The LarsLL DeepRacer logging ROS package creates the bag_log_node, which is an optional node for DeepRacer. It is used to monitor a specific topic and to write to a bag for later investigation.
It is intended to be built as a custom DeepRacer application stack. For more information about the application and the components, see the aws-deepracer-launcher repository.
Unless disable_usb_monitor is set to True the package will also request the usb_monitor_pkg of the aws-deepracer-usb-monitor-pkg to monitor USB for any device with a logs folder in the root. In the case one is found the logs will be written to this device.
The source code is released under Apache 2.0.
The recommended way to install this node as part of the DeepRacer application is to follow the instructions in deepracer-scripts.
The logging_pkg_launch.py, included in this package, provides an example demonstrating how to launch the bag_log_node.
| Parameter name | Description |
|---|---|
logging_mode |
Variable to control behaviour. Values are Never which disables all logging, USBOnly which only will write logs if a USB stick is inserted, or Always if logs will be written both internally and to USB. Default Always. |
monitor_topic |
Name of the topic that will be monitoried. Default /inference_pkg/rl_results |
monitor_topic_timeout |
Integer defining the timeout (in seconds) before a bag is closed if no message is published. Can be increased to 10-15 seconds to avoid splitting of bags when inference is stopped due to a car crash. Default is 1. |
log_topics |
Array of the topics that will be additionally logged. Default [ '/ctrl_pkg/servo_msg' ]. |
file_name_topic |
A topic where the name of the current model is published on load. This will be used to embed the model name in the bag name. Default /inference_pkg/model_name. |
output_path |
Path (folder) to which the bag-files are written. Default /opt/aws/deepracer/logs. |
disable_usb_monitor |
Boolean to turn off the communication with the usb_monitor_pkg. Default False. |
| Topic name | Message type | Description |
|---|---|---|
| Configurable | Any | As part of the launch-file you will define which topic the node will subscribe to. |
/usb_monitor_pkg/usb_file_system_notification |
USBFileSystemNotificationMsg | Notifications about new USB folder. |
Value of file_name_topic |
String | Simple string with the name of the Model. |
| Service name | Service type | Description |
|---|---|---|
/usb_monitor_pkg/usb_file_system_subscribe |
USBFileSystemSubscribeSrv | Call to register a subscription for a specific folder. In our case logs. |
/usb_monitor_pkg/usb_mount_point_manager |
USBMountPointManagerSrv | Defined service, currently unused. |