artefacts-toolkit 0.2.0

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Artefacts Toolkit

artefacts_toolkit.config

from artefacts_toolkit.config import get_artefacts_param

• get_artefacts_param(param_type, param_name, is_ros=True)
  • Returns a parameter set in the artefacts.yaml file. If param_type is set to launch, it will be returned as type string so that it can be used as a ros launch argument.

artefacts_toolkit.gazebo

from artefacts_toolkit.gazebo import bridge, gz

Note: Gazebo helpers are designed to work with Gazebo versions Garden and above

bridge

• bridge.get_camera_bridge(topic_name, condition=None)
  • Creates a gazebo /ros2 topic bridge for a given camera topic topic_name. Returns camera_bridge (Node)

gz

• gz.get_sim_objects(world_file: str)

  • Searches through a given world file, and returns the name (and pose if available) of all models in the simulation.
  • Returns a list of dicts in the format {"name": "<model_name>", "pose": "0 0 0 0 0 0"}as well as a dict in the format "<model_name>": "0 0 0 0 0 0"

• gz.get_model_location(model_name):

  • Returns the x, y, z location of a currently running gazebo simulation

• gz.kill_gazebo():

  • Kills the currently running gazebo process.

artefacts_toolkit.rosbag

from artefacts_toolkit.rosbag import image_topics, message_topics, rosbag

image_topics

• extract_camera_image(rosbag_file_path, camera_topic, output_dir="output")
  • Returns the last recorded image from a given camera topic

message_topics

• get_final_message(rosbag_filepath, topic)
  • Returns the last recorded message from a given topic

rosbag_topics

• get_bag_recorder(topic_names, use_sim_time=False):
  • Returns a bag_recorder process, as well as the rosbag_filepath. bag_recorder can then be added to your LaunchDescription