data_logger

From package 'data_logger'

File

./src/data_logger.cpp

Summary

Project Phoenix training data collection node. This pairs images with various car statuses and writes these to a CSV for use as labels during NN training, then writes those images to disk as compressed jpegs.

Topics

Publishes

• /run_folder: Path to the folder we are currently writing images to. That is data_path/something. Qos: This uses reliable transport and transient local durability

Subscribes

• /odom_ack: AckermannDrive messages representing the current state of the kart. See design docs for info on format.
• /camera/mid/rgb: Camera data, to be synced with training data

Params

• data_path: Directory to write data into. Note that log data will be in data_path/"%Y-%m-%d-%H-%M-%S"/ not in this folder directly. Default: ./training_data
• max_throttle_speed: Velocity at which we consider the throttle fully pressed.
• max_braking_speed: Negative velocity at which we consider the brake fully pressed.
• max_steering_rad: Max steering wheel angle, in radians. Assumed to be symmetrical.

Misc

see the design for more info