def main(argv):
"""
Main node
"""
node = cyber.Node("rtk_recorder")
argv = FLAGS(argv)
log_dir = os.path.dirname(
os.path.abspath(__file__)) + "/../../../data/log/"
if not os.path.exists(log_dir):
os.makedirs(log_dir)
Logger.config(log_file=log_dir + "rtk_recorder.log",
use_stdout=True,
log_level=logging.DEBUG)
print("runtime log is in %s%s" % (log_dir, "rtk_recorder.log"))
record_file = log_dir + "/garage.csv"
recorder = RtkRecord(record_file)
atexit.register(recorder.shutdown)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
recorder.chassis_callback)
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
recorder.localization_callback)
while not cyber.is_shutdown():
time.sleep(0.002)
def main():
"""
Main cyber
"""
parser = argparse.ArgumentParser(
description='Generate Planning Trajectory from Data File')
parser.add_argument(
'-s',
'--speedmulti',
help='Speed multiplier in percentage (Default is 100) ',
type=float,
default='100')
parser.add_argument('-c',
'--complete',
help='Generate complete path (t/F)',
default='F')
parser.add_argument('-r',
'--replan',
help='Always replan based on current position(t/F)',
default='F')
args = vars(parser.parse_args())
node = cyber.Node("rtk_player")
Logger.config(log_file=os.path.join(APOLLO_ROOT,
'data/log/rtk_player.log'),
use_stdout=True,
log_level=logging.DEBUG)
record_file = os.path.join(APOLLO_ROOT, 'data/log/garage.csv')
player = RtkPlayer(record_file, node, args['speedmulti'],
args['complete'].lower(), args['replan'].lower())
atexit.register(player.shutdown)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
player.chassis_callback)
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
player.localization_callback)
node.create_reader('/apollo/control/pad', pad_msg_pb2.PadMessage,
player.padmsg_callback)
while not cyber.is_shutdown():
now = cyber_time.Time.now().to_sec()
player.publish_planningmsg()
sleep_time = 0.1 - (cyber_time.Time.now().to_sec() - now)
if sleep_time > 0:
time.sleep(sleep_time)
def main(argv):
"""
Main rosnode
"""
rospy.init_node('lane_recorder', anonymous=True)
parser = argparse.ArgumentParser(
description='Record Localization and Mobileye Lane Detection in CSV Format')
parser.add_argument(
'-d',
'--dir',
help='Output and log directory',
type=str,
default='/tmp/')
parser.add_argument(
'-o',
'--output_file',
help='Output CSV file name',
type=str,
default='lane.csv')
args = vars(parser.parse_args())
log_dir = args['dir']
record_file = log_dir + "/" + args['output_file']
if not os.path.exists(log_dir):
os.makedirs(log_dir)
Logger.config(
log_file=log_dir + "lane_recorder.log",
use_stdout=True,
log_level=logging.DEBUG)
print("runtime log is in %s%s" % (log_dir, "lane_recorder.log"))
recorder = LaneRecord(record_file)
atexit.register(recorder.shutdown)
rospy.Subscriber('/apollo/sensor/mobileye', mobileye_pb2.Mobileye,
recorder.mobileye_callback)
rospy.Subscriber('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
recorder.localization_callback)
rospy.spin()