artefacts-toolkit 0.4.1

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Artefacts Toolkit

artefacts_toolkit.chart

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")
  • Creates an html chart based on two provided topics. The user may also denote "Time" as one of the topics to plot one topic against time. Currently only creates charts from a provided Rosbag.

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

• extract_video(rosbag_file_path, topic_name, output_path, frame_rate=20)

  • Creates a video (WebM format) from a provided 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, directory="rosbags", use_sim_time=False):
  • Returns a bag_recorder process, as well as the rosbag_filepath. bag_recorder can then be added to your LaunchDescription. Rosbags by default will be saved to directory rosbags