/node_rosbag_analysis

Primary LanguageJupyter Notebook

NODE ROSBAG ANALYSIS

Documentation

The documentation for this project can be found in node_rosbag_analysis_documentation.pdf.

Screen-recording of RVIZ Window

https://drive.google.com/drive/folders/1EMriA3DYMA6gk9TQ5tGpGX1Gvr0JHSIE?usp=sharing

Screenshot of RVIZ Window

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Installation and Setup

A local installation and docker installation option is available. Since the docker installation uses ros:noetic and not osrf/ros:noetic-desktop-full, nodes that launch RVIZ cannot be launched.

Local Installation

  1. Install ROS Noetic and setup catkin_ws.
    http://wiki.ros.org/noetic/Installation/Ubuntu

  2. Source catkin_ws.

cd catkin_ws  
source devel/setup.bash
  1. Clone git repository.
cd src/  
git clone https://github.com/nayan-pradhan/node_rosbag_analysis.git
  1. catkin_make.
roscd
cd ..  
catkin_make
  1. Update path to BAG files in launch files.
cd src/node_rosbag_analysis/launch/

Use your favourite code editor to update launch files: real_time_error_detection_launch.launch, review_error_detection_launch.launch, and rviz_launch.launch.
<arg name="path_to_rosbag" value=" INSERT UPDATED PATH TO BAG FILE " />

Launching Nodes Locally

  • Launch rviz for only visualization.
roslaunch node_rosbag_analysis rviz_launch.launch
  • Launch real_time_error_detection_node for real time error detection using ROS Subscribers.
roslaunch node_rosbag_analysis real_time_error_detection_launch.launch
  • Launch review_error_detection_node for error detection review using Python ROSBAG API.
roslaunch node_rosbag_analysis review_error_detection_launch.launch

Docker Installation

  1. Install and setup Docker.
    https://docs.docker.com/engine/install/ubuntu/

  2. Download Docker file from git repository.
    https://github.com/nayan-pradhan/node_rosbag_analysis/blob/master/Dockerfile

  3. Navigate to directory where Dockerfile was downloaded and build Docker Image.

docker build -t node-docker-image:1.0 .
  1. Check if Docker Image is built and copy IMAGE_ID.
docker images

A repository named node-docker-image should appear. Copy the IMAGE_ID of the repository.

  1. Run Docker Image. Replace /PATH-to-rosbag-files with local path to directory with ROS BAG files.
docker run -t -d -v /PATH-to-rosbag-files:/mnt/NODE_Robotics/environment_files [IMAGE ID]
  1. Check if Docker Container is running. Copy the CONTAINER ID of the IMAGE.
docker ps
  1. Execute Docker Container and open bash in Container.
docker exec -it [CONTAINER ID] bash
  1. Source workspace.
cd /home  
source devel/setup.bash
  1. Clone git repository.
cd src/  
git clone https://github.com/nayan-pradhan/node_rosbag_analysis.git
  1. catkin_make.
cd ..  
catkin_make

Launching Nodes in Docker Container

  • Launch review_error_detection_node for error detection review using Python ROSBAG API.
roslaunch node_rosbag_analysis docker_review_error_detection_launch.launch