4.6. Analyzing Rosbags¶

The Rosbag Analyzer is an utility to analyze an rosbag. It can for example (and at the moment only that) analyze the time delay of modules of AS ROS.

4.6.1. analyzer¶

analyzer [OPTIONS] INPUT_ROSBAG

Options

-t, --time-delay¶: Analyze Time delays of can messages and node output

-a, --actuator-delay¶: Analyze Time delays of steering actuator

-i, --imu-tilt¶: Analyze tilt of IMU in reference to z-axis

-p, --parameter-dump¶: Save dumped parameters to YAML file

-c, --calibration-matrices¶: Save dumped calibration matrices as npy file

-g, --gggv-dump¶: Save gggv data to npz file

-v, --vehicle-name <vehicle_name>¶: Name of the vehicle

-s, --start <start>¶: relative start time of the new bag

-d, --duration <duration>¶: maximal duration of the new bag

-e, --end <end>¶: relative end time of the new bag

Arguments

INPUT_ROSBAG¶: Required argument

4.6.2. Prerequisites¶

You have to place rosbags which should be analyzed inside the as_ros/rosbags directory.

4.6.3. Usage¶

Execute the analyzer utility (within the docker container, see Start a console session inside the docker container), see explanation below and options below:
```
analyzer [INPUT_ROSBAG]
```
1. You may want to specify to analyze the time delays of the various ROS modules of AS ROS (-t).
2. You may want to specify a start time, duration and end time for the output rosbag (-s, -d and -e).
3. You may want to specify to calculate the IMU rotation matrix (-i).
4. You may want to specify to calculate the actuator delay (-a).