Extend imagine #1506
Extend imagine #1506
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crates/hulk_imagine/src/main.rs
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| _stiffnesses: Joints<f32>, | ||
| _leds: Leds, | ||
| ) -> Result<()> { | ||
| Ok(()) |
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maybe add a quick comment, on why this is intentionally left empty
crates/hulk_imagine/src/main.rs
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| } | ||
| } | ||
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| impl CameraInterface for ExtractorHardwareInterface { |
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Can you explain why these traits are needed for replaying the data? I'd expect that the nodes, that depend on these traits, are actually not executed, are they?
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same applies to all the traits below
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they are executed, for example motor_command_sender which produces AdditionalOutputs which are saved in imagine but also calls write_to_actuators
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Okay, this might be the only one I'd expected to be needed, but all the others are only used by setup nodes, are they?
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| #[macro_export] | |||
| macro_rules! write_to_mcap { | |||
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Maybe I'm missing something, but why is this a macro and not a function?
Vivituhh
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Why? What?
Extends the imagine tool to not only save images but also all node outputs in an mcap file. It contains all main and additional outputs and for each output of those a single message is produced, making it easier and faster to use as one can read each of those individually.
This is needed for future work regarding the sensor data prediction and maybe other things.
Fixes #
ToDo / Known Issues
If this is a WIP describe which problems are to be fixed.
Ideas for Next Iterations (Not This PR)
One could add more metadata/attachments to also include git logs.
How to Test
Take a replay, use imagine as before and it should produce an
outputs.mcapfile, which can be viewed with https://github.com/foxglove/mcap/releases/tag/releases/mcap-cli/v0.0.49 in the command line.