start_demo_auv_control.launch control data record

[galfunk]

Hi,
I'm working on my master thesis and I found the simulation very interesting .
I'm running the following launch file :
start_demo_auv_control.launch
Gazebo and rviz are running smoothly

I'm trying to record the following actors only:
/eca_a9/thrusters/0/thrust
/eca_a9/thrusters/0/input
/eca_a9/fins/0/input
/eca_a9/fins/0/output

Should I able to see in the bag file the angle of fin or values of the thrust per time ?

I'm open the file in MATLAB and I'm only get Time, Topic, MessageType, Fileoffeset

What is required in order to analysis the control data for the fines angles and the propeller thrust from the running simulation?

Thank

Gal

[musamarcusso]

Hi @galfunk, that might be because the FinPlugin uses the custom message FloatStamped. I don't know much about the ROS integration in Matlab, but I think this tutorial might help.

[galfunk]

Hi @musamarcusso , thank you for your assistance. Is there a simpler way to read custom massages from a bag file?

[musamarcusso]

Hi @galfunk,

there is a good Python API to parse and write into ROS bags that is quite easy to use. You can find examples here.
Another options is to use the uuv_simulation_evaluation package where I put some parsers for the topics generated using uuv_simulator.

For instance, if you clone the uuv_simulation_evaluation repository and run

rosrun uuv_simulation_evaluation evaluate_bag --bag_file <rosbag_filename> --output_dir <output_dir_name>

the node will give you plots from the topics in the bag.

[galfunk]

I'm trying to used uuv_simulation_evaluation as you suggested, I clone the package,
and build the catkin with successful, when I run

rosrun uuv_simulation_evaluation evaluate_bag --bag_file recording.bag --output_dir ~/.ros

[rospack] Error: package 'uuv_simulation_evaluation' not found
find: ‘’: No such file or directory
Traceback (most recent call last):
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 23, in
from uuv_bag_evaluation import Evaluation
ImportError: No module named uuv_bag_evaluation

[musamarcusso]

Did you run catkin build and then source ~/catkin_ws/devel/setup.bash after cloning the repository?

[galfunk]

yes

[galfunk]

gal@gal-XPS-15-9560:~/catkin$ catkin build

Profile: default
Extending: [cached] /home/gal/catkin_ws/devel:/opt/ros/kinetic
Workspace: /home/gal/catkin

Source Space: [exists] /home/gal/catkin/src
Log Space: [exists] /home/gal/catkin/logs
Build Space: [exists] /home/gal/catkin/build
Devel Space: [exists] /home/gal/catkin/devel
Install Space: [unused] /home/gal/catkin/install
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '11' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> eca_a9_control
Starting >>> eca_a9_description
Starting >>> eca_a9_dp_controller
Starting >>> uuv_batch_run_example
Starting >>> uuv_simulation_evaluation
Starting >>> uuv_simulation_timer_example
Starting >>> uuv_simulation_wrapper
Starting >>> uuv_smac_example
Finished <<< eca_a9_dp_controller [ 0.1 seconds ]
Finished <<< uuv_batch_run_example [ 0.1 seconds ]
Finished <<< uuv_simulation_evaluation [ 0.1 seconds ]
Finished <<< uuv_simulation_timer_example [ 0.1 seconds ]
Finished <<< eca_a9_control [ 0.1 seconds ]
Finished <<< uuv_simulation_wrapper [ 0.1 seconds ]
Starting >>> uuv_simulation_runner_example
Starting >>> uuv_smac_utils
Finished <<< uuv_smac_example [ 0.1 seconds ]
Finished <<< eca_a9_description [ 0.1 seconds ]
Starting >>> eca_a9_gazebo
Finished <<< uuv_smac_utils [ 0.1 seconds ]
Finished <<< uuv_simulation_runner_example [ 0.1 seconds ]
Finished <<< eca_a9_gazebo [ 0.1 seconds ]
[build] Summary: All 11 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 0.7 seconds total.

[galfunk]

what should be my <output_dir_name> ?

[musamarcusso]

Any directory name where you would like the parser data and plots to be stored.

[galfunk]

what should be my <rosbag_filename>? the full located adders?

[galfunk]

gal@gal-XPS-15-9560:~$ rosrun uuv_simulation_evaluation evaluate_bag --bag_file recording.bag --output_dir ~/
usage: evaluate_bag [-h] [--bagfile BAGFILE] [--output_dir OUTPUT_DIR]
[--time_offset TIME_OFFSET]
evaluate_bag: error: unrecognized arguments: --bag_file recording.bag

[musamarcusso]

Yeah, sorry that was a typo, the argument should be --bagfile. If you put only recording.bag the default search folder will be .ros. I would add the full path in that case.

[galfunk]

rosrun uuv_simulation_evaluation evaluate_bag --bagfile recording.bag --output_dir ~/
Traceback (most recent call last):
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 40, in
assert os.path.isfile(args.bagfile), 'Invalid bag file'

[musamarcusso]

Does this happen if instead of recording.bag you put the full path?

[galfunk]

yes
rosrun uuv_simulation_evaluation evaluate_bag --bagfile ~/.log/recording.bag --output_dir ~/
Traceback (most recent call last):
File "/home/gal/catkin/src/uuv_simulation_evaluation/uuv_simulation_evaluation/scripts/evaluate_bag", line 40, in
assert os.path.isfile(args.bagfile), 'Invalid bag file'
AssertionError: Invalid bag file