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Sangwoo Moon
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127 changes: 127 additions & 0 deletions
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tmuxp_config/nebula_odometry_datasets/E_Spot1_Valentine1.yaml
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| session_name: locus_dataset | ||
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| environment: | ||
| # Path for the dataset | ||
| DATA_PATH: /home/costar/data/E_Spot1_Valentine1 | ||
| DATA_FOLDER: rosbag/ | ||
| # Change the run number to save the output data in a different folder | ||
| RUN_NUMBER: "test_01" | ||
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| # version of logging. If unsure, select 2 (the latest). 1 is for tunnel datasets | ||
| LOG_VERSION: "2" | ||
| # Number of lidars to use (if available) | ||
| NUM_VLP: "1" | ||
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| # Change the robot name and type to match the dataset | ||
| ROBOT_NAME: spot1 | ||
| ROBOT_TYPE: spot | ||
| # If unsure, leave as base1 | ||
| BASE_NAME: base1 | ||
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| # Rosbag parameters | ||
| START: "0" | ||
| RATE: "1.0" | ||
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| # See https://github.com/NeBula-Autonomy/nebula-odometry-dataset/blob/main/pages/dataset.md | ||
| # for the expected length of datasets | ||
| # This param can be used to automatically close the session at the end of the run (currently disabled) | ||
| TIME_TO_END: "1600" | ||
| # This param is used to start saving the map near the end of the run (try 1 minute before the end) | ||
| TIME_TO_MAP_SAVE: "1550" | ||
| # The topic for the odometry to record | ||
| ODOM: locus/odometry | ||
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| options: | ||
| default-command: /bin/bash | ||
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| windows: | ||
| - window_name: locus | ||
| focus: true | ||
| layout: tiled | ||
| shell_command_before: | ||
| - rosparam set /use_sim_time true | ||
| # Set up the parameter files from the GT products | ||
| - cp $DATA_PATH/fiducial_calibration_$ROBOT_NAME.yaml ~/.ros/ | ||
| - if [ $ROBOT_TYPE = 'husky' ]; then | ||
| cp $DATA_PATH/$ROBOT_NAME*.yaml $(rospack find sensor_description)/config/ ; | ||
| fi; | ||
| - if [ $ROBOT_TYPE = 'spot' ]; then | ||
| cp $DATA_PATH/$ROBOT_NAME*.yaml $(rospack find sensor_description)/config/ ; | ||
| fi; | ||
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| panes: | ||
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| ################################### RUN ################################### | ||
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| # Bags and topics of interest (switching if the log versions is older) | ||
| - if [ $LOG_VERSION -eq 2 ]; then | ||
| sleep 10; rosbag play $DATA_PATH/$DATA_FOLDER*.bag -s$START -r$RATE --clock --topics clock:=/clock | ||
| /$ROBOT_NAME/velodyne_points /$ROBOT_NAME/velodyne_front/velodyne_points /$ROBOT_NAME/velodyne_rear/velodyne_points | ||
| /$ROBOT_NAME/hero/wio_ekf/odom /$ROBOT_NAME/vn100/imu_wori_wcov /$ROBOT_NAME/visual_odom | ||
| /$ROBOT_NAME/wheel_odom /$ROBOT_NAME/hvm/lidar/points /$ROBOT_NAME/hvm/odometry | ||
| /$ROBOT_NAME/unreconciled_artifact /$ROBOT_NAME/uwb_frontend/range_measurements ; | ||
| fi; | ||
| if [ $LOG_VERSION -eq 1 ]; then | ||
| sleep 10;rosbag play $DATA_PATH/$DATA_FOLDER*.bag -s$START -r$RATE --clock --prefix $ROBOT_NAME/ | ||
| --topics clock:=/clock velodyne_points velodyne_front/velodyne_points /velodyne_rear/velodyne_points | ||
| hero/wio_ekf/odom vn100/imu_wori_wcov vn100/imu visual_odom /tf_static ; | ||
| fi; | ||
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| # launch rviz | ||
| - rviz -d $(rospack find locus)/rviz/$(echo $ROBOT_NAME)_locus.rviz | ||
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| # Front-end | ||
| - if [ $ROBOT_TYPE = 'husky' ]; then | ||
| roslaunch locus locus.launch robot_namespace:=$ROBOT_NAME number_of_velodynes:=$NUM_VLP; | ||
| fi; | ||
| if [ $ROBOT_TYPE = 'spot' ]; then | ||
| roslaunch locus locus.launch robot_namespace:=$ROBOT_NAME; | ||
| fi | ||
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| - window_name: record_at_end | ||
| focus: false | ||
| layout: tiled | ||
| shell_command_before: | ||
| - rosparam set /use_sim_time true | ||
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| panes: | ||
| # Map | ||
| # Front-End Map | ||
| - sleep $TIME_TO_MAP_SAVE; rosrun pcl_ros pointcloud_to_pcd input:=/$ROBOT_NAME/locus/octree_map _prefix:=$DATA_PATH/locus_$RUN_NUMBER/map_locus | ||
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| # .. | ||
| - | ||
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| - window_name: record | ||
| focus: false | ||
| layout: tiled | ||
| shell_command_before: | ||
| - mkdir $DATA_PATH/locus_$RUN_NUMBER | ||
| - rosparam set /use_sim_time true | ||
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| panes: | ||
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| ################################### RECORD ################################### | ||
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| # Odometry | ||
| - rosbag record -O $DATA_PATH/locus_$RUN_NUMBER/odometry.bag /$ROBOT_NAME/$ODOM /$ROBOT_NAME/locus/localization_integrated_estimate /$ROBOT_NAME/locus/odometry_integrated_estimate /$ROBOT_NAME/locus/localization_incremental_estimate /$ROBOT_NAME/locus/odometry_incremental_estimate | ||
| - rosbag record -O $DATA_PATH/locus_$RUN_NUMBER/stationary.bag /$ROBOT_NAME/stationary_accel | ||
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| # Odometry Rate and Delay | ||
| - rostopic hz /$ROBOT_NAME/$ODOM -w3 >> $DATA_PATH/locus_$RUN_NUMBER/rate.txt | ||
| - rostopic delay /$ROBOT_NAME/$ODOM -w3 >> $DATA_PATH/locus_$RUN_NUMBER/delay.txt | ||
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| # Computation Time Profiling | ||
| - rosbag record -O $DATA_PATH/locus_$RUN_NUMBER/lidar_callback_duration.bag /$ROBOT_NAME/locus/lidar_callback_duration | ||
| - rosbag record -O $DATA_PATH/locus_$RUN_NUMBER/scan_to_scan_duration.bag /$ROBOT_NAME/locus/scan_to_scan_duration | ||
| - rosbag record -O $DATA_PATH/locus_$RUN_NUMBER/scan_to_map_duration.bag /$ROBOT_NAME/locus/scan_to_submap_duration | ||
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| ################################ END RECORDING ############################### | ||
| # Uncomment the line below to automatically end the run | ||
| # - sleep $TIME_TO_END; rosnode kill -a | ||
| # Use the line below to prepare a kill command when you want to stop | ||
| - rosnode kill -a \ |
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