Improve ros bag recording (#4)

- `record_rosbag.sh` - `max-cache-size` is significantly increased to avoid loosing data while writing - rosbags are splitted every 10 GiB - use `mcap_cfg.yaml` for configuring storage - Data is not compressed to avoid overheads when writing (`compression: "None"`) - More topics are added for recording, this includes dataspeed DBW report topics - `dev.sh` allows `-p` arg to specity a docker volume where rosbags are going to be saved locally - The script will try to use an in-vehicle only directory and will exit if not found - Set Cyclone DDS as ROS RMW and configure it for high msg throughput - Foxglove bridge now runs with `num_threads:=0`
ipab-rad · May 21, 2024 · 1f8ab7f · 1f8ab7f
1 parent ccccfbe
commit 1f8ab7f
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Showing 8 changed files with 141 additions and 55 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -17,13 +17,25 @@ RUN apt-get update \
         ros-"$ROS_DISTRO"-flir-camera-msgs \
         ros-"$ROS_DISTRO"-microstrain-inertial-msgs \
         ros-"$ROS_DISTRO"-novatel-gps-msgs \
+        ros-"$ROS_DISTRO"-nmea-msgs \
         ros-"$ROS_DISTRO"-radar-msgs \
     && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS workspace folder
 ENV ROS_WS /opt/ros_ws
 WORKDIR $ROS_WS
 
+# Set cyclone DDS ROS RMW
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+COPY ./cyclone_dds.xml $ROS_WS/
+
+# Configure Cyclone cfg file
+ENV CYCLONEDDS_URI=file://${ROS_WS}/cyclone_dds.xml
+
+# Enable ROS log colorised output
+ENV RCUTILS_COLORIZED_OUTPUT=1
+
 # Copy tools scripts and config
 COPY scripts/container_tools $ROS_WS/container_tools
 COPY config                  $ROS_WS/config

diff --git a/config/mcap_cfg.yaml b/config/mcap_cfg.yaml
@@ -0,0 +1,11 @@
+noChunkCRC: false
+noAttachmentCRC: false
+enableDataCRC: false
+noSummaryCRC: false
+noChunking: false
+noMessageIndex: false
+noSummary: false
+chunkSize: 786432
+compression: "None"
+compressionLevel: "Default"
+forceCompression: false
diff --git a/config/sensor_topics.txt b/config/sensor_topics.txt
@@ -1,30 +1,4 @@
-/cameras/fsp_l/camera_info
-/cameras/fsp_l/control
-/cameras/fsp_l/image_raw
-/cameras/fsp_l/meta
-/cameras/lspf_r/camera_info
-/cameras/lspf_r/control
-/cameras/lspf_r/image_raw
-/cameras/lspf_r/meta
-/cameras/lspr_l/camera_info
-/cameras/lspr_l/control
-/cameras/lspr_l/image_raw
-/cameras/lspr_l/meta
-/cameras/rsp_l/camera_info
-/cameras/rsp_l/control
-/cameras/rsp_l/image_raw
-/cameras/rsp_l/meta
-/cameras/rspf_l/camera_info
-/cameras/rspf_l/control
-/cameras/rspf_l/image_raw
-/cameras/rspf_l/meta
-/cameras/rspr_r/camera_info
-/cameras/rspr_r/control
-/cameras/rspr_r/image_raw
-/cameras/rspr_r/meta
 /diagnostics
-/ekf/status
-/imu/data
 /joint_states
 /output/radar/bumper_front_centre/far/image
 /output/radar/bumper_front_centre/near/image
@@ -42,26 +16,62 @@
 /output/radar/roof_right_front/near/image
 /output/radar/roof_right_rear/far/image
 /output/radar/roof_right_rear/near/image
-/parameter_events
 /robot_description
-/rosout
-/sensor/gps/rear/bestpos
-/sensor/gps/rear/bestvel
-/sensor/gps/rear/corrimudata
-/sensor/gps/rear/gps_fix
-/sensor/gps/rear/gps_sync
-/sensor/gps/rear/imu
-/sensor/gps/rear/inscov
-/sensor/gps/rear/inspva
-/sensor/gps/rear/inspvax
-/sensor/gps/rear/insstdev
-/sensor/gps/rear/nav_sat_fix
-/sensor/gps/rear/psrdop2
+/sensor/camera/fsp_l/camera_info
+/sensor/camera/fsp_l/image_raw
+/sensor/camera/fsp_l/meta
+/sensor/camera/lspf_r/camera_info
+/sensor/camera/lspf_r/image_raw
+/sensor/camera/lspf_r/meta
+/sensor/camera/lspr_l/camera_info
+/sensor/camera/lspr_l/image_raw
+/sensor/camera/lspr_l/meta
+/sensor/camera/rsp_l/camera_info
+/sensor/camera/rsp_l/image_raw
+/sensor/camera/rsp_l/meta
+/sensor/camera/rspf_l/camera_info
+/sensor/camera/rspf_l/image_raw
+/sensor/camera/rspf_l/meta
+/sensor/camera/rspr_r/camera_info
+/sensor/camera/rspr_r/image_raw
+/sensor/camera/rspr_r/meta
+/sensor/gps/bestpos
+/sensor/gps/bestvel
+/sensor/gps/corrimudata
+/sensor/gps/gps_fix
+/sensor/gps/gps_sync
+/sensor/gps/imu
+/sensor/gps/inscov
+/sensor/gps/inspva
+/sensor/gps/inspvax
+/sensor/gps/insstdev
+/sensor/gps/nav_sat_fix
+/sensor/gps/psrdop2
+/sensor/imu/data
+/sensor/imu/ekf/status
+/sensor/imu/nmea
 /sensor/lidar/left/points
-/sensor/lidar/left/velodyne_packets
 /sensor/lidar/right/points
-/sensor/lidar/right/velodyne_packets
-/sensor/lidar/top/ouster_driver/transition_event
 /sensor/lidar/top/points
 /tf
 /tf_static
+/vehicle/brake_info_report
+/vehicle/brake_report
+/vehicle/dbw_enabled
+/vehicle/driver_assist_report
+/vehicle/fuel_level_report
+/vehicle/gear_report
+/vehicle/gps/fix
+/vehicle/gps/time
+/vehicle/gps/vel
+/vehicle/imu/data_raw
+/vehicle/misc_1_report
+/vehicle/sonar_cloud
+/vehicle/steering_report
+/vehicle/surround_report
+/vehicle/throttle_info_report
+/vehicle/throttle_report
+/vehicle/tire_pressure_report
+/vehicle/twist
+/vehicle/wheel_position_report
+/vehicle/wheel_speed_report
diff --git a/cyclone_dds.xml b/cyclone_dds.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config
+https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="any">
+        <Internal>
+            <SocketReceiveBufferSize min="10MB"/>
+        </Internal>
+    </Domain>
+</CycloneDDS>
diff --git a/dev.sh b/dev.sh
@@ -3,21 +3,59 @@
 # Build docker dev stage and add local code for live development
 # ----------------------------------------------------------------
 
+# Default in-vehicle rosbags directory
+ROSBAGS_DIR=/recorded_datasets/edinburgh
+
+# Function to print usage
+usage() {
+    echo "Usage: dev.sh [-p|--path <absolute path to store rosbags>]"
+    exit 1
+}
+
+# Parse command-line options
+while [[ "$#" -gt 0 ]]; do
+    case $1 in
+            # Option to specify path
+        -p|--path)
+            if [ -n "$2" ]; then
+                ROSBAGS_DIR="$2"
+                shift
+            else
+                echo "Error: Argument for $1 is missing."
+                usage
+            fi
+            ;;
+        -h|--help)
+            usage
+            ;;
+        *)
+            echo "Unknown option: $1"
+            usage
+            ;;
+    esac
+    shift
+done
+
+# Verify ROSBAGS_DIR exists
+if [ ! -d "$ROSBAGS_DIR" ]; then
+    echo "$ROSBAGS_DIR does not exist! Please provide a valid path to store rosbags"
+    exit 1
+fi
+
+
 # Build docker image up to dev stage
 DOCKER_BUILDKIT=1 docker build \
-    -t av_tools_humble:latest \
+    -t av_tools:latest-dev \
     -f Dockerfile --target dev .
 
 # Get the absolute path of the script
 SCRIPT_DIR=$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")
 
-# Create a dir to store rosbags
-mkdir -p rosbags
-
 # Run docker image with local code volumes for development
 docker run -it --rm --net host --privileged \
     -v /dev/shm:/dev/shm \
-    -v $SCRIPT_DIR/rosbags:/opt/ros_ws/rosbags \
+    -v $ROSBAGS_DIR:/opt/ros_ws/rosbags \
     -v $SCRIPT_DIR/scripts/container_tools:/opt/ros_ws/container_tools \
     -v $SCRIPT_DIR/config:/opt/ros_ws/config \
-    av_tools_humble:latest
+    -v /etc/localtime:/etc/localtime:ro \
+    av_tools:latest-dev
diff --git a/runtime.sh b/runtime.sh
@@ -13,7 +13,7 @@ fi
 
 # Build docker image only up to base stage
 DOCKER_BUILDKIT=1 docker build \
-    -t av_tools_humble:latest \
+    -t av_tools:latest \
     -f Dockerfile --target runtime .
 
 # Get the absolute path of the script
@@ -25,5 +25,6 @@ mkdir -p $SCRIPT_DIR/rosbags
 # Run docker image
 docker run -it --rm --net host --privileged \
     -v /dev/shm:/dev/shm  \
-    -v $SCRIPT_DIR/rosbags:/opt/ros_ws/rosbags \
-    av_tools_humble:latest $CMD
+    -v /recorded_datasets/edinburgh:/opt/ros_ws/rosbags \
+    -v /etc/localtime:/etc/localtime:ro \
+    av_tools:latest $CMD
diff --git a/scripts/container_tools/foxglove_bridge.sh b/scripts/container_tools/foxglove_bridge.sh
@@ -1,4 +1,4 @@
 #!/bin/bash
 
 ros2 launch foxglove_bridge foxglove_bridge_launch.xml \
-    address:=172.31.0.1 send_buffer_limit:=1000000000 num_threads:=4
+    address:=172.31.0.1 send_buffer_limit:=1000000000 num_threads:=0
diff --git a/scripts/container_tools/record_rosbag.sh b/scripts/container_tools/record_rosbag.sh
@@ -14,7 +14,10 @@ DATE_PREFIX=$(date "+%Y_%m_%d-%H_%M_%S")
 # Define default behavior if no file is provided
 if [ "$#" -eq 0 ]; then
     echo -e "No topics list file provided. ${CYAN}Recording all topics.${NO_COLOR}"
-    ros2 bag record -s mcap --all -o "$OUTPUT_DIR/${DATE_PREFIX}_sensor_recording"
+    ros2 bag record -s mcap --all --max-cache-size 5000000000 \
+        --storage-config-file "$ROS_WS/config/mcap_cfg.yaml" \
+        -b 10740000000 \
+        -o "$OUTPUT_DIR/${DATE_PREFIX}_sensor_recording"
     exit 0
 elif [ "$#" -ne 1 ]; then
     echo "Usage: $0 [path-to-topics-list-file]"
@@ -39,6 +42,8 @@ if [ ${#TOPICS[@]} -eq 0 ]; then
     exit 1
 else
     echo -e "Recording topcis from ${MAGENTA}$TOPICS_LIST_FILE${NO_COLOR}"
-    ros2 bag record -s mcap --max-cache-size 1048576000 --ignore-leaf-topics \
+    ros2 bag record -s mcap --max-cache-size 5000000000 \
+        --storage-config-file "$ROS_WS/config/mcap_cfg.yaml" \
+        -b 10740000000 \
         -o "$OUTPUT_DIR/${DATE_PREFIX}_sensor_recording" "${TOPICS[@]}"
 fi