = True
+
+        # Start recording if topics are subscribed and the operation mode is 3
+        if self.present_operation_mode_ == 3 and self.subscribed and not self.recording:
+            self.writer.start_record()
+            self.recording = True
+
+        # Stop recording if the operation mode changes from 3
+        if self.present_operation_mode_ != 3 and self.subscribed and self.recording:
+            self.writer.stop_record()
+            self.subscribed = False
+            self.recording = False


please add message print in the terminal when start/stop record

Thank you for your feedback. I have made the changes in c95cdfb.

Signed-off-by: Yoshihiro Kogure <[email protected]>

…cord.py Signed-off-by: Kosuke Takeuchi <[email protected]>

Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55

LGTM!

codecov · 2024-10-23T23:54:46Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 0.00%. Comparing base (ad0b811) to head (e2bf900).
Report is 56 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff            @@
##            main    #134      +/-   ##
========================================
- Coverage   2.12%   0.00%   -2.13%     
========================================
  Files        163       1     -162     
  Lines       9402      84    -9318     
  Branches     383       0     -383     
========================================
- Hits         200       0     -200     
+ Misses      9045      84    -8961     
+ Partials     157       0     -157

Flag	Coverage Δ
differential	`0.00% <ø> (?)`
total	`?`

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YoshihiroKogure requested review from kosuke55, TakaHoribe and takayuki5168 as code owners October 9, 2024 23:32

github-actions bot added the type:documentation label Oct 9, 2024

kosuke55 reviewed Oct 10, 2024

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kosuke55 reviewed Oct 15, 2024

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control_data_collecting_tool/scripts/data_collecting_rosbag_record.py Outdated Show resolved Hide resolved

kosuke55 reviewed Oct 15, 2024

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YoshihiroKogure force-pushed the feat/add-safety-measures-and-rosbag-record-load branch from c95cdfb to 73ea788 Compare October 21, 2024 02:18

github-actions bot added the component:map label Oct 21, 2024

kosuke55 added the tag:run-build-and-test-differential label Oct 23, 2024

kosuke55 force-pushed the feat/add-safety-measures-and-rosbag-record-load branch from 7e53291 to dc3b034 Compare October 23, 2024 14:38

github-actions bot removed the component:map label Oct 23, 2024

YoshihiroKogure force-pushed the feat/add-safety-measures-and-rosbag-record-load branch from dc3b034 to 8b76f11 Compare October 23, 2024 19:13

github-actions bot added the component:map label Oct 23, 2024

YoshihiroKogure and others added 13 commits October 24, 2024 08:45

add safety measures

d4340f3

Signed-off-by: Yoshihiro Kogure <[email protected]>

add rosbag2 recording and loading functionalities

be5b1d2

Signed-off-by: Yoshihiro Kogure <[email protected]>

slight modifications

87c2169

Signed-off-by: Yoshihiro Kogure <[email protected]>

revert unncessary chnages

7cfcf4a

Signed-off-by: Yoshihiro Kogure <[email protected]>

add a flag to determin whether to load rosbag2 data or not

ce2bc68

Signed-off-by: Yoshihiro Kogure <[email protected]>

record rosbag only if operation_mode is 3

27b57a5

Signed-off-by: Yoshihiro Kogure <[email protected]>

add some comments and made minor adjustments

134e0ce

Signed-off-by: Yoshihiro Kogure <[email protected]>

style(pre-commit): autofix

a72a0a6

Update control_data_collecting_tool/scripts/data_collecting_rosbag_re…

d7bb9ec

…cord.py Signed-off-by: Kosuke Takeuchi <[email protected]>

fix typos

c6e8f29

Signed-off-by: Yoshihiro Kogure <[email protected]>

subscribe control_mode

bb6f15a

Signed-off-by: Yoshihiro Kogure <[email protected]>

fix typo

45af2e0

Signed-off-by: Yoshihiro Kogure <[email protected]>

style(pre-commit): autofix

e2bf900

kosuke55 force-pushed the feat/add-safety-measures-and-rosbag-record-load branch from 6ca20b3 to e2bf900 Compare October 23, 2024 23:45

github-actions bot removed the component:map label Oct 23, 2024

kosuke55 approved these changes Oct 23, 2024

View reviewed changes

kosuke55 enabled auto-merge (squash) October 23, 2024 23:47

kosuke55 merged commit dd938c8 into autowarefoundation:main Oct 23, 2024
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feat(control_data_collecting_tool): add safety measures and rosbag recording and loading #134

feat(control_data_collecting_tool): add safety measures and rosbag recording and loading #134

YoshihiroKogure commented Oct 9, 2024

kosuke55 Oct 10, 2024

YoshihiroKogure Oct 11, 2024

YoshihiroKogure commented Oct 11, 2024

kosuke55 commented Oct 15, 2024

kosuke55 Oct 15, 2024

kosuke55 Oct 15, 2024

YoshihiroKogure Oct 21, 2024

kosuke55 Oct 23, 2024

kosuke55 Oct 23, 2024

YoshihiroKogure Oct 23, 2024

kosuke55 Oct 15, 2024

YoshihiroKogure Oct 21, 2024

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codecov bot commented Oct 23, 2024

	self.present_peration_mode_ = msg.mode
	self.present_operation_mode_ = msg.mode

feat(control_data_collecting_tool): add safety measures and rosbag recording and loading #134

feat(control_data_collecting_tool): add safety measures and rosbag recording and loading #134

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YoshihiroKogure commented Oct 9, 2024

Description

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Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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YoshihiroKogure commented Oct 11, 2024

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codecov bot commented Oct 23, 2024

Codecov Report