Operation - Taking and verifying a log
Operation - Taking and verifying a log#
This section is outdated
Note that this section is outdated. We are working on updating it.
Requires: Operation - Make it Move
Requires: Calibration - Camera
Result: A verified log.
Use note directives for basic highlighting.
This assumes that you have the folder
/data/logs on the Duckiebot.
If not, SSH into your robot and execute:
sudo mkdir /data/logs
It is recommended but not required that you log to your USB and not to your SD card.
Record the log#
Option: Minimal Logging on the Duckiebot#
dts duckiebot demo --demo_name make_log_docker --duckiebot_name ![DUCKIEBOT_NAME] --package_name duckietown_demos
This will only log the imagery, camera_info, the control commands and a few other essential things.
Option: Full Logging on the Duckiebot#
To log everything that is being published, run the base container on the Duckiebot:
dts duckiebot demo --demo_name make_log_full_docker --duckiebot_name ![DUCKIEBOT_NAME] --package_name duckietown_demos
You can stop the recording process by stopping the container:
docker -H ![DUCKIEBOT_NAME].local stop demo_make_log_docker
demo_make_log_full_docker as the case may be. You can also do this through the portainer interface.
Getting the log#
Download through browser (Recommended)#
Using the dashboard file tab, you can access files on your Duckiebot.
/logs and you should see all your logs there. Simply click on the log you want to transfer to your computer and it will download through your browser.
If for some reason you are having trouble accesing dashboard, you can directly specify the webpage at
Using a USB drive#
If you mounted a USB drive, you can unmount it and then remove the USB drive containing the logs (recommended).
Otherwise you can copy the logs from your robot onto your laptop. Assuming they are on the same network execute:
scp ![linux_username]@![hostname].local:/data/logs/* ![path-to-local-folder]
You can also download a specific log instead of all by replacing
* with the filename.
Verify a log#
This procedure requires
rosbag to be installed. If you have not installed that already, you can do so via:
sudo apt-get install python3-rosbag
Either copy the log to your laptop or from within your container do
rosbag info ![FULL_PATH_TO_BAG] --freq
verify that the “duration” of the log seems “reasonable” - it’s about as long as you ran the log command for
verify that the “size” of the log seems “reasonable” - the log size should grow at about 220MB/min
verify in the output that your camera was publishing very close to 30.0Hz and verify that your virtual joysick was publishing at a rate of around 26Hz.
An example of the output looks like this:
path: avlduck2_2020-08-05-01-54-18.bag version: 2.0 duration: 12.7s start: Aug 04 2020 21:54:18.73 (1596592458.73) end: Aug 04 2020 21:54:31.42 (1596592471.42) size: 69.9 MB messages: 756 compression: none [77/77 chunks] types: sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214] sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f] topics: /avlduck2/camera_node/camera_info 374 msgs @ 29.9 Hz : sensor_msgs/CameraInfo /avlduck2/camera_node/image/compressed 382 msgs @ 29.8 Hz : sensor_msgs/CompressedImage