Update to include hmm output in recording

tmux/record_ros_bag_activity_steps_only.yml

@@ -0,0 +1,121 @@
+#
+# Used to create ROS bags for all topics published from the HL2.
+# This configuration should be run by itself (e.g. not in combination with
+# another tmuxinator launch).
+#
+
+name: record-ros-bag-activity-only
+root: <%= ENV["ANGEL_WORKSPACE_DIR"] %>
+
+# Optional tmux socket
+# socket_name: foo
+
+# Note that the pre and post options have been deprecated and will be replaced by
+# project hooks.
+
+# Project hooks
+
+# Runs on project start, always
+# on_project_start: command
+on_project_start: |
+  export ROS_NAMESPACE=${ROS_NAMESPACE:-/kitware}
+  export HL2_IP=${HL2_IP:-192.168.1.101}
+  export CONFIG_DIR=${ANGEL_WORKSPACE_DIR}/config
+  export MODEL_DIR=${ANGEL_WORKSPACE_DIR}/model_files
+
+# Run on project start, the first time
+# on_project_first_start: command
+
+# Run on project start, after the first time
+# on_project_restart: command
+
+# Run on project exit ( detaching from tmux session )
+# on_project_exit: command
+
+# Run on project stop
+# on_project_stop: command
+
+# Runs in each window and pane before window/pane specific commands. Useful for setting up interpreter versions.
+# pre_window: rbenv shell 2.0.0-p247
+
+# Pass command line options to tmux. Useful for specifying a different tmux.conf.
+# tmux_options: -f ~/.tmux.mac.conf
+tmux_options: -f <%= ENV["ANGEL_WORKSPACE_DIR"] %>/tmux/tmux.conf
+
+# Change the command to call tmux.  This can be used by derivatives/wrappers like byobu.
+# tmux_command: byobu
+
+# Specifies (by name or index) which window will be selected on project startup. If not set, the first window is used.
+# startup_window: editor
+
+# Specifies (by index) which pane of the specified window will be selected on project startup. If not set, the first pane is used.
+# startup_pane: 1
+
+# Controls whether the tmux session should be attached to automatically. Defaults to true.
+# attach: false
+
+windows:
+  - sensor_input:
+      layout: even-vertical
+      panes:
+        - ros_bag_play: #ros2 bag play <<PATH_TO_BAG_FILE>>
+        #- image_converter: ros2 run angel_datahub ImageConverter --ros-args
+        #    -r __ns:=${ROS_NAMESPACE}
+        #    -p topic_input_images:=PVFramesNV12
+        #    -p topic_output_images:=PVFramesRGB
+
+  - object_detector:
+      layout: even-vertical
+      panes:
+        - detector: ros2 run angel_system_nodes berkeley_object_detector --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p image_topic:=PVFramesBGR
+            -p det_topic:=ObjectDetections2d
+            -p det_conf_threshold:=0.4
+            -p model_config:=${ANGEL_WORKSPACE_DIR}/angel_system/berkeley/configs/MC50-InstanceSegmentation/medical/M2/stage2/tourniquet_stage2_interstitial.yaml
+            -p cuda_device_id:=0
+        - simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p topic_input_images:=PVFramesBGR
+            -p topic_input_det_2d:=ObjectDetections2d
+            -p topic_output_images:=pv_image_detections_2d
+            -p filter_top_k:=5
+        - compress_image: ros2 run image_transport republish raw compressed --ros-args
+             -r __ns:=${ROS_NAMESPACE}
+             --remap in:=pv_image_detections_2d
+             --remap out/compressed:=pv_image_detections_2d/compressed
+
+  - activity_classifier: ros2 run angel_system_nodes activity_from_obj_dets_classifier --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p det_topic:=ObjectDetections2d
+      -p act_topic:=ActivityDetections
+      -p classifier_file:=${MODEL_DIR}/recipe_m2_apply_tourniquet_v0.052.pkl
+
+  - task_monitor: ros2 run angel_system_nodes task_monitor_v2 --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p det_topic:=ActivityDetections
+      -p config_file:=${CONFIG_DIR}/tasks/task_steps_config-recipe_m2_apply_tourniquet_v0.052.yaml
+      -p task_state_topic:=TaskUpdates
+      -p task_error_topic:=TaskErrors
+      -p query_task_graph_topic:=query_task_graph
+      -p step_complete_threshold:=0.5
+      -p sys_cmd_topic:=SystemCommands
+      -p enable_manual_progression:=false
+      -p allow_rollback:=false
+
+  - engineering-ui:
+      layout: even-vertical
+      panes:
+        - websocket: ros2 launch rosbridge_server rosbridge_websocket_launch.xml port:=9090
+        - server: node src/angel_utils/demo_ui/index.js
+            --namespace=${ROS_NAMESPACE}
+            --image_topic=pv_image_detections_2d/compressed
+            --query_task_graph_topic=query_task_graph
+            --task_updates_topic=TaskUpdates
+            --activity_detections_topic=ActivityDetections
+            --task_errors_topic=TaskErrors
+
+  - ros_bag_record: ros2 bag record
+      ${ROS_NAMESPACE}/ActivityDetections
+      ${ROS_NAMESPACE}/TaskUpdates
+      ${ROS_NAMESPACE}/PVFramesBGR