Artefacts Toolkit (Charts)

Please consider this as a pre-release package, and thus subject to large, and breaking, changes prior to v1

A part of the Artefacts Toolkit, this package contains helpers to be used when creating charts from test data

Primarily designed to be used with Artefacts, the package can also be used standalone.

Usage

• Single plot:

from artefacts_toolkit_chart import make_chart

make_chart(
    filepath,
    topic_x,
    topic_y,
    field_unit=None,
    output_dir="output",
    chart_name="chart",
    file_type="rosbag",
)

• (HTML plot) Multiple plots for 1 axis (i.e: different critics vs time)

chart = make_chart(
        rosbag_filepath,
        ["/critics_cost/ConstraintCritic.data", "/critics_cost/GoalAngleCritic.data", "/critics_cost/GoalCritic.data", "/critics_cost/ObstaclesCritic.data", "/critics_cost/CostCritic.data", "/critics_cost/PathAlignCritic.data", "/critics_cost/PathAngleCritic.data", "/critics_cost/PathFollowCritic.data", "/critics_cost/PreferForwardCritic.data", "/critics_cost/TwirlingCritic.data", "/critics_cost/VelocityDeadbandCritic.data"],
        "time",
        x_axis_name="time",
        y_axis_name="critics",
        field_unit=None,
        chart_name="Critics vs Time",
    )

• (HTML plot) Multiple plots for 2 axes (i.e: different trajectories on x-y coordinates):

chart = make_chart(
        rosbag_filepath,
        ["/odom.pose.pose.position.x", "/gt_odom.pose.pose.position.x"],
        ["/odom.pose.pose.position.y", "/gt_odom.pose.pose.position.y"],
        field_unit='m',
        chart_name="gt vs odom positions",
    )

Note: Currently charts can only be created from rosbags

Takes a file and creates a chart on the provided two topics. "time" can also be used as topic_x or topic_y if desired. An html chart will be created and saved to the output_dir.

Plotting time when using rosbags

• Please note that not all ROS topics contain header timestamps. If no header is present, make_chart will use the rosbag’s own timestamps, which may cause timing inaccuracies if the rosbag was recorded or played back at non-real-time speeds.

Notes:

The Artefacts Toolkit also contains a bag_recorder helper to assist you if you require help in setting up a rosbag recording for your tests.

from artefacts_toolkit_rosbag.rosbag import get_bag_recorder

• When using in a virtual environment, you may need to add your site packages to PYTHONPATH

export PYTHONPATH=$PYTHONPATH:/<your_workspace>/venv/lib/python3.10/site-packages