def odom_to_speed(odom):
header = Header()
header.stamp = rospy.Time.from_sec(time.time())
dimensions = [
MetricDimension(name='robot_id', value='Turtlebot3'),
MetricDimension(name='category', value='RobotOperations'),
]
linear_speed = MetricData(
header=header,
metric_name='linear_speed',
unit=MetricData.UNIT_NONE,
value=odom.twist.twist.linear.x,
time_stamp=rospy.Time.from_sec(time.time()),
dimensions=dimensions,
)
angular_speed = MetricData(
header=header,
metric_name='angular_speed',
unit=MetricData.UNIT_NONE,
value=odom.twist.twist.angular.z,
time_stamp=rospy.Time.from_sec(time.time()),
dimensions=dimensions,
)
return MetricList([linear_speed, angular_speed])
def odom_to_speed(self, odom):
header = Header()
timestamp = self.get_clock().now().to_msg()
header.stamp = timestamp
dimensions = [
MetricDimension(name="robot_id", value="Turtlebot3"),
MetricDimension(name="category", value="RobotOperations")
]
linear_speed = MetricData(header=header,
metric_name="linear_speed",
unit=MetricData.UNIT_NONE,
value=odom.twist.twist.linear.x,
time_stamp=timestamp,
dimensions=dimensions)
angular_speed = MetricData(header=header,
metric_name="angular_speed",
unit=MetricData.UNIT_NONE,
value=odom.twist.twist.angular.z,
time_stamp=timestamp,
dimensions=dimensions)
return MetricList(metrics=[linear_speed, angular_speed])
def report_metric(self, msg):
if not msg.poses:
rospy.logdebug('Path empty, not calculating distance')
return
distance = self.calc_path_distance(msg)
rospy.logdebug('Distance to goal: %s', distance)
header = Header()
header.stamp = rospy.Time.from_sec(time.time())
dimensions = [
MetricDimension(name='robot_id', value='Turtlebot3'),
MetricDimension(name='category', value='RobotOperations'),
]
metric = MetricData(
header=header,
metric_name='distance_to_goal',
unit=MetricData.UNIT_NONE,
value=distance,
time_stamp=rospy.Time.from_sec(time.time()),
dimensions=dimensions,
)
self.metrics_pub.publish(MetricList([metric]))
def report_metric(self, msg):
filtered_scan = self.filter_scan(msg)
if not filtered_scan:
rospy.loginfo(
'No obstacles with scan range (%s,%s)', msg.range_min, msg.range_max
)
return
min_distance = min(filtered_scan)
rospy.loginfo('Nearest obstacle: %s', min_distance)
header = Header()
header.stamp = rospy.Time.from_sec(time.time())
dimensions = [
MetricDimension(name='robot_id', value='Turtlebot3'),
MetricDimension(name='category', value='RobotOperations'),
]
metric = MetricData(
header=header,
metric_name='nearest_obstacle_distance',
unit=MetricData.UNIT_NONE,
value=min_distance,
time_stamp=rospy.Time.from_sec(time.time()),
dimensions=dimensions,
)
self.metrics_pub.publish(MetricList([metric]))
def report_metric(self, msg):
if not msg.poses:
self.get_logger().debug('Path empty, not calculating distance')
return
distance = self.calc_path_distance(msg)
self.get_logger().debug(f"Distance to goal: {distance}")
timestamp = self.get_clock().now().to_msg()
header = Header()
header.stamp = timestamp
dimensions = [
MetricDimension(name="robot_id", value="Turtlebot3"),
MetricDimension(name="category", value="RobotOperations")
]
metric = MetricData(header=header,
metric_name="distance_to_goal",
unit=MetricData.UNIT_NONE,
value=distance,
time_stamp=timestamp,
dimensions=dimensions)
self.metrics_pub.publish(MetricList(metrics=[metric]))
def report_metric(self, msg):
filtered_scan = self.filter_scan(msg)
if not filtered_scan:
self.get_logger().info(
f"No obstacles with scan range ({msg.range_min}, {msg.range_max})"
)
return
min_distance = min(filtered_scan)
self.get_logger().info(f"Nearest obstacle: {min_distance}")
timestamp = self.get_clock().now().to_msg()
header = Header()
header.stamp = timestamp
dimensions = [
MetricDimension(name="robot_id", value="Turtlebot3"),
MetricDimension(name="category", value="RobotOperations")
]
metric = MetricData(header=header,
metric_name="nearest_obstacle_distance",
unit=MetricData.UNIT_NONE,
value=min_distance,
time_stamp=timestamp,
dimensions=dimensions)
self.metrics_pub.publish(MetricList(metrics=[metric]))