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Testing

We are currently using ROS2 version JAZZY JALISCO!

Directory of .mcap and .db3 file names

Anywhere you see [folder_name] in the instructions below when talking about robot recordings, replace it with:

  • CV:
    • For bins: ros2_mcap_test (zip file found here)

Setting Up .mcap or .db3 files (do this once)

  1. Download the .zip file to somewhere on your computer
  2. Extract the folder somewhere
  3. Copy the entire folder (not just the contents of the folder)
  4. Paste the entire folder into the robosub-ros2/bag_files directory
  5. Ensure you did this correctly by opening a terminal and cd into the robosub-ros2 directory, then cd into the folder you just pasted: 
    cd bag_files/[folder_name]
  6. To double check that the file is formatted properly, cd back into the bag_files directory, then run the info command on the folder: 
    cd ../
ros2 bag info [folder_name]
    • You can check the output is reasonable. An example of an output for a file with one node is given below: 
      Files:             ros2_mcap_test.db3
Bag size:          454.8 MiB
Storage id:        sqlite3
ROS Distro:        rosbags
Duration:          145.600319879s
Start:             Jun 14 2024 00:15:05.760446243 (1718324105.760446243)
End:               Jun 14 2024 00:17:31.360766122 (1718324251.360766122)
Messages:          4369
Topic information: Topic: /camera/usb_camera/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 4369 | Serialization Format: cdr
Service:           0
Service information:

Running Nodes

  1. Open another terminal
  2. Run the following command: 
    ros2 run [package abbreviation] [launch name]
    • e.g., ros2 run cv depthai_spatial_detection.
  3. Repeat steps 1-2 for every node you would like to run.

Running .mcap or .db3 files

If you are using a previously-recorded data file from the robot, run the following command in a new terminal:

ros2 bag play bag_files/[folder_name] -l

Running Foxglove

Follow this process for when you want to test and view topics in Foxglove:

  1. In a new terminal, run: 
    fg-ws
  2. Open Foxglove Studio
  3. Click on the Foxglove logo (in the top left-hand corner, the purple hexagonal shape)
  4. Click on Open Connection.
  5. Ensure Foxglove Websocket is selected, and in the WebSocket URL field put 
    ws://localhost:28765
  6. Click Open

Viewing Stuff on Foxglove

First, click on LAYOUT (it is in small grey text, with a layout name in larger white text below, on the top right hand side).

If you have a layout file that you would like to use (ask whoever is managing your migration about if this is the case), click on Import from file... and select the layout.

Otherwise, you can create a new layout. Search for an appropriate panel type (again, ask whoever is managing your migration), and click on it. That should automatically add a panel of the specified type, and you can add more panels by clicking on the Add panel icon (it is in the top left corner, immediately to the left of the Foxglove icon, where you originally connected to ws://localhost:28765; it looks like a white rectangle with a + icon in the bottom right of the rectangle).

To remove a panel, click the three vertical dots in the top right hand corner and then Remove panel. To change the topic the panel is subscribed to, click on the settings/gear icon in the top right hand corner (immediately to the left of the three vertical dots), and under the Panel tab in the General section, you should see a dropdown titled Topic. Click on the dropdown and select the desired panel.

You can also easily re-arrange / re-size panels just as you might with a window on your OS.