px4-log-tool 0.6.5

The All-in-One tool to work with PX4 log files.

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title: px4-log-tool description: The All-in-One tool to work with PX4 log files.

Installation

Regular Installation

 pip install px4-log-tool

Developer Mode

git clone https://www.github.com/tiiuae/px4-log-tool.git
cd px4-log-tool
pip install -e .

Shell Tab-Completions

Currently only Bash, Zsh and Fish shells are supported. After installing the CLI tool:

_PX4_LOG_TOOL_COMPLETE=bash_source px4-log-tool > ~/.px4_log_tool_completion.bash

_PX4_LOG_TOOL_COMPLETE=zsh_source px4-log-tool > ~/.px4_log_tool_completion.zsh

_PX4_LOG_TOOL_COMPLETE=fish_source px4-log-tool > ~/.px4_log_tool_completion.fish

Then source the generated completion shell file into you .bashrc, .zshrc or config.fish. Example:

echo "source ~/.px4_log_tool_completion.bash" >> ~/.bashrc && source ~/.bashrc

Usage

The CLI tool should have a rich help feature.

px4-log-tool --help
px4-log-tool subcommands --help

Every subcommand is documented and can be queried with the --help flag.

By default, the logging is set to only flag "ERROR" that cause the program to fail.

px4-log-tool --verbose subcommands #shows ERROR

To see general INFO and WARN messages, adjust the environment variable PRINT_LEVEL to 2 or 1.

PRINT_LEVEL=1 px4-log-tool --verbose subcommands #shows WARN, ERROR
PRINT_LEVEL=2 px4-log-tool --verbose subcommands #shows INFO, WARN, ERROR

Data Conversion and Pre-Processing

filter.yaml

This file is necessary for most operations with the CLI tool. This is populated with pertinent information

You can generate a default filter.yaml file in your current working directory by running:

px4-log-tool generate-filter-template

.ulog -> .csv

Contains two lists for whitelist_messages and blacklist headers.

Add uorb/ros2 topics of interest into the whitelist_messages list.

Add headers that are redundant or not required in the blacklist_headers list.

resample_params contains parameters for resampling the data after it is merged. More on this is explained in Resampling Functionality. Provide the target sampling frequency in Hertz at target_frequency_hz.

For the other parameters, refer to the following documentation links of the pandas library:

• pandas.DataFrame.resample
• pandas.DataFrame.agg
• pandas.DataFrame.interpolate

.csv -> .db3

Under bag_params contains two parameters topic_prefix and captitalise_topics.

• topic_prefix: Namespace/prefix for the px4_msgs ROS 2 topics. Defaults to /fmu/out
• topic_max_frequency_hz: The maximum frequency of topics of ROS 2 bags when converting from .ulog. Defaults to 100Hz.
• capitalise_topics: Depending on the PX4-Autopilot version, the topic names are either CamelCase (capitalise_topics: True) or snake_case (capitalise_topics: False). Defaults to False.

Metadata Generation (Only for .ulog files)

The field metadata_fields should be populated with the list of metadata properties to be extracted from the .ulog files.

These fields can be expanded upon through Feature Requests on "Issues". As of now, the possible metadata properties are:

• "max_altitude"
• "min_altitude"
• "average_altitude"
• "max_speed"
• "min_speed"
• "average_speed"
• "yaw_lock"

Example

whitelist_messages:
  - sensor_combined
  - vehicle_attitude
  - ... (other message names. If this list is empty it will convert all messages)
blacklist_headers:
  - timestamp
  - ... (other field names)
resample_params:
  target_frequency_hz: 10
  num_method: "mean"
  cat_method: "ffill"
  interpolate_numerical: True
  interpolate_method: "linear"
metadata_fields:
  - "max_altitude"
  - "min_altitude"
  - "average_altitude"
  - "max_speed"
  - "min_speed"
  - "average_speed"
  - "yaw_lock"
bag_params:
  topic_prefix: "/fmu/out"
  topic_max_frequency_hz: 100
  capitalise_topics: False

Convert .ulog to .csv: ulog2csv

Convert a provided directory containing .ulog files into .csv. The directory can be ordered in any way, and can contain subdirectories as well.

px4-log-tool ulog2csv DIRECTORY_ADDRESS -f FILTER [-o OUTPUT_DIRECTORY -m -r -c]

Documentation for usage of this command can be obtained through the -h or --help flag:

px4-log-tool ulog2csv --help

Generate metadata.json for .ulog files: generate-metadata

Generate metadata.json for .ulog files in DIRECTORY_ADDRESS with metadata fields in FILTER. This operation is in place, so the .json files will be added into the provided directory.

px4-log-tool generate-metadata DIRECTORY_ADDRESS -f FILTER

Convert .csv to .db3: csv2db3

[!IMPORTANT] Need to have ROS 2 framework and the px4_msgs ROS 2 packages installed and sourced.

Convert a provided directory containing folders of .csv files into ROS 2 bag files in the .db3 format. It is important the the final directory containing .csv files are formatted correctly. Best is to use the ulog2csv first and target the output.

Operation can be in-place or the bag files can be generated into a specified directory.

px4-log-tool csv2db3 DIRECTORY_ADDRESS -f FILTER [-o OUTPUT_DIRECTORY]

Documentation for usage of this command can be obtained through the -h or --help flag:

px4-log-tool csv2db3 --help

Convert .ulog to .db3: ulog2db3

[!IMPORTANT] Need to have ROS 2 framework and the px4_msgs ROS 2 packages installed and sourced.

Convert a provided directory containing folders of .ulog files into ROS 2 bag files in the .db3 format. This will also perform topic adjustment. For instance, it will reduce the rate of the topics from the .ulog file to 100Hz before converting to .db3 ROS 2 bags. This can be changed by modifying the topic_max_frequency_hz, parameter in the filter.yaml file provided when running the CLI tool.

This operation will create a mirror output folder of .csv files with the corresponding .db3 bag files inside them.

px4-log-tool ulog2db3 DIRECTORY_ADDRESS -f FILTER [-o OUTPUT_DIRECTORY]

Documentation for usage of this command can be obtained through the -h or --help flag:

px4-log-tool ulog2db3 --help