robosense_collect

README|中文文档

1. Overview

​ In order to collect data from super sensors and super sensor SDKs, a robosense_collect node based on YAML file configuration was developed to implement data collection functionality; This collection node is automatically compiled into ROS/ROS 2 version nodes by checking the ROS environment in the system during compilation, The following is a brief introduction to the supported functions of ROS/ROS 2 nodes:

• The ROS Version node support the following functions:
  • Two modes based on time automatic segmentation/non segmentation
  • Supports .bag format
• The ROS2 Version node supports the following functions
  • Two modes based on time automatic segmentation/non segmentation
  • Supports two formats: .db3 and .mcap
  • Supports both zstd compression and non compression modes

Regarding the configuration of the robosense_collect node, please refer to Section 5 for detailed configuration instructions

2. Prerequisites

2.1 Setup ROS version node pre dependencies

• Install ROS noetic or other supported versions: Follow the instructions in the official tutorial Office Document based on your operating system

• Build And Install package robosense_msgs:

  • Pull source code from our open code repository

    mkdir src 
    cd src 
    git clone https://github.com/RoboSense-Robotics/robosense_ac_ros_sdk_infra.git

  • Using catkin_make tool build

  catkin_make --only-pkg-with-deps robosense_msgs

  • Update Ros package meta environment by source command

    source devel/setup.bash or source devel/setup.zsh 

• Install dependencies defined in package.xml using the rosdep tool

  rosdep install -y --from-paths /PATH/TO/ROBOSENSE_COLLECT --ignore-src

2.2 Setup ROS2 version node pre dependencies

• Install ROS2 humble or other supported versions: Follow the instructions in the official tutorial Office Document based on your operating system

• Build And Install package robosense_msgs:

  • Pull source code from our open code repository

    git clone https://github.com/RoboSense-Robotics/robosense_ac_ros2_sdk_infra.git

  • Using colcon tool build

  colcon build --symlink-install --packages-select robosense_msgs

  • Update Ros package meta environment by source command

    source install/setup.bash or source install/setup.zsh 

• Install dependencies defined in package.xml using the rosdep tool

  rosdep install -y --from-paths /PATH/TO/ROBOSENSE_COLLECT --ignore-src

3. Build

• 3.1 Compile ROS version node

  • Open a new terminal and change the work directory path which include the robosense_collect directory

  • Using catkin_make tool to build this node

    catkin_make --only-pkg-with-deps robosense_collect

  waiting for build finish!

  3.2 Compile ROS2 version node

  • Open a new terminal and change the work directory path which include the robosense_collect directory

  • Using colcon tool to build this node

    colcon build --symlink-install --packages-select robosense_collect

  waiting for build finish!

4. Run

4.1 Run Ros Version node

• Setup the node's environment by source command:

  • source devel/setup.bash(For Bash Terminal)
  • source devel/setup.zsh(For Zsh Termial)

• Run robosense_collect node:

  roslaunch robosense_collect robosense_collect.launch 

4.2 Run Ros2 Version node

• Setup the node's environment by source command:

  • source install/setup.bash(For Bash Terminal)
  • source install/setup.zsh(For Zsh Termial)

• Run robosense_collect node:

  ros2 launch robosense_collect robosense_collect.py

  Notice: If you modified the setting yaml file before run the node, you should build this package again

5. Node's Setting

​ The node's setting file reletive to package at DEFAULT_CONFIG/conf/collect.yaml, the user can modify the setting if need, and the blow table is the description of the setting items, the black bold items in the table which need set firstly.

The First Level Item	The Second Level Item	The Third Level Item	Type	Discription
recordappcarconfig	timeout_ms		uint32_t	Effective in App Control Mode: communication timeout threshold with App, default: 604800000，unit: ms
	heartbeat_ms		uint32_t	Effective in App Control Mode: heartbeat timeout threshold with App, default: 5000，unit: ms
	enable_debug		bool	Effective in App Control Mode: whether enable debug information output, default: true
recordclipdirconfig	clip_sub_directory_names		string[]	sub-directory name in clip
recordsensorconfig	record_sensors[]	sensor_type	string	support: "RS_RECORD_DATA_ANY": means this topic data is not h265 format data “RS_RECORD_DATA_H265”: means this topic data is h265 format data，
		enable_topic	bool	whether enable this topic to collect, default: false
		topic_name	string	topic name which need collect
		clip_rel_directory	string	topic message data save sub-directory name
		record_file_name	string	topic message save file name
		enable_timeout_check	bool	whether enable timeout check, default: false
		timeout_warn_th_ms	uint32_t	warning level timeout check threshold，unit: ms
		timeout_error_th_ms	uint32_t	error level timeout check threshold，unit: ms
recorddataconfig	segment_type		string	support two types: (a) "RS_RECORD_SEGMENT_BY_TIME": means data collection will auto segment by time, the time threshold is "segment_time_th_ms" "RS_RECROD_SEGMENT_NO_SEG": means data collection don't segment, default
	segment_time_th_ms		uint32_t	auto segment by time threshold，unit: ms
	serialization_format		string	Fixed: "cdr"
	storage_id		string	support two types: (a)"sqlite3", default (b)"mcap"
	enable_compression		bool	whether enable compression, default: false
	compression_mode		string	support two types: (a) “MESSAGE", default (b) "FILE" Notice: If storage_id is"mcap", the compress_mode must "FILE"
	compression_format		string	support two types: (a) "fake_comp" (b) "zstd", default Notice: We are not suggest to use "fake_comp", Because of this compress format seem don't compress data
	compression_quene_size		uint32_t	compression queue size, default: 50
	compression_thread_cnt		uint32_t	compression thread count, default: 1
	enable_clip_erase_timeout_debug		bool	whether enable clip write timeout debug mode，default: false
	clip_erase_timeout_debug_count		uint32_t	clip write timeout debug mode trigger count, default: 2
	rdcs_root_directory_path		string	data save directory，the setting must end with "RDCS_ROOT/"， For example: "/media/sti/data/RDCS_ROOT/"
	enable_collect_freespace_monitor		bool	whether enable collection disk freespace check, default: true
	collect_freespace_min_gbyte		uint32_t	the collection disk's minimal freespace size，default: 32, unit: GByte
	enable_collect_disk_mount_monitor		bool	whether enable collection disk mount check，default: true
	collect_disk_write_check_modes		string[]	collection disk's user/other/group write property check, support three types: (a) “RS_COLLECT_DISK_WRITE_CHECK_USR”, default (b) “RS_COLLECT_DISK_WRITE_CHECK_OTH” (c) "RS_COLLECT_DISK_WRITE_CHECK_GRP"
	enable_disk_mount_retry_debug		bool	whether enable remount disk debug mode，default: false
	enable_disk_mount_retry		bool	whether enable remount disk, default: false
	max_disk_mount_retry_cnt		uint32_t	remount disk retry count, default: 2
	encoder_type		string	camera data encode type，default: “H265”
recordmetaconfig	template_meta_directory_path		string	meta file search directory path
recordsystemconfig	vehicle_id		string	vehicle id
	clip_id		uint32_t	clip start number, default: 0
	task_name		string	collection task name, default: ""
	task_name_add_timestamp		bool	whether use timestamp string as a part of task name, default: true
recordcollectconfig	is_auto_collect		bool	whether is Non-App mode，default: true
	is_use_sim		bool	whether use simulated clock, default: false
	is_discovery_disabled		bool	whether use disable topic discovery, default: false