├── .clang-format ├── .clang-tidy ├── .codespell.txt ├── .dockerignore ├── .github ├── CODEOWNERS ├── CONTRIBUTING.md ├── FUNDING.yml ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── config.yml ├── PULL_REQUEST_TEMPLATE.md ├── ccache.conf └── workflows │ ├── ci.yaml │ ├── doc.yaml │ ├── docker.yaml │ └── format.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE.md ├── README.md ├── codecov.yaml ├── dc_bringup ├── CMakeLists.txt ├── launch │ └── dc_bringup.launch.py ├── package.xml └── params │ └── dc_params.yaml ├── dc_cli ├── dc_cli │ ├── __init__.py │ └── list_plugins.py ├── package.xml ├── resource │ └── dc_cli ├── setup.cfg └── setup.py ├── dc_common ├── CMakeLists.txt ├── cmake │ └── dc_package.cmake ├── dc_common-extras.cmake └── package.xml ├── dc_core ├── CMakeLists.txt ├── include │ └── dc_core │ │ ├── condition.hpp │ │ ├── destination.hpp │ │ └── measurement.hpp └── package.xml ├── dc_demos ├── CMakeLists.txt ├── dc_demos │ ├── __init__.py │ ├── qrcodes_waypoint_follower.py │ └── streamlit_dashboard │ │ ├── .streamlit │ │ └── config.toml │ │ ├── Streamlit_ROS_2.py │ │ ├── __init__.py │ │ ├── backend │ │ ├── __init__.py │ │ ├── minio.py │ │ └── pgsql.py │ │ ├── config.py │ │ ├── lib │ │ ├── __init__.py │ │ ├── common.py │ │ ├── pgsql.py │ │ └── section.py │ │ ├── models │ │ ├── __init__.py │ │ └── robot_data.py │ │ ├── pages │ │ ├── 1_System.py │ │ ├── 2_Robot.py │ │ ├── 3_Environment.py │ │ ├── 4_Infrastructure.py │ │ ├── 5_Congrats.py │ │ └── __init__.py │ │ └── static │ │ ├── css │ │ ├── lineicons.css │ │ └── logo.css │ │ ├── fonts │ │ ├── lineicons.eot │ │ ├── lineicons.svg │ │ ├── lineicons.ttf │ │ ├── lineicons.woff │ │ └── lineicons.woff2 │ │ ├── html │ │ ├── congrats.html │ │ ├── sidebar.html │ │ └── welcome.html │ │ └── images │ │ └── dc.png ├── include │ └── dc_demos │ │ └── plugins │ │ └── measurements │ │ └── uptime_custom.hpp ├── launch │ ├── group_memory_uptime_stdout.launch.py │ ├── tb3_qrcodes.launch.py │ ├── tb3_qrcodes_minio_pgsql.launch.py │ ├── tb3_simulation_influxdb.launch.py │ ├── tb3_simulation_pgsql_minio.launch.py │ ├── tb3_simulation_stdout.launch.py │ ├── uptime_custom_stdout.launch.py │ └── uptime_stdout.launch.py ├── measurement_plugin.xml ├── package.xml ├── params │ ├── group_memory_uptime_stdout.yaml │ ├── qrcodes_minio_pgsql.yaml │ ├── qrcodes_nav.yaml │ ├── qrcodes_stdout.yaml │ ├── tb3_simulation_influxdb.yaml │ ├── tb3_simulation_pgsql_minio.yaml │ ├── tb3_simulation_stdout.yaml │ ├── uptime_custom_stdout.yaml │ └── uptime_stdout.yaml ├── plugins │ └── measurements │ │ ├── json │ │ └── uptime_custom.json │ │ └── uptime_custom.cpp ├── resource │ └── dc_demos └── setup.cfg ├── dc_description ├── CMakeLists.txt ├── package.xml └── urdf │ ├── realsense_d455.urdf.xacro │ └── turtlebot3_waffle_qrcodes.xacro ├── dc_destinations ├── CMakeLists.txt ├── destination_plugin.xml ├── include │ └── dc_destinations │ │ ├── destination.hpp │ │ ├── destination_server.hpp │ │ ├── flb_destination.hpp │ │ └── plugins │ │ ├── flb_file.hpp │ │ ├── flb_files_metrics.hpp │ │ ├── flb_http.hpp │ │ ├── flb_influxdb.hpp │ │ ├── flb_kinesis_streams.hpp │ │ ├── flb_minio.hpp │ │ ├── flb_null.hpp │ │ ├── flb_pgsql.hpp │ │ ├── flb_s3.hpp │ │ ├── flb_slack.hpp │ │ ├── flb_stdout.hpp │ │ ├── flb_tcp.hpp │ │ └── rcl.hpp ├── package.xml ├── plugins │ ├── flb_file.cpp │ ├── flb_files_metrics.cpp │ ├── flb_http.cpp │ ├── flb_influxdb.cpp │ ├── flb_kinesis_streams.cpp │ ├── flb_minio.cpp │ ├── flb_null.cpp │ ├── flb_pgsql.cpp │ ├── flb_s3.cpp │ ├── flb_slack.cpp │ ├── flb_stdout.cpp │ ├── flb_tcp.cpp │ └── rcl.cpp └── src │ ├── destination_server.cpp │ └── main.cpp ├── dc_group ├── dc_group │ ├── __init__.py │ ├── flatten.py │ └── group_server.py ├── package.xml ├── resource │ └── dc_group ├── setup.cfg └── setup.py ├── dc_interfaces ├── CMakeLists.txt ├── msg │ ├── Barcode.msg │ ├── Condition.msg │ └── StringStamped.msg ├── package.xml └── srv │ ├── DetectBarcode.srv │ ├── DrawImage.srv │ └── SaveImage.srv ├── dc_lifecycle_manager ├── CMakeLists.txt ├── include │ └── dc_lifecycle_manager │ │ ├── lifecycle_manager.hpp │ │ └── lifecycle_manager_client.hpp ├── package.xml └── src │ ├── lifecycle_manager.cpp │ ├── lifecycle_manager_client.cpp │ └── main.cpp ├── dc_measurements ├── CMakeLists.txt ├── condition_plugin.xml ├── include │ └── dc_measurements │ │ ├── condition.hpp │ │ ├── measurement.hpp │ │ ├── measurement_server.hpp │ │ ├── plugins │ │ ├── conditions │ │ │ ├── bool_equal.hpp │ │ │ ├── double_equal.hpp │ │ │ ├── double_inferior.hpp │ │ │ ├── double_superior.hpp │ │ │ ├── exist.hpp │ │ │ ├── integer_equal.hpp │ │ │ ├── integer_inferior.hpp │ │ │ ├── integer_superior.hpp │ │ │ ├── list_bool_equal.hpp │ │ │ ├── list_double_equal.hpp │ │ │ ├── list_integer_equal.hpp │ │ │ ├── list_string_equal.hpp │ │ │ ├── moving.hpp │ │ │ ├── same_as_previous.hpp │ │ │ └── string_match.hpp │ │ └── measurements │ │ │ ├── camera.hpp │ │ │ ├── cmd_vel.hpp │ │ │ ├── cpu.hpp │ │ │ ├── distance_traveled.hpp │ │ │ ├── dummy.hpp │ │ │ ├── ip_camera.hpp │ │ │ ├── map.hpp │ │ │ ├── memory.hpp │ │ │ ├── network.hpp │ │ │ ├── os.hpp │ │ │ ├── permissions.hpp │ │ │ ├── position.hpp │ │ │ ├── speed.hpp │ │ │ ├── storage.hpp │ │ │ ├── string_stamped.hpp │ │ │ ├── tcp_health.hpp │ │ │ └── uptime.hpp │ │ └── system │ │ ├── linux_parser.hpp │ │ ├── process.hpp │ │ ├── processor.hpp │ │ └── system.hpp ├── measurement_plugin.xml ├── package.xml ├── plugins │ ├── conditions │ │ ├── bool_equal.cpp │ │ ├── double_equal.cpp │ │ ├── double_inferior.cpp │ │ ├── double_superior.cpp │ │ ├── exist.cpp │ │ ├── integer_equal.cpp │ │ ├── integer_inferior.cpp │ │ ├── integer_superior.cpp │ │ ├── list_bool_equal.cpp │ │ ├── list_double_equal.cpp │ │ ├── list_integer_equal.cpp │ │ ├── list_string_equal.cpp │ │ ├── moving.cpp │ │ ├── same_as_previous.cpp │ │ └── string_match.cpp │ └── measurements │ │ ├── camera.cpp │ │ ├── cmd_vel.cpp │ │ ├── cpu.cpp │ │ ├── distance_traveled.cpp │ │ ├── dummy.cpp │ │ ├── ip_camera.cpp │ │ ├── json │ │ ├── camera.json │ │ ├── cmd_vel.json │ │ ├── cpu.json │ │ ├── distance_traveled.json │ │ ├── dummy.json │ │ ├── ip_camera.json │ │ ├── map.json │ │ ├── memory.json │ │ ├── network.json │ │ ├── os.json │ │ ├── permissions.json │ │ ├── position.json │ │ ├── speed.json │ │ ├── storage.json │ │ ├── tcp_health.json │ │ └── uptime.json │ │ ├── map.cpp │ │ ├── memory.cpp │ │ ├── network.cpp │ │ ├── os.cpp │ │ ├── permissions.cpp │ │ ├── position.cpp │ │ ├── speed.cpp │ │ ├── storage.cpp │ │ ├── string_stamped.cpp │ │ ├── system │ │ ├── linux_parser.cpp │ │ ├── process.cpp │ │ ├── processor.cpp │ │ └── system.cpp │ │ ├── tcp_health.cpp │ │ └── uptime.cpp ├── src │ ├── main.cpp │ └── measurement_server.cpp └── test │ ├── test_measurement_dummy.cpp │ ├── test_measurement_os.cpp │ ├── test_measurement_parameters.cpp │ └── test_measurement_uptime.cpp ├── dc_services ├── dc_services │ ├── __init__.py │ ├── barcode_detection.py │ ├── draw_image.py │ └── save_image.py ├── launch │ ├── dc_detection_barcodes.launch.py │ ├── dc_draw_image.launch.py │ └── dc_save_image.launch.py ├── package.xml ├── resource │ └── dc_services ├── setup.cfg └── setup.py ├── dc_simulation ├── CMakeLists.txt ├── dc_simulation │ └── __init__.py ├── env-hooks │ └── dc_simulation.dsv.in ├── launch │ └── warehouse.launch.py ├── maps │ ├── qrcodes.pgm │ └── qrcodes.yaml ├── models │ ├── Chair │ │ ├── meshes │ │ │ ├── Chair.mtl │ │ │ ├── Chair.png │ │ │ ├── Chair_Diffuse.png │ │ │ ├── Chair_Normal.png │ │ │ └── Chair_SpecGloss.png │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ ├── MonitorAndKeyboard │ │ ├── meshes │ │ │ ├── keyboard.mtl │ │ │ └── monitor.mtl │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ ├── __init__.py │ ├── bag │ │ ├── bag_1000kg.stl │ │ ├── model.config │ │ └── model.sdf │ ├── cutout_wall │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── cutout_wall.material │ │ │ └── textures │ │ │ │ └── cutout_wall.png │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ ├── europallet │ │ ├── europallet.dae │ │ ├── model.config │ │ └── model.sdf │ ├── europallet_10 │ │ ├── europallet_10.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0001 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0001.png │ │ ├── meshes │ │ │ └── qrcode_0001.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0002 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0002.png │ │ ├── meshes │ │ │ └── qrcode_0002.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0003 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0003.png │ │ ├── meshes │ │ │ └── qrcode_0003.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0004 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0004.png │ │ ├── meshes │ │ │ └── qrcode_0004.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0005 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0005.png │ │ ├── meshes │ │ │ └── qrcode_0005.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0006 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0006.png │ │ ├── meshes │ │ │ └── qrcode_0006.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0007 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0007.png │ │ ├── meshes │ │ │ └── qrcode_0007.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0008 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0008.png │ │ ├── meshes │ │ │ └── qrcode_0008.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0009 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0009.png │ │ ├── meshes │ │ │ └── qrcode_0009.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0010 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── qrcode_0010.png │ │ ├── meshes │ │ │ └── qrcode_0010.dae │ │ ├── model.config │ │ └── model.sdf │ ├── qrcode_0011 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── output-no-img-no-txt.png │ │ │ │ ├── output-no-img.png │ │ │ │ ├── output.png │ │ │ │ ├── qrcode_0011.png │ │ │ │ └── test.png │ │ ├── meshes │ │ │ └── qrcode_0011.dae │ │ ├── model.config │ │ └── model.sdf │ └── warehouse │ │ ├── meshes │ │ ├── Asphalt010_1K_Color.jpg │ │ ├── Rough_Square_Concrete_Block.jpg │ │ ├── Tape001_1K_Color.png │ │ ├── Terrazzo005_1K_Color.jpg │ │ ├── ground.png │ │ ├── warehouse.dae │ │ └── warehouse_colision.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ ├── 1.png │ │ ├── 2.png │ │ ├── 3.png │ │ └── 4.png ├── package.xml ├── resource │ └── dc_simulation ├── rviz │ └── qrcodes.rviz ├── setup.cfg ├── tools │ ├── gen_qr_code_model.py │ └── templates │ │ └── model_qr │ │ ├── dae.jinja2 │ │ ├── model.config.jinja2 │ │ ├── model.sdf.jinja2 │ │ └── ros_logo_large.png └── worlds │ ├── qrcodes.world │ └── waffle.model ├── dc_util ├── CMakeLists.txt ├── include │ └── dc_util │ │ ├── base64.hpp │ │ ├── filesystem_utils.hpp │ │ ├── image_utils.hpp │ │ ├── json_utils.hpp │ │ ├── node_utils.hpp │ │ ├── service_utils.hpp │ │ └── string_utils.hpp ├── package.xml └── src │ └── base64.cpp ├── doc ├── book.toml ├── css │ ├── lineicon.css │ ├── logo.css │ ├── mdbook-admonish.css │ └── theme.css ├── js │ ├── mermaid-init.js │ ├── mermaid.js │ ├── mermaid.min.js │ └── theme.js ├── open-in.css ├── src │ ├── SUMMARY.md │ ├── dc │ │ ├── about_contact.md │ │ ├── cli.md │ │ ├── concepts.md │ │ ├── concepts │ │ │ ├── destination_server.md │ │ │ └── measurement_server.md │ │ ├── conditions.md │ │ ├── conditions │ │ │ ├── bool_equal.md │ │ │ ├── double_equal.md │ │ │ ├── double_inferior.md │ │ │ ├── double_superior.md │ │ │ ├── exist.md │ │ │ ├── integer_equal.md │ │ │ ├── integer_inferior.md │ │ │ ├── integer_superior.md │ │ │ ├── list_bool_equal.md │ │ │ ├── list_double_equal.md │ │ │ ├── list_integer_equal.md │ │ │ ├── list_string_equal.md │ │ │ ├── moving.md │ │ │ ├── same_as_previous.md │ │ │ └── string_match.md │ │ ├── configuration_examples.md │ │ ├── contributing.md │ │ ├── data_pipeline.md │ │ ├── data_validation.md │ │ ├── demos.md │ │ ├── demos │ │ │ ├── custom_stdout.md │ │ │ ├── memory_uptime_stdout.md │ │ │ ├── qrcodes_minio_pgsql.md │ │ │ ├── tb3_aws_influxdb.md │ │ │ ├── tb3_aws_minio_pgsql.md │ │ │ ├── tb3_stdout.md │ │ │ └── uptime_stdout.md │ │ ├── destinations.md │ │ ├── destinations │ │ │ ├── flb_file.md │ │ │ ├── flb_files_metrics.md │ │ │ ├── flb_http.md │ │ │ ├── flb_influxdb.md │ │ │ ├── flb_kinesis_data_streams.md │ │ │ ├── flb_minio.md │ │ │ ├── flb_null.md │ │ │ ├── flb_pgsql.md │ │ │ ├── flb_s3.md │ │ │ ├── flb_slack.md │ │ │ ├── flb_stdout.md │ │ │ ├── flb_tcp.md │ │ │ └── rcl.md │ │ ├── faq.md │ │ ├── future_work.md │ │ ├── groups.md │ │ ├── infrastructure_setup.md │ │ ├── infrastructure_setup │ │ │ ├── adminer.md │ │ │ ├── grafana.md │ │ │ ├── influxdb.md │ │ │ ├── ip_camera.md │ │ │ ├── minio.md │ │ │ └── postgresql.md │ │ ├── introduction.md │ │ ├── measurements.md │ │ ├── measurements │ │ │ ├── camera.md │ │ │ ├── cmd_vel.md │ │ │ ├── cpu.md │ │ │ ├── distance_traveled.md │ │ │ ├── dummy.md │ │ │ ├── ip_camera.md │ │ │ ├── map.md │ │ │ ├── memory.md │ │ │ ├── network.md │ │ │ ├── os.md │ │ │ ├── permissions.md │ │ │ ├── position.md │ │ │ ├── speed.md │ │ │ ├── storage.md │ │ │ ├── string_stamped.md │ │ │ ├── tcp_health.md │ │ │ └── uptime.md │ │ ├── requirements.md │ │ └── setup.md │ ├── fonts │ │ ├── lineicons.eot │ │ ├── lineicons.svg │ │ ├── lineicons.ttf │ │ ├── lineicons.woff │ │ └── lineicons.woff2 │ └── images │ │ ├── adminer.png │ │ ├── dc.png │ │ ├── demos-tb3_aws_minio_pgsql-access-db-1.gif │ │ ├── demos-tb3_aws_minio_pgsql-gz-1.png │ │ ├── demos-tb3_aws_minio_pgsql-result-minio.gif │ │ ├── demos-tb3_aws_minio_pgsql-result-pgsql.gif │ │ ├── demos-tb3_aws_minio_pgsql-rviz-1.png │ │ ├── demos-tb3_aws_minio_pgsql-rviz-2.png │ │ ├── demos-tb3_aws_minio_pgsql-streamlit.webm │ │ ├── grafana-1.png │ │ ├── hn-monogram.webp │ │ ├── minio-access-keys.png │ │ ├── minio.png │ │ ├── qrcodes_map_minio.png │ │ ├── qrcodes_map_pgsql.png │ │ ├── qrcodes_pgsql_adminer.png │ │ ├── qrcodes_pgsql_adminer_files_metrics.png │ │ └── qrcodes_pgsql_adminer_record.png └── theme │ ├── book.js │ ├── css │ ├── chrome.css │ ├── general.css │ ├── print.css │ └── variables.css │ ├── favicon.png │ ├── favicon.svg │ ├── highlight.css │ ├── highlight.js │ └── index.hbs ├── docker-compose.yaml ├── docker ├── ci-testing │ └── Dockerfile ├── ci │ └── Dockerfile ├── doc │ └── Dockerfile ├── source-sim │ └── Dockerfile └── source │ └── Dockerfile ├── fluent_bit_plugins ├── CMakeLists.txt ├── include │ └── fluent_bit_plugins │ │ └── in_ros2.h ├── package.xml └── src │ ├── c │ └── in_ros2.c │ └── go │ ├── out_files_metrics │ ├── CMakeLists.txt │ ├── db_pgsql.go │ ├── go.mod │ ├── go.sum │ ├── misc.go │ ├── out_files_metrics.go │ ├── storage_minio.go │ └── storage_s3.go │ └── out_minio │ ├── CMakeLists.txt │ ├── go.mod │ ├── go.sum │ ├── minio.go │ ├── misc.go │ └── out_minio.go ├── fluent_bit_vendor ├── CMakeLists.txt ├── cmake │ └── Modules │ │ └── Findfluent_bit.cmake ├── fluentbit_vendor-extras.cmake ├── mpack.patch └── package.xml ├── poetry.lock ├── pyproject.toml ├── requirements-dev.txt ├── requirements.txt ├── requirements ├── api.sdoc ├── condition_plugins.sdoc ├── destination_plugins.sdoc ├── destination_server.sdoc ├── general.sdoc ├── measurement_plugins.sdoc ├── measurement_server.sdoc └── tooling.sdoc ├── setup.cfg └── tools ├── ci └── pre-commit │ └── build_doc.sh ├── code_coverage_report.bash └── infrastructure ├── docker ├── config │ ├── grafana │ │ ├── configuration │ │ │ └── conf.ini │ │ ├── dashboards │ │ │ ├── environment.json │ │ │ ├── home.json │ │ │ ├── infrastructure.json │ │ │ ├── robot.json │ │ │ └── system.json │ │ ├── img │ │ │ └── dc.png │ │ └── provisioning │ │ │ ├── grafana-dashboards.yml │ │ │ └── grafana-datasource.yml │ └── minio │ │ └── nginx.conf ├── docker-compose.adminer.yaml ├── docker-compose.grafana.yaml ├── docker-compose.influxdb.yaml ├── docker-compose.minio.yaml └── docker-compose.postgresql.yaml └── scripts ├── install_infrastructure.bash └── minio ├── minio.conf └── minio.service /.codespell.txt: -------------------------------------------------------------------------------- 1 | PostgreSQL 2 | -------------------------------------------------------------------------------- /.dockerignore: -------------------------------------------------------------------------------- 1 | # ignore everything 2 | * 3 | # but include these: 4 | !ros2_data_collection*.repos 5 | !.clang* 6 | !.codecov.yaml 7 | !requirements.txt 8 | !requirements-dev.txt 9 | !humble.yaml 10 | !setup.cfg 11 | !**/package.xml 12 | !**/COLCON_IGNORE 13 | 14 | # https://github.com/moby/moby/issues/42788 15 | !dc_bringup/package.xml 16 | !dc_simulation/package.xml 17 | !dc_demos/package.xml 18 | !dc_measurements/package.xml 19 | !dc_services/package.xml 20 | !dc_cli/package.xml 21 | !dc_destinations/package.xml 22 | !fluent_bit_plugins/package.xml 23 | !dc_common/package.xml 24 | !dc_interfaces/package.xml 25 | !dc_util/package.xml 26 | !dc_description/package.xml 27 | !dc_core/package.xml 28 | !dc_group/package.xml 29 | !fluent_bit_vendor/package.xml 30 | -------------------------------------------------------------------------------- /.github/CODEOWNERS: -------------------------------------------------------------------------------- 1 | * @minipada 2 | -------------------------------------------------------------------------------- /.github/CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # Contributing 2 | 3 | Please read the [Contributing](https://minipada.github.io/ros2_data_collection/dc/contributing.html) guidelines in the documentation site. 4 | -------------------------------------------------------------------------------- /.github/FUNDING.yml: -------------------------------------------------------------------------------- 1 | github: [minipada] 2 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: Create a report to help us improve 4 | title: '' 5 | labels: bug 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Describe the bug** 11 | A clear and concise description of what the bug is. 12 | 13 | **To Reproduce** 14 | Steps to reproduce the behavior and DC configuration. If possible, provide a minimal amount of code that causes the bug. 15 | 1. 16 | 2. 17 | 3. 18 | 19 | **Expected behavior** 20 | A clear and concise description of what you expected to happen. 21 | 22 | **Actual behavior** 23 | Tell us what actually happened. 24 | 25 | **Screenshots, gifs** 26 | If applicable, add screenshots to help explain your problem. 27 | 28 | **Infrastructure description** 29 | If using AWS, MinIO, PGSQL, share your setup here. 30 | 31 | **Debugging Materials** 32 | * **RMW (Which DDS?)**: 33 |
34 | Log 35 | ...this is hidden, collapsible content... 36 |
37 | 38 | **Environment** 39 | - System information (`uname -a`): 40 | - ROS distro (`echo $ROS_DISTRO`): 41 | - OS Release (`cat /etc/os-release`): 42 | 43 | **Additional context** 44 | Add any other context about the problem here. 45 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/config.yml: -------------------------------------------------------------------------------- 1 | blank_issues_enabled: false 2 | contact_links: 3 | - name: Q&A 4 | url: https://github.com/Minipada/ros2_data_collection/discussions/categories/q-a 5 | about: Ask and answer questions 6 | - name: Feature Requests 7 | url: https://github.com/Minipada/ros2_data_collection/discussions/categories/ideas-and-feature-requests 8 | about: Request a feature, the development team will respond asap. 9 | - name: Share your work 10 | url: https://github.com/Minipada/ros2_data_collection/discussions/categories/show-and-tell 11 | about: Show off what you're doing with DC! 12 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | # Initial discussions 2 | 3 | 4 | - [ ] Github issue: 5 | 6 | # Types of changes 7 | 8 | What types of changes does your code introduce? 9 | _Put an `x` in the boxes that apply_ 10 | 11 | - [ ] Bugfix (non-breaking change which fixes an issue) 12 | - [ ] New feature (non-breaking change which adds functionality) 13 | - [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected) 14 | - [ ] Test (add, remove, modify test(s)) 15 | - [ ] Other 16 | 17 | 18 | # What I did 19 | 26 | 27 | # How I did it 28 | 29 | # I am not sure about 30 | 31 | # How I tested 32 | 33 | # I'm not a dummy, so I've checked these 34 | 35 | - [ ] 📑 I documented correctly following our [guidelines](./CONTRIBUTING.md) 36 | - [ ] 💯 I tested locally and it is working 37 | - [ ] 🟢 My code does not fail neither code linting checks nor unit test. 38 | 39 | Thank you! 40 | -------------------------------------------------------------------------------- /.github/ccache.conf: -------------------------------------------------------------------------------- 1 | max_size = 10.0G 2 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | doc/src/dc/introduction.md -------------------------------------------------------------------------------- /codecov.yaml: -------------------------------------------------------------------------------- 1 | coverage: 2 | precision: 2 3 | round: up 4 | range: "45...70" 5 | status: 6 | project: 7 | default: 8 | target: auto 9 | threshold: 5% 10 | patch: off 11 | -------------------------------------------------------------------------------- /dc_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(dc_bringup) 3 | 4 | set(dependencies 5 | dc_common 6 | dc_measurements 7 | nav2_lifecycle_manager 8 | ) 9 | find_package(ament_cmake REQUIRED) 10 | foreach(Dependency IN ITEMS ${dependencies}) 11 | find_package(${Dependency} REQUIRED) 12 | endforeach() 13 | 14 | dc_package() 15 | 16 | install( 17 | DIRECTORY launch params 18 | DESTINATION share/${PROJECT_NAME}) 19 | 20 | ament_package() 21 | -------------------------------------------------------------------------------- /dc_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_bringup 5 | 0.1.0 6 | Bringup scripts and configurations for the DC stack 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake 11 | dc_common 12 | 13 | launch_ros 14 | dc_destinations 15 | dc_group 16 | dc_measurements 17 | dc_services 18 | nav2_lifecycle_manager 19 | 20 | 21 | ament_cmake 22 | 23 | 24 | -------------------------------------------------------------------------------- /dc_bringup/params/dc_params.yaml: -------------------------------------------------------------------------------- 1 | measurement_server: 2 | ros__parameters: 3 | measurement_plugins: ["uptime"] 4 | uptime: 5 | plugin: "dc_measurements/Uptime" 6 | group_key: "uptime" 7 | topic_output: "/dc/measurement/uptime" 8 | -------------------------------------------------------------------------------- /dc_cli/dc_cli/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_cli/dc_cli/__init__.py -------------------------------------------------------------------------------- /dc_cli/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_cli 5 | 0.1.0 6 | DC CLI tools 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_index_python 11 | dc_destinations 12 | dc_measurements 13 | 14 | 15 | ament_python 16 | 17 | 18 | -------------------------------------------------------------------------------- /dc_cli/resource/dc_cli: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_cli/resource/dc_cli -------------------------------------------------------------------------------- /dc_cli/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/dc_cli 3 | [install] 4 | install_scripts=$base/lib/dc_cli 5 | -------------------------------------------------------------------------------- /dc_cli/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup 2 | 3 | package_name = "dc_cli" 4 | 5 | setup( 6 | name=package_name, 7 | version="0.1.0", 8 | packages=[package_name], 9 | data_files=[ 10 | ("share/ament_index/resource_index/packages", ["resource/" + package_name]), 11 | ("share/" + package_name, ["package.xml"]), 12 | ], 13 | install_requires=["setuptools"], 14 | zip_safe=True, 15 | maintainer="root", 16 | maintainer_email="root@todo.todo", 17 | description="TODO: Package description", 18 | license="TODO: License declaration", 19 | tests_require=["pytest"], 20 | entry_points={ 21 | "console_scripts": [ 22 | "list_plugins = dc_cli.list_plugins:app", 23 | ], 24 | }, 25 | ) 26 | -------------------------------------------------------------------------------- /dc_common/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(dc_common) 3 | 4 | find_package(ament_cmake_core REQUIRED) 5 | 6 | ament_package( 7 | CONFIG_EXTRAS "dc_common-extras.cmake" 8 | ) 9 | 10 | install( 11 | DIRECTORY cmake 12 | DESTINATION share/${PROJECT_NAME} 13 | ) 14 | -------------------------------------------------------------------------------- /dc_common/dc_common-extras.cmake: -------------------------------------------------------------------------------- 1 | set(AMENT_BUILD_CONFIGURATION_KEYWORD_SEPARATOR ":") 2 | 3 | include("${dc_common_DIR}/dc_package.cmake") 4 | -------------------------------------------------------------------------------- /dc_common/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_common 5 | 0.1.0 6 | Common support functionality used throughout the DC stack 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake_core 11 | 12 | ament_cmake_python 13 | 14 | ament_cmake_core 15 | 16 | 17 | ament_cmake 18 | 19 | 20 | -------------------------------------------------------------------------------- /dc_core/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(dc_core) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | set(dependencies 9 | dc_common 10 | pluginlib 11 | rclcpp 12 | rclcpp_lifecycle 13 | tf2_ros 14 | ) 15 | 16 | find_package(ament_cmake REQUIRED) 17 | foreach(Dependency IN ITEMS ${dependencies}) 18 | find_package(${Dependency} REQUIRED) 19 | endforeach() 20 | 21 | dc_package() 22 | 23 | install( 24 | DIRECTORY include/ 25 | DESTINATION include/ 26 | ) 27 | 28 | ament_export_include_directories(include) 29 | ament_export_dependencies(${dependencies}) 30 | 31 | ament_package() 32 | -------------------------------------------------------------------------------- /dc_core/include/dc_core/condition.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_CORE_CONDITION_HPP_ 2 | #define DC_CORE_CONDITION_HPP_ 3 | 4 | #include 5 | #include 6 | 7 | #include "dc_interfaces/msg/string_stamped.hpp" 8 | #include "rclcpp/rclcpp.hpp" 9 | #include "rclcpp_lifecycle/lifecycle_node.hpp" 10 | 11 | namespace dc_core 12 | { 13 | class Condition 14 | { 15 | public: 16 | using Ptr = std::shared_ptr; 17 | 18 | /** 19 | * @brief Virtual destructor 20 | */ 21 | virtual ~Condition() 22 | { 23 | } 24 | 25 | /** 26 | * @param parent pointer to user's node 27 | * @param name The name of this condition 28 | * @param tf A pointer to a TF buffer 29 | */ 30 | virtual void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr& parent, const std::string& name) = 0; 31 | 32 | /** 33 | * @brief Method to cleanup resources used on shutdown. 34 | */ 35 | virtual void cleanup() = 0; 36 | 37 | /** 38 | * @brief Method to activate Condition and any threads involved in execution. 39 | */ 40 | virtual void activate() = 0; 41 | 42 | virtual bool getState(dc_interfaces::msg::StringStamped msg) = 0; 43 | 44 | virtual void publishActive() = 0; 45 | 46 | /** 47 | * @brief Method to deactivate Condition and any threads involved in execution. 48 | */ 49 | virtual void deactivate() = 0; 50 | }; 51 | } // namespace dc_core 52 | 53 | #endif // DC_CORE_CONDITION_HPP_ 54 | -------------------------------------------------------------------------------- /dc_core/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_core 5 | 0.1.0 6 | A set of headers for plugins core to the DC stack 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake 11 | 12 | nlohmann-json-dev 13 | pluginlib 14 | rclcpp 15 | rclcpp_lifecycle 16 | tf2_ros 17 | dc_common 18 | 19 | ament_lint_auto 20 | ament_lint_common 21 | 22 | 23 | ament_cmake 24 | 25 | 26 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_demos/dc_demos/__init__.py -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/.streamlit/config.toml: -------------------------------------------------------------------------------- 1 | [server] 2 | enableStaticServing = true 3 | headless = true 4 | 5 | [theme] 6 | primaryColor="#2DACE1" 7 | base="dark" 8 | font="sans serif" 9 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/Streamlit_ROS_2.py: -------------------------------------------------------------------------------- 1 | import pathlib 2 | 3 | import streamlit as st 4 | from pages import Header, Sidebar 5 | 6 | 7 | def set_intro_text(): 8 | current_file_path = pathlib.Path(__file__).parent.resolve() 9 | with open(f"{current_file_path}/static/html/welcome.html") as f: 10 | st.markdown(f.read(), unsafe_allow_html=True) 11 | 12 | 13 | def main(): 14 | st.set_page_config(page_title="ROS 2 Data Collection - Home", layout="wide") 15 | st.title("ROS 2 Data collection") 16 | Header() 17 | Sidebar() 18 | set_intro_text() 19 | 20 | 21 | if __name__ == "__main__": 22 | main() 23 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_demos/dc_demos/streamlit_dashboard/__init__.py -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/backend/__init__.py: -------------------------------------------------------------------------------- 1 | from .minio import minio_client 2 | from .pgsql import PGSQLService 3 | 4 | __all__ = ["minio_client", "PGSQLService"] 5 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/backend/minio.py: -------------------------------------------------------------------------------- 1 | import minio 2 | from config import config 3 | 4 | # Create a Minio client 5 | minio_client = minio.Minio( 6 | config.MINIO_URL, 7 | access_key=config.MINIO_ACCESS_KEY, 8 | secret_key=config.MINIO_SECRET_KEY, 9 | secure=False, 10 | ) 11 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/lib/__init__.py: -------------------------------------------------------------------------------- 1 | from .common import resample 2 | from .pgsql import PGBase, pgsql_session 3 | from .section import Section 4 | 5 | __all__ = ["Header", "PGBase", "pgsql_session", "Section", "resample"] 6 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/lib/common.py: -------------------------------------------------------------------------------- 1 | import os 2 | 3 | 4 | def get_tz() -> str: 5 | """Get local timezone from localtime information.""" 6 | return "/".join(os.path.realpath("/etc/localtime").split("/")[-2:]) 7 | 8 | 9 | def resample(df, default: str = "30S"): 10 | # calculate the length of the data in minutes 11 | if df.empty: 12 | return df 13 | data_length = (df["Date"].max() - df["Date"].min()).total_seconds() / 60 14 | if data_length == 0: 15 | return df 16 | df.set_index("Date", inplace=True) 17 | 18 | # Decide which resampling frequency to use based on the data length 19 | # > 24 hours -> Resample to daily data 20 | if data_length > 24 * 60: 21 | df_resampled = df.resample("D").mean() 22 | # > 2h -> resample to hourly data 23 | elif data_length > 2 * 60: 24 | df_resampled = df.resample("10T").mean() 25 | # Resample to 5 minutes data 26 | else: 27 | df_resampled = df.resample(default).mean() 28 | 29 | return df_resampled 30 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/lib/pgsql.py: -------------------------------------------------------------------------------- 1 | import datetime 2 | import json 3 | 4 | from config import config 5 | from sqlalchemy import create_engine 6 | from sqlalchemy.orm import declarative_base, sessionmaker 7 | 8 | 9 | class DatetimeEncoder(json.JSONEncoder): 10 | def default(self, obj: datetime.datetime): 11 | try: 12 | return super().default(obj) 13 | except TypeError: 14 | return obj.isoformat() 15 | 16 | 17 | engine = create_engine(config.READER_DB_URL_DATA, json_serializer=DatetimeEncoder) 18 | 19 | PGBase = declarative_base() 20 | 21 | SessionLocal = sessionmaker(bind=engine) 22 | 23 | pgsql_session = SessionLocal() 24 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/models/__init__.py: -------------------------------------------------------------------------------- 1 | from .robot_data import RobotData 2 | 3 | __all__ = ["RobotData"] 4 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/models/robot_data.py: -------------------------------------------------------------------------------- 1 | from config import config 2 | from lib import PGBase 3 | from sqlalchemy import Column, DateTime 4 | from sqlalchemy.dialects.postgresql import JSON 5 | 6 | 7 | class RobotData(PGBase): 8 | __tablename__ = config.PGSQL_TABLE 9 | 10 | time = Column(DateTime, nullable=False, primary_key=True) 11 | data = Column(JSON, nullable=False) 12 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/pages/5_Congrats.py: -------------------------------------------------------------------------------- 1 | import pathlib 2 | 3 | import streamlit as st 4 | 5 | 6 | def set_congrats_text(): 7 | current_file_path = pathlib.Path(__file__).parent.resolve() 8 | with open(f"{current_file_path}/../static/html/congrats.html") as f: 9 | st.markdown(f.read(), unsafe_allow_html=True) 10 | 11 | 12 | def main(): 13 | st.set_page_config(page_title="ROS 2 Data Collection - End", layout="wide") 14 | st.title("Thanks!") 15 | set_congrats_text() 16 | 17 | 18 | if __name__ == "__main__": 19 | main() 20 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/static/css/logo.css: -------------------------------------------------------------------------------- 1 | #logo-dc { 2 | display: block; 3 | margin: auto; 4 | height: 150px; 5 | } 6 | 7 | .sidebar-scrollbox { 8 | top: 150px !important; 9 | } 10 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/static/fonts/lineicons.eot: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_demos/dc_demos/streamlit_dashboard/static/fonts/lineicons.eot -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/static/fonts/lineicons.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_demos/dc_demos/streamlit_dashboard/static/fonts/lineicons.ttf -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/static/fonts/lineicons.woff: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_demos/dc_demos/streamlit_dashboard/static/fonts/lineicons.woff -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/static/fonts/lineicons.woff2: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_demos/dc_demos/streamlit_dashboard/static/fonts/lineicons.woff2 -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/static/html/sidebar.html: -------------------------------------------------------------------------------- 1 | 4 |

Documentation: https://minipada.github.io/ros2_data_collection

6 |

Source code: https://github.com/minipada/ros2_data_collection

8 | 10 | 12 |
Under MPL-2.0 13 | license 14 |
15 | -------------------------------------------------------------------------------- /dc_demos/dc_demos/streamlit_dashboard/static/images/dc.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_demos/dc_demos/streamlit_dashboard/static/images/dc.png -------------------------------------------------------------------------------- /dc_demos/include/dc_demos/plugins/measurements/uptime_custom.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_DEMOS__PLUGINS__MEASUREMENTS__UPTIME_CUSTOM_HPP_ 2 | #define DC_DEMOS__PLUGINS__MEASUREMENTS__UPTIME_CUSTOM_HPP_ 3 | 4 | #include 5 | #include 6 | 7 | #include "dc_measurements/measurement.hpp" 8 | #include "dc_measurements/plugins/measurements/uptime.hpp" 9 | 10 | namespace dc_demos 11 | { 12 | using json = nlohmann::json; 13 | 14 | class UptimeCustom : public dc_measurements::Uptime 15 | { 16 | protected: 17 | void onFailedValidation(json data_json) override; 18 | void setValidationSchema() override; 19 | }; 20 | 21 | } // namespace dc_demos 22 | 23 | #endif // DC_DEMOS__PLUGINS__MEASUREMENTS__UPTIME_CUSTOM_HPP_ 24 | -------------------------------------------------------------------------------- /dc_demos/measurement_plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | dc_measurement_uptime_custom 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /dc_demos/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_demos 5 | 0.1.0 6 | DC demo packages 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | dc_measurements 11 | launch 12 | nlohmann-json-dev 13 | nlohmann_json_schema_validator_vendor 14 | pluginlib 15 | 16 | aws_robomaker_small_warehouse_world 17 | geometry_msgs 18 | dc_bringup 19 | dc_simulation 20 | nav2_bringup 21 | nav2_simple_commander 22 | rclpy 23 | xacro 24 | 25 | 26 | ament_cmake 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /dc_demos/params/uptime_custom_stdout.yaml: -------------------------------------------------------------------------------- 1 | destination_server: 2 | ros__parameters: 3 | flb: 4 | flush: 1 5 | flb_grace: 1 6 | log_level: "info" 7 | storage_path: "/var/log/flb-storage/" 8 | storage_sync: "full" 9 | storage_checksum: "off" 10 | storage_backlog_mem_limit: "1M" 11 | scheduler_cap: 200 12 | scheduler_base: 5 13 | http_server: true 14 | http_listen: "0.0.0.0" 15 | http_port: 2020 16 | in_storage_type: "filesystem" 17 | in_storage_pause_on_chunks_overlimit: "off" 18 | destination_plugins: ["flb_stdout"] 19 | flb_stdout: 20 | plugin: "dc_destinations/FlbStdout" 21 | inputs: ["/dc/measurement/uptime_custom"] 22 | time_format: "double" 23 | time_key: "date" 24 | debug: false 25 | 26 | measurement_server: 27 | ros__parameters: 28 | measurement_plugins: ["uptime_custom"] 29 | run_id: 30 | enabled: false 31 | uptime_custom: 32 | plugin: "dc_demos/UptimeCustom" 33 | group_key: "uptime" 34 | topic_output: "/dc/measurement/uptime_custom" 35 | polling_interval: 5000 36 | enable_validator: true 37 | tags: ["flb_stdout"] 38 | init_collect: true 39 | -------------------------------------------------------------------------------- /dc_demos/plugins/measurements/json/uptime_custom.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Uptime Custom", 4 | "description": "Time the system has been up. Intentionally failing to demonstrate customization and callback", 5 | "properties": { 6 | "time": { 7 | "description": "Time the system has been up", 8 | "type": "integer", 9 | "maximum": 0 10 | } 11 | }, 12 | "type": "object" 13 | } 14 | -------------------------------------------------------------------------------- /dc_demos/plugins/measurements/uptime_custom.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_demos/plugins/measurements/uptime_custom.hpp" 2 | 3 | namespace dc_demos 4 | { 5 | 6 | void UptimeCustom::onFailedValidation(json data_json) 7 | { 8 | (void)data_json; 9 | RCLCPP_INFO(logger_, "Callback! Validation failed for uptime custom"); 10 | } 11 | 12 | void UptimeCustom::setValidationSchema() 13 | { 14 | if (enable_validator_) 15 | { 16 | validateSchema("dc_demos", "uptime_custom.json"); 17 | } 18 | } 19 | 20 | } // namespace dc_demos 21 | 22 | #include "pluginlib/class_list_macros.hpp" 23 | PLUGINLIB_EXPORT_CLASS(dc_demos::UptimeCustom, dc_core::Measurement) 24 | -------------------------------------------------------------------------------- /dc_demos/resource/dc_demos: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_demos/resource/dc_demos -------------------------------------------------------------------------------- /dc_demos/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/dc_demos 3 | [install] 4 | install_scripts=$base/lib/dc_demos 5 | -------------------------------------------------------------------------------- /dc_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(dc_description) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | 6 | install( 7 | DIRECTORY urdf 8 | DESTINATION share/${PROJECT_NAME} 9 | ) 10 | 11 | ament_package() 12 | -------------------------------------------------------------------------------- /dc_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_description 5 | 0.1.0 6 | Description files for DC 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | realsense2_description 11 | urdf 12 | xacro 13 | 14 | 15 | 16 | ament_cmake 17 | 18 | 19 | -------------------------------------------------------------------------------- /dc_destinations/include/dc_destinations/plugins/flb_file.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_FILE_HPP_ 2 | #define DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_FILE_HPP_ 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | #include "dc_destinations/destination_server.hpp" 9 | #include "dc_destinations/flb_destination.hpp" 10 | 11 | namespace dc_destinations 12 | { 13 | 14 | class FlbFile : public dc_destinations::FlbDestination 15 | { 16 | public: 17 | FlbFile(); 18 | ~FlbFile() override; 19 | 20 | protected: 21 | /** 22 | * @brief Configuration of behavior action 23 | */ 24 | void initFlbOutputPlugin() override; 25 | void onConfigure() override; 26 | 27 | std::string path_; 28 | std::string file_; 29 | std::string format_; 30 | std::string delimiter_; 31 | std::string label_delimiter_; 32 | std::string template_; 33 | bool mkdir_; 34 | }; 35 | 36 | } // namespace dc_destinations 37 | 38 | #endif // DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_FILE_HPP_ 39 | -------------------------------------------------------------------------------- /dc_destinations/include/dc_destinations/plugins/flb_kinesis_streams.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_KINESIS_STREAMS_HPP_ 2 | #define DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_KINESIS_STREAMS_HPP_ 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | #include "dc_destinations/destination_server.hpp" 9 | #include "dc_destinations/flb_destination.hpp" 10 | 11 | namespace dc_destinations 12 | { 13 | 14 | class FlbKinesisStreams : public dc_destinations::FlbDestination 15 | { 16 | public: 17 | FlbKinesisStreams(); 18 | ~FlbKinesisStreams() override; 19 | 20 | protected: 21 | /** 22 | * @brief Configuration of behavior action 23 | */ 24 | void initFlbOutputPlugin() override; 25 | void onConfigure() override; 26 | 27 | std::string region_; 28 | std::string stream_; 29 | std::string role_arn_; 30 | std::string time_key_; 31 | std::string time_key_format_; 32 | std::string log_key_; 33 | std::string endpoint_; 34 | bool auto_retry_requests_; 35 | }; 36 | 37 | } // namespace dc_destinations 38 | 39 | #endif // DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_KINESIS_STREAMS_HPP_ 40 | -------------------------------------------------------------------------------- /dc_destinations/include/dc_destinations/plugins/flb_null.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_NULL_HPP_ 2 | #define DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_NULL_HPP_ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include "dc_destinations/destination_server.hpp" 10 | #include "dc_destinations/flb_destination.hpp" 11 | #include "dc_interfaces/msg/string_stamped.hpp" 12 | 13 | #pragma GCC diagnostic push 14 | #pragma GCC diagnostic ignored "-Wpedantic" 15 | #pragma GCC diagnostic ignored "-Wunused-parameter" 16 | #pragma GCC diagnostic ignored "-Wparentheses" 17 | #pragma GCC diagnostic ignored "-Wsign-compare" 18 | #include 19 | #pragma GCC diagnostic pop 20 | 21 | namespace dc_destinations 22 | { 23 | 24 | class FlbNull : public dc_destinations::FlbDestination 25 | { 26 | public: 27 | FlbNull(); 28 | ~FlbNull() override; 29 | 30 | protected: 31 | /** 32 | * @brief Configuration of behavior action 33 | */ 34 | void initFlbOutputPlugin() override; 35 | void onConfigure() override; 36 | }; 37 | 38 | } // namespace dc_destinations 39 | 40 | #endif // DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_NULL_HPP_ 41 | -------------------------------------------------------------------------------- /dc_destinations/include/dc_destinations/plugins/flb_slack.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_SLACK_HPP_ 2 | #define DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_SLACK_HPP_ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include "dc_destinations/destination_server.hpp" 10 | #include "dc_destinations/flb_destination.hpp" 11 | #include "dc_interfaces/msg/string_stamped.hpp" 12 | 13 | #pragma GCC diagnostic push 14 | #pragma GCC diagnostic ignored "-Wpedantic" 15 | #pragma GCC diagnostic ignored "-Wunused-parameter" 16 | #pragma GCC diagnostic ignored "-Wparentheses" 17 | #pragma GCC diagnostic ignored "-Wsign-compare" 18 | #include 19 | #pragma GCC diagnostic pop 20 | 21 | namespace dc_destinations 22 | { 23 | 24 | class FlbSlack : public dc_destinations::FlbDestination 25 | { 26 | public: 27 | FlbSlack(); 28 | ~FlbSlack() override; 29 | 30 | protected: 31 | /** 32 | * @brief Configuration of behavior action 33 | */ 34 | void initFlbOutputPlugin() override; 35 | void onConfigure() override; 36 | 37 | std::string webhook_; 38 | }; 39 | 40 | } // namespace dc_destinations 41 | 42 | #endif // DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_SLACK_HPP_ 43 | -------------------------------------------------------------------------------- /dc_destinations/include/dc_destinations/plugins/flb_stdout.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_STDOUT_HPP_ 2 | #define DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_STDOUT_HPP_ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include "dc_destinations/destination_server.hpp" 10 | #include "dc_destinations/flb_destination.hpp" 11 | #include "dc_interfaces/msg/string_stamped.hpp" 12 | 13 | #pragma GCC diagnostic push 14 | #pragma GCC diagnostic ignored "-Wpedantic" 15 | #pragma GCC diagnostic ignored "-Wunused-parameter" 16 | #pragma GCC diagnostic ignored "-Wparentheses" 17 | #pragma GCC diagnostic ignored "-Wsign-compare" 18 | #include 19 | #pragma GCC diagnostic pop 20 | 21 | namespace dc_destinations 22 | { 23 | 24 | class FlbStdout : public dc_destinations::FlbDestination 25 | { 26 | public: 27 | FlbStdout(); 28 | ~FlbStdout() override; 29 | 30 | protected: 31 | /** 32 | * @brief Configuration of behavior action 33 | */ 34 | void initFlbOutputPlugin() override; 35 | void onConfigure() override; 36 | 37 | std::string format_; 38 | std::string json_date_key_; 39 | std::string json_date_format_; 40 | }; 41 | 42 | } // namespace dc_destinations 43 | 44 | #endif // DC_DESTINATIONS__PLUGINS__DESTINATIONS__FLB_STDOUT_HPP_ 45 | -------------------------------------------------------------------------------- /dc_destinations/include/dc_destinations/plugins/rcl.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_DESTINATIONS__PLUGINS__DESTINATIONS__RCL_HPP_ 3 | #define DC_DESTINATIONS__PLUGINS__DESTINATIONS__RCL_HPP_ 4 | 5 | #include 6 | #include 7 | #include 8 | 9 | #include "dc_core/destination.hpp" 10 | #include "dc_destinations/destination.hpp" 11 | #include "dc_destinations/destination_server.hpp" 12 | 13 | namespace dc_destinations 14 | { 15 | 16 | class Rcl : public dc_destinations::Destination 17 | { 18 | public: 19 | Rcl(); 20 | ~Rcl() override; 21 | 22 | protected: 23 | /** 24 | * @brief Configuration of destination 25 | */ 26 | void sendData(dc_interfaces::msg::StringStamped::SharedPtr msg) override; 27 | }; 28 | 29 | } // namespace dc_destinations 30 | 31 | #endif // DC_DESTINATIONS__PLUGINS__DESTINATIONS__RCL_HPP_ 32 | -------------------------------------------------------------------------------- /dc_destinations/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_destinations 5 | 0.1.0 6 | Send all data to destination plugins 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake_ros 11 | 12 | ament_index_cpp 13 | dc_core 14 | dc_interfaces 15 | dc_lifecycle_manager 16 | dc_util 17 | fluent_bit_vendor 18 | nav2_util 19 | nlohmann-json-dev 20 | pluginlib 21 | rclcpp 22 | 23 | fluent_bit_plugins 24 | systemd 25 | 26 | 27 | ament_cmake 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /dc_destinations/plugins/flb_null.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_destinations/plugins/flb_null.hpp" 2 | 3 | namespace dc_destinations 4 | { 5 | 6 | FlbNull::FlbNull() : dc_destinations::FlbDestination() 7 | { 8 | } 9 | 10 | void FlbNull::onConfigure() 11 | { 12 | } 13 | 14 | void FlbNull::initFlbOutputPlugin() 15 | { 16 | out_ffd_ = flb_output(ctx_, "null", NULL); 17 | if (out_ffd_ == -1) 18 | { 19 | flb_destroy(ctx_); 20 | throw std::runtime_error("Cannot initialize Fluent Bit output null plugin"); 21 | } 22 | } 23 | 24 | FlbNull::~FlbNull() = default; 25 | 26 | } // namespace dc_destinations 27 | 28 | #include "pluginlib/class_list_macros.hpp" 29 | PLUGINLIB_EXPORT_CLASS(dc_destinations::FlbNull, dc_core::Destination) 30 | -------------------------------------------------------------------------------- /dc_destinations/plugins/flb_slack.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_destinations/plugins/flb_slack.hpp" 2 | 3 | namespace dc_destinations 4 | { 5 | 6 | FlbSlack::FlbSlack() : dc_destinations::FlbDestination() 7 | { 8 | } 9 | 10 | void FlbSlack::onConfigure() 11 | { 12 | auto node = getNode(); 13 | 14 | nav2_util::declare_parameter_if_not_declared(node, destination_name_ + ".webhook", rclcpp::PARAMETER_STRING); 15 | node->get_parameter(destination_name_ + ".webhook", webhook_); 16 | } 17 | 18 | void FlbSlack::initFlbOutputPlugin() 19 | { 20 | out_ffd_ = flb_output(ctx_, "slack", NULL); 21 | flb_output_set(ctx_, out_ffd_, "webhook", webhook_.c_str(), NULL); 22 | if (out_ffd_ == -1) 23 | { 24 | flb_destroy(ctx_); 25 | throw std::runtime_error("Cannot initialize Fluent Bit output slack plugin"); 26 | } 27 | } 28 | 29 | FlbSlack::~FlbSlack() = default; 30 | 31 | } // namespace dc_destinations 32 | 33 | #include "pluginlib/class_list_macros.hpp" 34 | PLUGINLIB_EXPORT_CLASS(dc_destinations::FlbSlack, dc_core::Destination) 35 | -------------------------------------------------------------------------------- /dc_destinations/plugins/rcl.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_destinations/plugins/rcl.hpp" 2 | 3 | #include 4 | #include 5 | 6 | namespace dc_destinations 7 | { 8 | 9 | Rcl::Rcl() : dc_destinations::Destination() 10 | { 11 | } 12 | 13 | void Rcl::sendData(dc_interfaces::msg::StringStamped::SharedPtr msg) 14 | { 15 | json data = json::parse(msg->data); 16 | data["date"] = 17 | std::stod(std::to_string(msg->header.stamp.sec) + std::string(".") + std::to_string(msg->header.stamp.nanosec)); 18 | data.erase("tags"); 19 | 20 | RCLCPP_INFO(logger_, "%s", data.dump().c_str()); 21 | } 22 | 23 | Rcl::~Rcl() = default; 24 | 25 | } // namespace dc_destinations 26 | 27 | #include "pluginlib/class_list_macros.hpp" 28 | PLUGINLIB_EXPORT_CLASS(dc_destinations::Rcl, dc_core::Destination) 29 | -------------------------------------------------------------------------------- /dc_destinations/src/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #include "dc_destinations/destination_server.hpp" 4 | #include "rclcpp/rclcpp.hpp" 5 | 6 | int main(int argc, char** argv) 7 | { 8 | rclcpp::init(argc, argv); 9 | rclcpp::executors::MultiThreadedExecutor executor; 10 | auto destination_node = std::make_shared(); 11 | 12 | executor.add_node(destination_node->get_node_base_interface()); 13 | executor.spin(); 14 | rclcpp::shutdown(); 15 | 16 | return 0; 17 | } 18 | -------------------------------------------------------------------------------- /dc_group/dc_group/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_group/dc_group/__init__.py -------------------------------------------------------------------------------- /dc_group/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_group 5 | 0.1.0 6 | DC Group node 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake_python 11 | message_filters 12 | dc_interfaces 13 | rclpy 14 | rclpy_message_converter 15 | 16 | 17 | ament_python 18 | 19 | 20 | -------------------------------------------------------------------------------- /dc_group/resource/dc_group: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_group/resource/dc_group -------------------------------------------------------------------------------- /dc_group/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/dc_group 3 | [install] 4 | install_scripts=$base/lib/dc_group 5 | -------------------------------------------------------------------------------- /dc_group/setup.py: -------------------------------------------------------------------------------- 1 | """Setup file.""" 2 | 3 | import os 4 | from glob import glob 5 | 6 | from setuptools import find_packages, setup 7 | 8 | package_name = "dc_group" 9 | 10 | setup( 11 | name=package_name, 12 | version="0.1.0", 13 | packages=find_packages(), 14 | data_files=[ 15 | ( 16 | "share/ament_index/resource_index/packages", 17 | ["resource/" + package_name], 18 | ), 19 | (f"share/{package_name}", ["package.xml"]), 20 | ( 21 | os.path.join("share", package_name, "launch"), 22 | glob("launch/*launch.py"), 23 | ), 24 | (os.path.join("share", package_name, "config"), glob("config/*.yaml")), 25 | ], 26 | install_requires=["setuptools"], 27 | zip_safe=True, 28 | author="David Bensoussan", 29 | author_email="david.bensoussan@brisa.tech", 30 | maintainer="David Bensoussan", 31 | maintainer_email="david.bensoussan@brisa.tech", 32 | keywords=["ROS"], 33 | classifiers=[ 34 | "Intended Audience :: Developers", 35 | "Programming Language :: Python", 36 | "Topic :: Software Development", 37 | ], 38 | description="Collect data and group it", 39 | license="Proprietary", 40 | tests_require=["pytest"], 41 | entry_points={ 42 | "console_scripts": [ 43 | "group_server = dc_group.group_server:main", 44 | ], 45 | }, 46 | ) 47 | -------------------------------------------------------------------------------- /dc_interfaces/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(dc_interfaces) 3 | 4 | 5 | set(dependencies 6 | builtin_interfaces 7 | rosidl_default_generators 8 | sensor_msgs 9 | std_msgs 10 | ) 11 | find_package(ament_cmake REQUIRED) 12 | foreach(Dependency IN ITEMS ${dependencies}) 13 | find_package(${Dependency} REQUIRED) 14 | endforeach() 15 | 16 | 17 | rosidl_generate_interfaces( 18 | ${PROJECT_NAME} 19 | "msg/Barcode.msg" 20 | "msg/Condition.msg" 21 | "srv/DetectBarcode.srv" 22 | "srv/DrawImage.srv" 23 | "srv/SaveImage.srv" 24 | "msg/StringStamped.msg" 25 | DEPENDENCIES "${dependencies}" 26 | ) 27 | 28 | ament_package() 29 | -------------------------------------------------------------------------------- /dc_interfaces/msg/Barcode.msg: -------------------------------------------------------------------------------- 1 | string data 2 | string type 3 | uint16 top 4 | uint16 left 5 | uint16 width 6 | uint16 height 7 | -------------------------------------------------------------------------------- /dc_interfaces/msg/Condition.msg: -------------------------------------------------------------------------------- 1 | bool data 2 | -------------------------------------------------------------------------------- /dc_interfaces/msg/StringStamped.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | 3 | string data 4 | string group_key 5 | -------------------------------------------------------------------------------- /dc_interfaces/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_interfaces 5 | 0.1.0 6 | Package containing data collection interfaces. 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake 11 | 12 | builtin_interfaces 13 | rosidl_default_generators 14 | 15 | rosidl_default_runtime 16 | 17 | sensor_msgs 18 | 19 | rosidl_interface_packages 20 | 21 | 22 | ament_cmake 23 | 24 | 25 | -------------------------------------------------------------------------------- /dc_interfaces/srv/DetectBarcode.srv: -------------------------------------------------------------------------------- 1 | sensor_msgs/Image frame 2 | --- 3 | Barcode[] barcodes 4 | -------------------------------------------------------------------------------- /dc_interfaces/srv/DrawImage.srv: -------------------------------------------------------------------------------- 1 | sensor_msgs/Image frame 2 | string shape 3 | uint16 box_top 4 | uint16 box_left 5 | uint16 box_height 6 | uint16 box_width 7 | uint16 box_thickness 8 | uint16[] color 9 | uint16[] polygon 10 | uint16 font_txt 11 | uint16 font_thickness 12 | float32 font_scale 13 | string text 14 | --- 15 | sensor_msgs/Image frame 16 | bool success 17 | -------------------------------------------------------------------------------- /dc_interfaces/srv/SaveImage.srv: -------------------------------------------------------------------------------- 1 | sensor_msgs/Image frame 2 | string path 3 | --- 4 | bool success 5 | -------------------------------------------------------------------------------- /dc_lifecycle_manager/src/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #include "dc_lifecycle_manager/lifecycle_manager.hpp" 4 | #include "rclcpp/rclcpp.hpp" 5 | 6 | int main(int argc, char** argv) 7 | { 8 | rclcpp::init(argc, argv); 9 | auto node = std::make_shared(); 10 | rclcpp::spin(node); 11 | rclcpp::shutdown(); 12 | 13 | return 0; 14 | } 15 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/bool_equal.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__BOOL_EQUAL_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__BOOL_EQUAL_HPP_ 3 | 4 | #include "dc_core/condition.hpp" 5 | #include "dc_interfaces/msg/string_stamped.hpp" 6 | #include "dc_measurements/condition.hpp" 7 | #include "dc_util/json_utils.hpp" 8 | #include "dc_util/string_utils.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_conditions 12 | { 13 | 14 | class BoolEqual : public dc_conditions::Condition 15 | { 16 | public: 17 | BoolEqual(); 18 | ~BoolEqual() override; 19 | 20 | protected: 21 | std::string key_; 22 | double value_; 23 | bool getState(dc_interfaces::msg::StringStamped msg) override; 24 | void onConfigure() override; 25 | }; 26 | 27 | } // namespace dc_conditions 28 | 29 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__BOOL_EQUAL_HPP_ 30 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/double_equal.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_EQUAL_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_EQUAL_HPP_ 3 | 4 | #include "dc_core/condition.hpp" 5 | #include "dc_interfaces/msg/string_stamped.hpp" 6 | #include "dc_measurements/condition.hpp" 7 | #include "dc_util/json_utils.hpp" 8 | #include "dc_util/string_utils.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_conditions 12 | { 13 | 14 | class DoubleEqual : public dc_conditions::Condition 15 | { 16 | public: 17 | DoubleEqual(); 18 | ~DoubleEqual() override; 19 | 20 | protected: 21 | std::string key_; 22 | double value_; 23 | bool getState(dc_interfaces::msg::StringStamped msg) override; 24 | void onConfigure() override; 25 | }; 26 | 27 | } // namespace dc_conditions 28 | 29 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_EQUAL_HPP_ 30 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/double_inferior.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_INFERIOR_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_INFERIOR_HPP_ 3 | 4 | #include "dc_core/condition.hpp" 5 | #include "dc_interfaces/msg/string_stamped.hpp" 6 | #include "dc_measurements/condition.hpp" 7 | #include "dc_util/json_utils.hpp" 8 | #include "dc_util/string_utils.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_conditions 12 | { 13 | 14 | class DoubleInferior : public dc_conditions::Condition 15 | { 16 | public: 17 | DoubleInferior(); 18 | ~DoubleInferior() override; 19 | 20 | protected: 21 | std::string key_; 22 | double value_; 23 | bool include_value_; 24 | bool getState(dc_interfaces::msg::StringStamped msg) override; 25 | void onConfigure() override; 26 | }; 27 | 28 | } // namespace dc_conditions 29 | 30 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_INFERIOR_HPP_ 31 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/double_superior.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_SUPERIOR_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_SUPERIOR_HPP_ 3 | 4 | #include "dc_core/condition.hpp" 5 | #include "dc_interfaces/msg/string_stamped.hpp" 6 | #include "dc_measurements/condition.hpp" 7 | #include "dc_util/json_utils.hpp" 8 | #include "dc_util/string_utils.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_conditions 12 | { 13 | 14 | class DoubleSuperior : public dc_conditions::Condition 15 | { 16 | public: 17 | DoubleSuperior(); 18 | ~DoubleSuperior() override; 19 | 20 | protected: 21 | std::string key_; 22 | double value_; 23 | bool include_value_; 24 | bool getState(dc_interfaces::msg::StringStamped msg) override; 25 | void onConfigure() override; 26 | }; 27 | 28 | } // namespace dc_conditions 29 | 30 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__DOUBLE_SUPERIOR_HPP_ 31 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/exist.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__EXIST_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__EXIST_HPP_ 3 | 4 | #include 5 | 6 | #include "dc_core/condition.hpp" 7 | #include "dc_interfaces/msg/string_stamped.hpp" 8 | #include "dc_measurements/condition.hpp" 9 | #include "dc_util/json_utils.hpp" 10 | #include "dc_util/string_utils.hpp" 11 | #include "nav2_util/node_utils.hpp" 12 | 13 | namespace dc_conditions 14 | { 15 | 16 | class Exist : public dc_conditions::Condition 17 | { 18 | public: 19 | Exist(); 20 | ~Exist() override; 21 | 22 | protected: 23 | std::string key_; 24 | bool getState(dc_interfaces::msg::StringStamped msg) override; 25 | void onConfigure() override; 26 | }; 27 | 28 | } // namespace dc_conditions 29 | 30 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__EXIST_HPP_ 31 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/integer_equal.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_EQUAL_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_EQUAL_HPP_ 3 | 4 | #include "dc_core/condition.hpp" 5 | #include "dc_interfaces/msg/string_stamped.hpp" 6 | #include "dc_measurements/condition.hpp" 7 | #include "dc_util/json_utils.hpp" 8 | #include "dc_util/string_utils.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_conditions 12 | { 13 | 14 | class IntegerEqual : public dc_conditions::Condition 15 | { 16 | public: 17 | IntegerEqual(); 18 | ~IntegerEqual() override; 19 | 20 | protected: 21 | std::string key_; 22 | int value_; 23 | bool getState(dc_interfaces::msg::StringStamped msg) override; 24 | void onConfigure() override; 25 | }; 26 | 27 | } // namespace dc_conditions 28 | 29 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_EQUAL_HPP_ 30 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/integer_inferior.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_INFERIOR_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_INFERIOR_HPP_ 3 | 4 | #include "dc_core/condition.hpp" 5 | #include "dc_interfaces/msg/string_stamped.hpp" 6 | #include "dc_measurements/condition.hpp" 7 | #include "dc_util/json_utils.hpp" 8 | #include "dc_util/string_utils.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_conditions 12 | { 13 | 14 | class IntegerInferior : public dc_conditions::Condition 15 | { 16 | public: 17 | IntegerInferior(); 18 | ~IntegerInferior() override; 19 | 20 | protected: 21 | std::string key_; 22 | int value_; 23 | bool include_value_; 24 | bool getState(dc_interfaces::msg::StringStamped msg) override; 25 | void onConfigure() override; 26 | }; 27 | 28 | } // namespace dc_conditions 29 | 30 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_INFERIOR_HPP_ 31 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/integer_superior.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_SUPERIOR_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_SUPERIOR_HPP_ 3 | 4 | #include "dc_core/condition.hpp" 5 | #include "dc_interfaces/msg/string_stamped.hpp" 6 | #include "dc_measurements/condition.hpp" 7 | #include "dc_util/json_utils.hpp" 8 | #include "dc_util/string_utils.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_conditions 12 | { 13 | 14 | class IntegerSuperior : public dc_conditions::Condition 15 | { 16 | public: 17 | IntegerSuperior(); 18 | ~IntegerSuperior() override; 19 | 20 | protected: 21 | std::string key_; 22 | int value_; 23 | bool include_value_; 24 | bool getState(dc_interfaces::msg::StringStamped msg) override; 25 | void onConfigure() override; 26 | }; 27 | 28 | } // namespace dc_conditions 29 | 30 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__INTEGER_SUPERIOR_HPP_ 31 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/list_bool_equal.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_BOOL_EQUAL_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_BOOL_EQUAL_HPP_ 3 | 4 | #include 5 | 6 | #include "dc_core/condition.hpp" 7 | #include "dc_interfaces/msg/string_stamped.hpp" 8 | #include "dc_measurements/condition.hpp" 9 | #include "dc_util/json_utils.hpp" 10 | #include "dc_util/string_utils.hpp" 11 | #include "nav2_util/node_utils.hpp" 12 | 13 | namespace dc_conditions 14 | { 15 | 16 | class ListBoolEqual : public dc_conditions::Condition 17 | { 18 | public: 19 | ListBoolEqual(); 20 | ~ListBoolEqual() override; 21 | 22 | protected: 23 | std::string key_; 24 | std::vector value_; 25 | bool order_matters_; 26 | bool getState(dc_interfaces::msg::StringStamped msg) override; 27 | void onConfigure() override; 28 | }; 29 | 30 | } // namespace dc_conditions 31 | 32 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_BOOL_EQUAL_HPP_ 33 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/list_double_equal.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_DOUBLE_EQUAL_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_DOUBLE_EQUAL_HPP_ 3 | 4 | #include 5 | 6 | #include "dc_core/condition.hpp" 7 | #include "dc_interfaces/msg/string_stamped.hpp" 8 | #include "dc_measurements/condition.hpp" 9 | #include "dc_util/json_utils.hpp" 10 | #include "dc_util/string_utils.hpp" 11 | #include "nav2_util/node_utils.hpp" 12 | 13 | namespace dc_conditions 14 | { 15 | 16 | class ListDoubleEqual : public dc_conditions::Condition 17 | { 18 | public: 19 | ListDoubleEqual(); 20 | ~ListDoubleEqual() override; 21 | 22 | protected: 23 | std::string key_; 24 | std::vector value_; 25 | bool order_matters_; 26 | bool getState(dc_interfaces::msg::StringStamped msg) override; 27 | void onConfigure() override; 28 | }; 29 | 30 | } // namespace dc_conditions 31 | 32 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_DOUBLE_EQUAL_HPP_ 33 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/list_integer_equal.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_INTEGER_EQUAL_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_INTEGER_EQUAL_HPP_ 3 | 4 | #include 5 | 6 | #include "dc_core/condition.hpp" 7 | #include "dc_interfaces/msg/string_stamped.hpp" 8 | #include "dc_measurements/condition.hpp" 9 | #include "dc_util/json_utils.hpp" 10 | #include "dc_util/string_utils.hpp" 11 | #include "nav2_util/node_utils.hpp" 12 | 13 | namespace dc_conditions 14 | { 15 | 16 | class ListIntegerEqual : public dc_conditions::Condition 17 | { 18 | public: 19 | ListIntegerEqual(); 20 | ~ListIntegerEqual() override; 21 | 22 | protected: 23 | std::string key_; 24 | std::vector value_; 25 | bool order_matters_; 26 | bool getState(dc_interfaces::msg::StringStamped msg) override; 27 | void onConfigure() override; 28 | }; 29 | 30 | } // namespace dc_conditions 31 | 32 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_INTEGER_EQUAL_HPP_ 33 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/list_string_equal.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_STRING_EQUAL_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_STRING_EQUAL_HPP_ 3 | 4 | #include 5 | 6 | #include "dc_core/condition.hpp" 7 | #include "dc_interfaces/msg/string_stamped.hpp" 8 | #include "dc_measurements/condition.hpp" 9 | #include "dc_util/json_utils.hpp" 10 | #include "dc_util/string_utils.hpp" 11 | #include "nav2_util/node_utils.hpp" 12 | 13 | namespace dc_conditions 14 | { 15 | 16 | class ListStringEqual : public dc_conditions::Condition 17 | { 18 | public: 19 | ListStringEqual(); 20 | ~ListStringEqual() override; 21 | 22 | protected: 23 | std::string key_; 24 | std::vector value_; 25 | bool order_matters_; 26 | bool getState(dc_interfaces::msg::StringStamped msg) override; 27 | void onConfigure() override; 28 | static bool compareFunction(const std::string& a, const std::string& b); 29 | void sortStringVector(std::vector& str_vector); 30 | }; 31 | 32 | } // namespace dc_conditions 33 | 34 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__LIST_STRING_EQUAL_HPP_ 35 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/moving.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__MOVING_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__MOVING_HPP_ 3 | 4 | #include 5 | 6 | #include "dc_core/condition.hpp" 7 | #include "dc_measurements/condition.hpp" 8 | #include "nav2_util/node_utils.hpp" 9 | #include "nav_msgs/msg/odometry.hpp" 10 | 11 | namespace dc_conditions 12 | { 13 | 14 | class Moving : public dc_conditions::Condition 15 | { 16 | public: 17 | Moving(); 18 | ~Moving() override; 19 | 20 | private: 21 | std::string odom_topic_; 22 | void odomCb(const nav_msgs::msg::Odometry& msg); 23 | void onConfigure() override; 24 | rclcpp::Subscription::SharedPtr subscription_; 25 | 26 | float speed_threshold_; 27 | int count_limit_; 28 | int count_hysteresis_; 29 | int moving_count_{ 0 }; 30 | }; 31 | 32 | } // namespace dc_conditions 33 | 34 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__MOVING_HPP_ 35 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/same_as_previous.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__SAME_AS_PREVIOUS_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__SAME_AS_PREVIOUS_HPP_ 3 | 4 | #include 5 | 6 | #include 7 | 8 | #include "dc_core/condition.hpp" 9 | #include "dc_interfaces/msg/string_stamped.hpp" 10 | #include "dc_measurements/condition.hpp" 11 | #include "dc_util/json_utils.hpp" 12 | #include "dc_util/string_utils.hpp" 13 | #include "nav2_util/node_utils.hpp" 14 | 15 | namespace dc_conditions 16 | { 17 | 18 | class SameAsPrevious : public dc_conditions::Condition 19 | { 20 | public: 21 | SameAsPrevious(); 22 | ~SameAsPrevious() override; 23 | 24 | protected: 25 | std::vector exclude_; 26 | std::vector keys_; 27 | std::vector keys_hash_; 28 | std::vector previous_keys_hash_; 29 | std::string topic_; 30 | bool getState(dc_interfaces::msg::StringStamped msg) override; 31 | void onConfigure() override; 32 | json previous_json_; 33 | bool file_hash_same_{ true }; 34 | }; 35 | 36 | } // namespace dc_conditions 37 | 38 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__SAME_AS_PREVIOUS_HPP_ 39 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/conditions/string_match.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__CONDITION__STRING_MATCH_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__CONDITION__STRING_MATCH_HPP_ 3 | 4 | #include 5 | 6 | #include "dc_core/condition.hpp" 7 | #include "dc_interfaces/msg/string_stamped.hpp" 8 | #include "dc_measurements/condition.hpp" 9 | #include "dc_util/json_utils.hpp" 10 | #include "dc_util/string_utils.hpp" 11 | #include "nav2_util/node_utils.hpp" 12 | 13 | namespace dc_conditions 14 | { 15 | 16 | class StringMatch : public dc_conditions::Condition 17 | { 18 | public: 19 | StringMatch(); 20 | ~StringMatch() override; 21 | 22 | protected: 23 | std::string key_; 24 | std::string regex_; 25 | bool getState(dc_interfaces::msg::StringStamped msg) override; 26 | void onConfigure() override; 27 | }; 28 | 29 | } // namespace dc_conditions 30 | 31 | #endif // DC_MEASUREMENTS__PLUGINS__CONDITION__STRING_MATCH_HPP_ 32 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/cmd_vel.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__CMD_VEL_HPP_ 3 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__CMD_VEL_HPP_ 4 | 5 | #include "dc_core/measurement.hpp" 6 | #include "dc_measurements/measurement.hpp" 7 | #include "dc_util/json_utils.hpp" 8 | #include "geometry_msgs/msg/twist.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | #include "rclcpp/rclcpp.hpp" 11 | #include "rclcpp/serialization.hpp" 12 | 13 | namespace dc_measurements 14 | { 15 | 16 | class CmdVel : public dc_measurements::Measurement 17 | { 18 | public: 19 | CmdVel(); 20 | ~CmdVel() override; 21 | dc_interfaces::msg::StringStamped collect() override; 22 | 23 | private: 24 | void cmdVelCb(const geometry_msgs::msg::Twist& msg); 25 | rclcpp::Subscription::SharedPtr subscription_; 26 | dc_interfaces::msg::StringStamped last_data_; 27 | std::string cmd_vel_topic_; 28 | 29 | protected: 30 | /** 31 | * @brief Configuration of behavior action 32 | */ 33 | void onConfigure() override; 34 | void setValidationSchema() override; 35 | }; 36 | 37 | } // namespace dc_measurements 38 | 39 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__CMD_VEL_HPP_ 40 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/cpu.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__CPU_HPP_ 3 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__CPU_HPP_ 4 | 5 | #include "dc_core/measurement.hpp" 6 | #include "dc_measurements/measurement.hpp" 7 | #include "dc_measurements/system/linux_parser.hpp" 8 | #include "dc_measurements/system/system.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_measurements 12 | { 13 | 14 | class Cpu : public dc_measurements::Measurement 15 | { 16 | public: 17 | Cpu(); 18 | ~Cpu() override; 19 | dc_interfaces::msg::StringStamped collect() override; 20 | 21 | private: 22 | System system_; 23 | int max_processes_; 24 | float cpu_min_; 25 | 26 | protected: 27 | /** 28 | * @brief Configuration of behavior action 29 | */ 30 | void onConfigure() override; 31 | void setValidationSchema() override; 32 | void setProcessesUsage(json& data_json); 33 | void setAverageCpu(json& data_json); 34 | void setValidationSchema(json& data_json); 35 | }; 36 | 37 | } // namespace dc_measurements 38 | 39 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__CPU_HPP_ 40 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/distance_traveled.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__DISTANCE_TRAVELED_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__DISTANCE_TRAVELED_HPP_ 3 | 4 | #include "dc_core/measurement.hpp" 5 | #include "dc_measurements/measurement.hpp" 6 | #include "nav2_util/node_utils.hpp" 7 | #include "nav2_util/robot_utils.hpp" 8 | 9 | namespace dc_measurements 10 | { 11 | 12 | class DistanceTraveled : public dc_measurements::Measurement 13 | { 14 | public: 15 | DistanceTraveled(); 16 | ~DistanceTraveled() override; 17 | dc_interfaces::msg::StringStamped collect() override; 18 | 19 | protected: 20 | /** 21 | * @brief Configuration of behavior action 22 | */ 23 | void onConfigure() override; 24 | void setValidationSchema() override; 25 | 26 | std::string global_frame_; 27 | std::string robot_base_frame_; 28 | float transform_timeout_; 29 | long double distance_traveled_ = 0.0; 30 | float last_x_ = 0.0; 31 | float last_y_ = 0.0; 32 | }; 33 | 34 | } // namespace dc_measurements 35 | 36 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__DISTANCE_TRAVELED_HPP_ 37 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/dummy.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__DUMMY_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__DUMMY_HPP_ 3 | 4 | #include "dc_core/measurement.hpp" 5 | #include "dc_measurements/measurement.hpp" 6 | #include "nav2_util/node_utils.hpp" 7 | 8 | namespace dc_measurements 9 | { 10 | 11 | class Dummy : public dc_measurements::Measurement 12 | { 13 | public: 14 | Dummy(); 15 | ~Dummy() override; 16 | dc_interfaces::msg::StringStamped collect() override; 17 | 18 | protected: 19 | /** 20 | * @brief Set validation schema used to confirm data before collecting it 21 | */ 22 | void setValidationSchema() override; 23 | void onConfigure() override; 24 | std::string record_; 25 | }; 26 | 27 | } // namespace dc_measurements 28 | 29 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__DUMMY_HPP_ 30 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/ip_camera.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__IP_CAMERA_HPP_ 3 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__IP_CAMERA_HPP_ 4 | 5 | #include 6 | 7 | extern "C" { 8 | #include 9 | } 10 | 11 | #include "dc_core/measurement.hpp" 12 | #include "dc_measurements/measurement.hpp" 13 | #include "dc_util/string_utils.hpp" 14 | #include "nav2_util/node_utils.hpp" 15 | #include "nav2_util/robot_utils.hpp" 16 | 17 | namespace dc_measurements 18 | { 19 | 20 | class IpCamera : public dc_measurements::Measurement 21 | { 22 | public: 23 | IpCamera(); 24 | ~IpCamera() override; 25 | dc_interfaces::msg::StringStamped collect() override; 26 | std::string getAbsolutePath(const std::string& param_reference); 27 | 28 | private: 29 | std::string input_; 30 | bool video_; 31 | bool audio_; 32 | bool segment_; 33 | int segment_time_; 34 | std::string ffmpeg_log_level_; 35 | bool ffmpeg_banner_; 36 | std::string save_path_; 37 | std::string storage_dir_; 38 | std::thread ffmpeg_thread_; 39 | std::string bitrate_video_; 40 | std::string bitrate_audio_; 41 | 42 | protected: 43 | /** 44 | * @brief Configuration of behavior action 45 | */ 46 | void setValidationSchema() override; 47 | void onConfigure() override; 48 | }; 49 | 50 | } // namespace dc_measurements 51 | 52 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__IP_CAMERA_HPP_ 53 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/memory.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__MEMORY_HPP_ 3 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__MEMORY_HPP_ 4 | 5 | #include "dc_core/measurement.hpp" 6 | #include "dc_measurements/measurement.hpp" 7 | #include "dc_measurements/system/linux_parser.hpp" 8 | #include "dc_measurements/system/system.hpp" 9 | 10 | namespace dc_measurements 11 | { 12 | // using MemoryMsg = dc_interfaces::msg::Memory; 13 | 14 | class Memory : public dc_measurements::Measurement 15 | { 16 | public: 17 | Memory(); 18 | ~Memory() override; 19 | dc_interfaces::msg::StringStamped collect() override; 20 | 21 | protected: 22 | /** 23 | * @brief Configuration of behavior action 24 | */ 25 | void setValidationSchema() override; 26 | }; 27 | 28 | } // namespace dc_measurements 29 | 30 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__CPU_HPP_ 31 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/os.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__OS_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__OS_HPP_ 3 | 4 | #include "dc_core/measurement.hpp" 5 | #include "dc_measurements/measurement.hpp" 6 | #include "dc_measurements/system/linux_parser.hpp" 7 | #include "dc_measurements/system/system.hpp" 8 | 9 | namespace dc_measurements 10 | { 11 | 12 | class OS : public dc_measurements::Measurement 13 | { 14 | public: 15 | OS(); 16 | ~OS() override; 17 | dc_interfaces::msg::StringStamped collect() override; 18 | 19 | protected: 20 | /** 21 | * @brief Configuration of behavior action 22 | */ 23 | void setValidationSchema() override; 24 | unsigned long long getTotalSystemMemory(); 25 | }; 26 | 27 | } // namespace dc_measurements 28 | 29 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__OS_HPP_ 30 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/permissions.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__PERMISSIONS_HPP_ 3 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__PERMISSIONS_HPP_ 4 | 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | 14 | #include 15 | 16 | #include "dc_core/measurement.hpp" 17 | #include "dc_measurements/measurement.hpp" 18 | #include "dc_util/string_utils.hpp" 19 | #include "nav2_util/node_utils.hpp" 20 | 21 | namespace dc_measurements 22 | { 23 | 24 | class Permissions : public dc_measurements::Measurement 25 | { 26 | public: 27 | Permissions(); 28 | ~Permissions() override; 29 | dc_interfaces::msg::StringStamped collect() override; 30 | 31 | private: 32 | struct stat getOwner(const std::string& path); 33 | std::string formatPermissions(const mode_t& perm, const std::string& format); 34 | std::string path_; 35 | std::string full_path_; 36 | std::string permission_format_; 37 | 38 | protected: 39 | /** 40 | * @brief Configuration of behavior action 41 | */ 42 | void onConfigure() override; 43 | void setValidationSchema() override; 44 | }; 45 | 46 | } // namespace dc_measurements 47 | 48 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__PERMISSIONS_HPP_ 49 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/position.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__POSITION_HPP_ 3 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__POSITION_HPP_ 4 | 5 | #include "dc_core/measurement.hpp" 6 | #include "dc_measurements/measurement.hpp" 7 | #include "nav2_util/node_utils.hpp" 8 | #include "nav2_util/robot_utils.hpp" 9 | 10 | namespace dc_measurements 11 | { 12 | 13 | class Position : public dc_measurements::Measurement 14 | { 15 | public: 16 | Position(); 17 | ~Position() override; 18 | dc_interfaces::msg::StringStamped collect() override; 19 | 20 | protected: 21 | /** 22 | * @brief Configuration of behavior action 23 | */ 24 | void onConfigure() override; 25 | void setValidationSchema() override; 26 | 27 | std::string global_frame_; 28 | std::string robot_base_frame_; 29 | float transform_timeout_; 30 | }; 31 | 32 | } // namespace dc_measurements 33 | 34 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__POSITION_HPP_ 35 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/speed.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__SPEED_HPP_ 3 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__SPEED_HPP_ 4 | 5 | #include "dc_core/measurement.hpp" 6 | #include "dc_measurements/measurement.hpp" 7 | #include "nav2_util/node_utils.hpp" 8 | #include "nav_msgs/msg/odometry.hpp" 9 | 10 | namespace dc_measurements 11 | { 12 | 13 | class Speed : public dc_measurements::Measurement 14 | { 15 | public: 16 | Speed(); 17 | ~Speed() override; 18 | dc_interfaces::msg::StringStamped collect() override; 19 | 20 | protected: 21 | /** 22 | * @brief Configuration of behavior action 23 | */ 24 | void onConfigure() override; 25 | void setValidationSchema() override; 26 | void odomCb(const nav_msgs::msg::Odometry& msg); 27 | 28 | std::string odom_topic_; 29 | rclcpp::Subscription::SharedPtr subscription_; 30 | dc_interfaces::msg::StringStamped last_data_; 31 | }; 32 | 33 | } // namespace dc_measurements 34 | 35 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__SPEED_HPP_ 36 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/storage.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__STORAGE_HPP_ 3 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__STORAGE_HPP_ 4 | 5 | #include 6 | 7 | #include "dc_core/measurement.hpp" 8 | #include "dc_measurements/measurement.hpp" 9 | #include "dc_util/string_utils.hpp" 10 | #include "nav2_util/node_utils.hpp" 11 | #include "rclcpp/rclcpp.hpp" 12 | 13 | namespace dc_measurements 14 | { 15 | 16 | class Storage : public dc_measurements::Measurement 17 | { 18 | public: 19 | Storage(); 20 | ~Storage() override; 21 | dc_interfaces::msg::StringStamped collect() override; 22 | 23 | private: 24 | std::string path_; 25 | std::string full_path_; 26 | 27 | protected: 28 | /** 29 | * @brief Configuration of behavior action 30 | */ 31 | void onConfigure() override; 32 | void setValidationSchema() override; 33 | }; 34 | 35 | } // namespace dc_measurements 36 | 37 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__STORAGE_HPP_ 38 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/string_stamped.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__STRING_STAMPED_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__STRING_STAMPED_HPP_ 3 | 4 | #include "dc_core/measurement.hpp" 5 | #include "dc_interfaces/msg/string_stamped.hpp" 6 | #include "dc_measurements/measurement.hpp" 7 | #include "nav2_util/node_utils.hpp" 8 | 9 | namespace dc_measurements 10 | { 11 | 12 | class StringStamped : public dc_measurements::Measurement 13 | { 14 | public: 15 | StringStamped(); 16 | ~StringStamped() override; 17 | dc_interfaces::msg::StringStamped collect() override; 18 | void dataCb(const dc_interfaces::msg::StringStamped& msg); 19 | void onConfigure() override; 20 | 21 | protected: 22 | /** 23 | * @brief Set validation schema used to confirm data before collecting it 24 | */ 25 | void setValidationSchema() override; 26 | dc_interfaces::msg::StringStamped last_data_; 27 | std::string topic_; 28 | rclcpp::Subscription::SharedPtr subscription_; 29 | bool timer_based_; 30 | }; 31 | 32 | } // namespace dc_measurements 33 | 34 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__STRING_STAMPED_HPP_ 35 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/tcp_health.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__TCP_HEALTH_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__TCP_HEALTH_HPP_ 3 | 4 | #include 5 | #include 6 | 7 | #include "dc_core/measurement.hpp" 8 | #include "dc_measurements/measurement.hpp" 9 | #include "nav2_util/node_utils.hpp" 10 | 11 | namespace dc_measurements 12 | { 13 | 14 | class TCPHealth : public dc_measurements::Measurement 15 | { 16 | public: 17 | TCPHealth(); 18 | ~TCPHealth() override; 19 | dc_interfaces::msg::StringStamped collect() override; 20 | bool getPortHealth(unsigned short port); 21 | 22 | protected: 23 | /** 24 | * @brief Configuration of behavior action 25 | */ 26 | void onConfigure() override; 27 | void setValidationSchema() override; 28 | std::string host_; 29 | std::string name_; 30 | unsigned short port_; 31 | }; 32 | 33 | } // namespace dc_measurements 34 | 35 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__TCP_HEALTH_HPP_ 36 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/plugins/measurements/uptime.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__UPTIME_HPP_ 2 | #define DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__UPTIME_HPP_ 3 | 4 | #include "dc_core/measurement.hpp" 5 | #include "dc_measurements/measurement.hpp" 6 | #include "dc_measurements/system/linux_parser.hpp" 7 | #include "dc_measurements/system/system.hpp" 8 | 9 | namespace dc_measurements 10 | { 11 | 12 | class Uptime : public dc_measurements::Measurement 13 | { 14 | public: 15 | Uptime(); 16 | ~Uptime() override; 17 | dc_interfaces::msg::StringStamped collect() override; 18 | 19 | protected: 20 | /** 21 | * @brief Set validation schema used to confirm data before collecting it 22 | */ 23 | void setValidationSchema() override; 24 | System system_; 25 | }; 26 | 27 | } // namespace dc_measurements 28 | 29 | #endif // DC_MEASUREMENTS__PLUGINS__MEASUREMENTS__UPTIME_HPP_ 30 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/system/process.hpp: -------------------------------------------------------------------------------- 1 | #ifndef PROCESS_HPP 2 | #define PROCESS_HPP 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | /********* Process class ******* 9 | * Initializes a queue structure, preparing it for usage. 10 | */ 11 | class Process 12 | { 13 | public: 14 | Process(int pid); 15 | int pid(); 16 | std::string user(); 17 | std::string command(); 18 | float cpuUtilization() const; 19 | std::string cpuPretty(int precision) const; 20 | int ram(); 21 | unsigned int upTime(); 22 | bool operator<(Process const& that) const; 23 | bool operator>(Process const& that) const; 24 | void updateCpuData(); 25 | 26 | private: 27 | int pid_{ 0 }; 28 | std::string user_ = ""; 29 | std::string command_ = ""; 30 | long start_time_{ 0 }; 31 | 32 | void addValue(int jiffy_type, long value); 33 | std::vector> cpu_data_ = {}; 34 | float cpu_util_{ 0 }; 35 | }; 36 | 37 | enum JiffyData 38 | { 39 | K_JIFFIES_SYS = 0, 40 | K_JIFFIES_PROC 41 | }; 42 | 43 | #endif 44 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/system/processor.hpp: -------------------------------------------------------------------------------- 1 | #ifndef PROCESSOR_HPP 2 | #define PROCESSOR_HPP 3 | 4 | #include 5 | #include 6 | 7 | /********* Processor class ******* 8 | * Abstracts the system CPUs, collecting and calculating processor usage. 9 | */ 10 | 11 | struct CpuNData 12 | { 13 | int idle; 14 | int active; 15 | }; 16 | 17 | class Processor 18 | { 19 | public: 20 | std::vector utilization(); 21 | void updateData(); 22 | void updateResult(); 23 | int numCpus(); 24 | 25 | private: 26 | // Each vector represents CPU n, with a nested vector of CPU samples. 27 | std::vector> cpu_data_; 28 | // Each float represents the percentage of active time for CPU n. 29 | std::vector cpu_result_; 30 | 31 | void addCpuSample(int cpu_id, int idle, int active); 32 | }; 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /dc_measurements/include/dc_measurements/system/system.hpp: -------------------------------------------------------------------------------- 1 | #ifndef SYSTEM_HPP 2 | #define SYSTEM_HPP 3 | 4 | #include 5 | #include 6 | 7 | #include "process.hpp" 8 | #include "processor.hpp" 9 | 10 | /********* System class ******* 11 | * Unifier that provides interfacing to the system monitor modules. 12 | */ 13 | class System 14 | { 15 | public: 16 | Processor& cpu(); 17 | std::vector& processes(); 18 | float memoryUtilization(); 19 | long upTime(); 20 | int totalProcesses(); 21 | int runningProcesses(); 22 | std::string kernel(); 23 | std::string operatingSystem(); 24 | 25 | private: 26 | Processor cpu_ = {}; 27 | std::vector processes_ = {}; 28 | 29 | std::vector dumpPids(); 30 | std::vector noPartner(const std::vector partner_a, const std::vector& partner_b); 31 | void addProcs(const std::vector& pid_list); 32 | void pruneProcs(std::vector dead_pids); 33 | void sortProcsByCpu(); 34 | }; 35 | 36 | #endif 37 | -------------------------------------------------------------------------------- /dc_measurements/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_measurements 5 | 0.1.0 6 | Collect data with measurement plugins 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake_ros 11 | 12 | cv_bridge 13 | dc_core 14 | dc_interfaces 15 | dc_lifecycle_manager 16 | dc_util 17 | ffmpeg 18 | geometry_msgs 19 | lifecycle_msgs 20 | nav2_util 21 | nlohmann-json-dev 22 | nlohmann_json_schema_validator_vendor 23 | pkg-config 24 | pluginlib 25 | sensor_msgs 26 | std_msgs 27 | tf2 28 | tf2_ros 29 | yaml_cpp_vendor 30 | 31 | ament_cmake_gtest 32 | 33 | 34 | ament_cmake 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /dc_measurements/plugins/conditions/exist.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_measurements/plugins/conditions/exist.hpp" 2 | 3 | namespace dc_conditions 4 | { 5 | 6 | Exist::Exist() : dc_conditions::Condition() 7 | { 8 | } 9 | 10 | void Exist::onConfigure() 11 | { 12 | auto node = getNode(); 13 | nav2_util::declare_parameter_if_not_declared(node, condition_name_ + ".key", rclcpp::PARAMETER_STRING); 14 | node->get_parameter(condition_name_ + ".key", key_); 15 | } 16 | 17 | bool Exist::getState(dc_interfaces::msg::StringStamped msg) 18 | { 19 | try 20 | { 21 | json data_json = json::parse(msg.data); 22 | json flat_json = data_json.flatten(); 23 | std::string key_w_prefix = std::string("/") + key_ + "/"; 24 | 25 | bool found = false; 26 | for (auto& x : flat_json.items()) 27 | { 28 | if (x.key().rfind(key_w_prefix, 0) == 0) 29 | { 30 | found = true; 31 | break; 32 | } 33 | } 34 | active_ = found; 35 | 36 | publishActive(); 37 | } 38 | catch (json::parse_error& e) 39 | { 40 | RCLCPP_ERROR_STREAM(logger_, "Error parsing JSON (exist): " << msg.data); 41 | return false; 42 | } 43 | return active_; 44 | } 45 | 46 | Exist::~Exist() = default; 47 | 48 | } // namespace dc_conditions 49 | 50 | #include "pluginlib/class_list_macros.hpp" 51 | PLUGINLIB_EXPORT_CLASS(dc_conditions::Exist, dc_core::Condition) 52 | -------------------------------------------------------------------------------- /dc_measurements/plugins/conditions/string_match.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_measurements/plugins/conditions/string_match.hpp" 2 | 3 | namespace dc_conditions 4 | { 5 | 6 | StringMatch::StringMatch() : dc_conditions::Condition() 7 | { 8 | } 9 | 10 | void StringMatch::onConfigure() 11 | { 12 | auto node = getNode(); 13 | nav2_util::declare_parameter_if_not_declared(node, condition_name_ + ".key", rclcpp::PARAMETER_STRING); 14 | nav2_util::declare_parameter_if_not_declared(node, condition_name_ + ".regex", rclcpp::PARAMETER_STRING); 15 | node->get_parameter(condition_name_ + ".regex", regex_); 16 | node->get_parameter(condition_name_ + ".key", key_); 17 | } 18 | 19 | bool StringMatch::getState(dc_interfaces::msg::StringStamped msg) 20 | { 21 | json data_json = json::parse(msg.data); 22 | json flat_json = data_json.flatten(); 23 | 24 | std::string key_w_prefix = std::string("/") + key_; 25 | 26 | if (!flat_json.contains(key_w_prefix)) 27 | { 28 | RCLCPP_WARN_STREAM(logger_, "Key " << key_ << " not found in msg: " << msg.data); 29 | return false; 30 | } 31 | 32 | const std::regex base_regex(regex_); 33 | 34 | active_ = std::regex_match(flat_json[key_w_prefix].get(), base_regex); 35 | publishActive(); 36 | return active_; 37 | } 38 | 39 | StringMatch::~StringMatch() = default; 40 | 41 | } // namespace dc_conditions 42 | 43 | #include "pluginlib/class_list_macros.hpp" 44 | PLUGINLIB_EXPORT_CLASS(dc_conditions::StringMatch, dc_core::Condition) 45 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/dummy.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_measurements/plugins/measurements/dummy.hpp" 2 | 3 | namespace dc_measurements 4 | { 5 | 6 | Dummy::Dummy() : dc_measurements::Measurement() 7 | { 8 | } 9 | 10 | Dummy::~Dummy() = default; 11 | 12 | void Dummy::setValidationSchema() 13 | { 14 | if (enable_validator_) 15 | { 16 | validateSchema("dc_measurements", "dummy.json"); 17 | } 18 | } 19 | 20 | void Dummy::onConfigure() 21 | { 22 | auto node = getNode(); 23 | nav2_util::declare_parameter_if_not_declared(node, measurement_name_ + ".record", 24 | rclcpp::ParameterValue("{\"message\":\"Hello from ROS 2 DC\"}")); 25 | 26 | node->get_parameter(measurement_name_ + ".record", record_); 27 | } 28 | 29 | dc_interfaces::msg::StringStamped Dummy::collect() 30 | { 31 | auto node = getNode(); 32 | dc_interfaces::msg::StringStamped msg; 33 | msg.header.stamp = node->get_clock()->now(); 34 | msg.group_key = group_key_; 35 | 36 | try 37 | { 38 | json data_json = json::parse(record_); 39 | msg.data = data_json.dump(-1, ' ', true); 40 | } 41 | catch (json::parse_error& ex) 42 | { 43 | RCLCPP_ERROR_STREAM(logger_, "Could not parse record as JSON: " << record_); 44 | } 45 | 46 | return msg; 47 | } 48 | 49 | } // namespace dc_measurements 50 | 51 | #include "pluginlib/class_list_macros.hpp" 52 | PLUGINLIB_EXPORT_CLASS(dc_measurements::Dummy, dc_core::Measurement) 53 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/cmd_vel.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Cmd_vel", 4 | "description": "Command velocity sent to the robot", 5 | "properties": { 6 | "computed": { 7 | "description": "Computed command velocity in meter/s", 8 | "type": "number" 9 | }, 10 | "linear": { 11 | "description": "Linear velocity as a vector", 12 | "type": "object", 13 | "items": { 14 | "$ref": "#/$defs/vector3" 15 | } 16 | }, 17 | "angular": { 18 | "description": "Angular velocity as a vector", 19 | "type": "object", 20 | "items": { 21 | "$ref": "#/$defs/vector3" 22 | } 23 | } 24 | }, 25 | "$defs": { 26 | "vector3": { 27 | "type": "object", 28 | "properties": { 29 | "x": { 30 | "description": "X speed", 31 | "type": "number" 32 | }, 33 | "y": { 34 | "description": "Y speed", 35 | "type": "number" 36 | }, 37 | "z": { 38 | "description": "Z speed", 39 | "type": "number" 40 | } 41 | } 42 | } 43 | }, 44 | "type": "object" 45 | } 46 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/distance_traveled.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Distance traveled", 4 | "description": "Total distance traveled in meters by the robot", 5 | "properties": { 6 | "distance_traveled": { 7 | "description": "Total distance traveled in meters", 8 | "type": "number" 9 | } 10 | }, 11 | "type": "object" 12 | } 13 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/dummy.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Dummy", 4 | "description": "Dummy JSON", 5 | "properties": { 6 | "message": { 7 | "description": "Dummy message", 8 | "type": "string" 9 | } 10 | }, 11 | "type": "object" 12 | } 13 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/ip_camera.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Ip Camera", 4 | "description": "Local and remote path where the remote camera video is recorded", 5 | "properties": { 6 | "local_path": { 7 | "description": "Local video path", 8 | "type": "string" 9 | }, 10 | "remote_path": { 11 | "description": "Remote video path", 12 | "type": "string" 13 | } 14 | }, 15 | "type": "object" 16 | } 17 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/memory.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Memory", 4 | "description": "Memory used", 5 | "properties": { 6 | "used": { 7 | "description": "Memory used in percent", 8 | "type": "number", 9 | "minimum": 0 10 | } 11 | }, 12 | "type": "object" 13 | } 14 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/network.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Network", 4 | "description": "Network accessibility and information", 5 | "properties": { 6 | "ping": { 7 | "description": "Time to ping the host in ms", 8 | "type": "integer", 9 | "minimum": -1 10 | }, 11 | "online": { 12 | "description": "If the pc is online", 13 | "type": "boolean" 14 | }, 15 | "interfaces": { 16 | "description": "List of network interfaces", 17 | "type": "array", 18 | "items": { 19 | "type": "string" 20 | } 21 | } 22 | }, 23 | "type": "object" 24 | } 25 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/os.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "OS", 4 | "description": "OS, kernel and CPUs information", 5 | "properties": { 6 | "os": { 7 | "description": "Host distribution name", 8 | "type": "string" 9 | }, 10 | "kernel": { 11 | "description": "Kernel version", 12 | "type": "string" 13 | }, 14 | "cpu": { 15 | "description": "Number of CPUs", 16 | "type": "integer", 17 | "minimum": 0 18 | }, 19 | "memory": { 20 | "description": "System memory", 21 | "type": "number", 22 | "minimum": 0 23 | } 24 | }, 25 | "type": "object" 26 | } 27 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/permissions.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Permissions", 4 | "description": "Permissions of a file/directory", 5 | "properties": { 6 | "uid": { 7 | "description": "File/directory User IDentifier", 8 | "type": "integer" 9 | }, 10 | "gid": { 11 | "description": "File/directory Group IDentifier", 12 | "type": "integer" 13 | }, 14 | "exists": { 15 | "description": "File/directory exists", 16 | "type": "boolean" 17 | }, 18 | "permissions": { 19 | "description": "Permissions as rwx or integer", 20 | "type": "string" 21 | } 22 | }, 23 | "type": "object" 24 | } 25 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/position.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Position", 4 | "description": "Position and orientation of the robot", 5 | "properties": { 6 | "x": { 7 | "description": "X position of the robot", 8 | "type": "number" 9 | }, 10 | "y": { 11 | "description": "Y position of the robot", 12 | "type": "number" 13 | }, 14 | "yaw": { 15 | "description": "Yaw angle of the robot", 16 | "type": "number" 17 | } 18 | }, 19 | "type": "object" 20 | } 21 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/speed.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Speed", 4 | "description": "Computed, linear and angular speed of the robot", 5 | "properties": { 6 | "computed": { 7 | "description": "Computed speed in meter/s", 8 | "type": "number" 9 | }, 10 | "linear": { 11 | "description": "Linear velocity as a vector", 12 | "type": "object", 13 | "items": { 14 | "$ref": "#/$defs/vector3" 15 | } 16 | }, 17 | "angular": { 18 | "description": "Angular velocity as a vector", 19 | "type": "object", 20 | "items": { 21 | "$ref": "#/$defs/vector3" 22 | } 23 | } 24 | }, 25 | "$defs": { 26 | "vector3": { 27 | "type": "object", 28 | "properties": { 29 | "x": { 30 | "description": "X speed", 31 | "type": "number" 32 | }, 33 | "y": { 34 | "description": "Y speed", 35 | "type": "number" 36 | }, 37 | "z": { 38 | "description": "Z speed", 39 | "type": "number" 40 | } 41 | } 42 | } 43 | }, 44 | "type": "object" 45 | } 46 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/storage.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Storage", 4 | "description": "Storage information of a directory", 5 | "properties": { 6 | "free_percent": { 7 | "description": "Free space on the filesystem, in percent", 8 | "type": "number", 9 | "minimum": 0 10 | }, 11 | "free": { 12 | "description": "Free space on the filesystem, in bytes", 13 | "type": "integer", 14 | "minimum": 0 15 | }, 16 | "capacity": { 17 | "description": "Total size of the filesystem, in bytes", 18 | "type": "integer", 19 | "minimum": 0 20 | } 21 | }, 22 | "type": "object" 23 | } 24 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/tcp_health.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "TCP Health", 4 | "description": "Status of a TCP server", 5 | "properties": { 6 | "host": { 7 | "description": "Server hostname", 8 | "type": "string" 9 | }, 10 | "port": { 11 | "description": "Port number", 12 | "type": "integer", 13 | "minimum": 1, 14 | "maximum": 65536 15 | }, 16 | "server_name": { 17 | "description": "Time the system has been up", 18 | "type": "string" 19 | } 20 | }, 21 | "type": "object" 22 | } 23 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/json/uptime.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "http://json-schema.org/draft-07/schema#", 3 | "title": "Uptime", 4 | "description": "Time the system has been up", 5 | "properties": { 6 | "time": { 7 | "description": "Time the system has been up", 8 | "type": "integer", 9 | "minimum": 0 10 | } 11 | }, 12 | "type": "object" 13 | } 14 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/memory.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_measurements/plugins/measurements/memory.hpp" 2 | 3 | namespace dc_measurements 4 | { 5 | 6 | Memory::Memory() : dc_measurements::Measurement() 7 | { 8 | } 9 | 10 | Memory::~Memory() = default; 11 | 12 | void Memory::setValidationSchema() 13 | { 14 | if (enable_validator_) 15 | { 16 | validateSchema("dc_measurements", "memory.json"); 17 | } 18 | } 19 | 20 | dc_interfaces::msg::StringStamped Memory::collect() 21 | { 22 | auto node = getNode(); 23 | dc_interfaces::msg::StringStamped msg; 24 | msg.header.stamp = node->get_clock()->now(); 25 | msg.group_key = group_key_; 26 | json data_json; 27 | data_json["used"] = System().memoryUtilization() * 100; 28 | msg.data = data_json.dump(-1, ' ', true); 29 | 30 | return msg; 31 | } 32 | 33 | } // namespace dc_measurements 34 | 35 | #include "pluginlib/class_list_macros.hpp" 36 | PLUGINLIB_EXPORT_CLASS(dc_measurements::Memory, dc_core::Measurement) 37 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/os.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_measurements/plugins/measurements/os.hpp" 2 | 3 | namespace dc_measurements 4 | { 5 | namespace lp = LinuxParser; 6 | 7 | OS::OS() : dc_measurements::Measurement() 8 | { 9 | } 10 | 11 | OS::~OS() = default; 12 | 13 | void OS::setValidationSchema() 14 | { 15 | if (enable_validator_) 16 | { 17 | validateSchema("dc_measurements", "os.json"); 18 | } 19 | } 20 | 21 | unsigned long long OS::getTotalSystemMemory() 22 | { 23 | long pages = sysconf(_SC_PHYS_PAGES); 24 | long page_size = sysconf(_SC_PAGE_SIZE); 25 | return pages * page_size; 26 | } 27 | 28 | dc_interfaces::msg::StringStamped OS::collect() 29 | { 30 | auto node = getNode(); 31 | dc_interfaces::msg::StringStamped msg; 32 | msg.header.stamp = node->get_clock()->now(); 33 | msg.group_key = group_key_; 34 | json data_json; 35 | data_json["os"] = lp::OperatingSystem(); 36 | data_json["kernel"] = lp::Kernel(); 37 | data_json["cpus"] = Processor().numCpus(); 38 | auto mem_total = getTotalSystemMemory(); 39 | // Convert to Gb 40 | double mem_total_gb = (((mem_total / 1024.0) / 1024.0) / 1024.0); 41 | // Round to 2 decimals 42 | data_json["memory"] = std::ceil(mem_total_gb * 100.0) / 100.0; 43 | 44 | msg.data = data_json.dump(-1, ' ', true); 45 | 46 | return msg; 47 | } 48 | 49 | } // namespace dc_measurements 50 | 51 | #include "pluginlib/class_list_macros.hpp" 52 | PLUGINLIB_EXPORT_CLASS(dc_measurements::OS, dc_core::Measurement) 53 | -------------------------------------------------------------------------------- /dc_measurements/plugins/measurements/uptime.cpp: -------------------------------------------------------------------------------- 1 | #include "dc_measurements/plugins/measurements/uptime.hpp" 2 | 3 | namespace dc_measurements 4 | { 5 | namespace lp = LinuxParser; 6 | 7 | Uptime::Uptime() : dc_measurements::Measurement() 8 | { 9 | } 10 | 11 | Uptime::~Uptime() = default; 12 | 13 | void Uptime::setValidationSchema() 14 | { 15 | if (enable_validator_) 16 | { 17 | validateSchema("dc_measurements", "uptime.json"); 18 | } 19 | } 20 | 21 | dc_interfaces::msg::StringStamped Uptime::collect() 22 | { 23 | auto uptime = system_.upTime(); 24 | 25 | auto node = getNode(); 26 | dc_interfaces::msg::StringStamped msg; 27 | msg.header.stamp = node->get_clock()->now(); 28 | msg.group_key = group_key_; 29 | json data_json; 30 | data_json["time"] = uptime; 31 | 32 | msg.data = data_json.dump(-1, ' ', true); 33 | 34 | return msg; 35 | } 36 | 37 | } // namespace dc_measurements 38 | 39 | #include "pluginlib/class_list_macros.hpp" 40 | PLUGINLIB_EXPORT_CLASS(dc_measurements::Uptime, dc_core::Measurement) 41 | -------------------------------------------------------------------------------- /dc_measurements/src/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #include "dc_measurements/measurement_server.hpp" 4 | #include "rclcpp/rclcpp.hpp" 5 | 6 | int main(int argc, char** argv) 7 | { 8 | rclcpp::init(argc, argv); 9 | rclcpp::executors::MultiThreadedExecutor executor; 10 | auto measurement_node = std::make_shared(); 11 | 12 | executor.add_node(measurement_node->get_node_base_interface()); 13 | executor.spin(); 14 | rclcpp::shutdown(); 15 | 16 | return 0; 17 | } 18 | -------------------------------------------------------------------------------- /dc_services/dc_services/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_services/dc_services/__init__.py -------------------------------------------------------------------------------- /dc_services/launch/dc_detection_barcodes.launch.py: -------------------------------------------------------------------------------- 1 | """Launch barcode detection node.""" 2 | 3 | import launch 4 | import launch_ros.actions 5 | 6 | 7 | def generate_launch_description() -> launch.LaunchDescription: 8 | """Launch file generator. 9 | 10 | Returns: 11 | launch.LaunchDescription: Launch 12 | """ 13 | barcode_node = launch_ros.actions.Node( 14 | package="dc_services", 15 | executable="barcode_detection", 16 | namespace="/dc/service", 17 | output={ 18 | "stdout": "screen", 19 | "stderr": "screen", 20 | }, 21 | ) 22 | 23 | nodes = [barcode_node] 24 | return launch.LaunchDescription(nodes) 25 | -------------------------------------------------------------------------------- /dc_services/launch/dc_draw_image.launch.py: -------------------------------------------------------------------------------- 1 | """Launch draw image node.""" 2 | 3 | import launch 4 | import launch_ros.actions 5 | 6 | 7 | def generate_launch_description() -> launch.LaunchDescription: 8 | """Launch file generator. 9 | 10 | Returns: 11 | launch.LaunchDescription: Launch 12 | """ 13 | barcode_node = launch_ros.actions.Node( 14 | package="dc_services", 15 | executable="draw_image", 16 | namespace="/dc/service", 17 | output={ 18 | "stdout": "screen", 19 | "stderr": "screen", 20 | }, 21 | ) 22 | 23 | nodes = [barcode_node] 24 | return launch.LaunchDescription(nodes) 25 | -------------------------------------------------------------------------------- /dc_services/launch/dc_save_image.launch.py: -------------------------------------------------------------------------------- 1 | """Launch save image node.""" 2 | 3 | import launch 4 | import launch_ros.actions 5 | 6 | 7 | def generate_launch_description() -> launch.LaunchDescription: 8 | """Launch file generator. 9 | 10 | Returns: 11 | launch.LaunchDescription: Launch 12 | """ 13 | barcode_node = launch_ros.actions.Node( 14 | package="dc_services", 15 | executable="save_image", 16 | namespace="/dc/service", 17 | output={ 18 | "stdout": "screen", 19 | "stderr": "screen", 20 | }, 21 | ) 22 | 23 | nodes = [barcode_node] 24 | return launch.LaunchDescription(nodes) 25 | -------------------------------------------------------------------------------- /dc_services/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_services 5 | 0.1.0 6 | Collect uptime data 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | rclpy 11 | dc_interfaces 12 | zbar 13 | 14 | 15 | ament_python 16 | 17 | 18 | -------------------------------------------------------------------------------- /dc_services/resource/dc_services: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_services/resource/dc_services -------------------------------------------------------------------------------- /dc_services/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/dc_services 3 | [install] 4 | install_scripts=$base/lib/dc_services 5 | -------------------------------------------------------------------------------- /dc_simulation/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(dc_simulation) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | find_package(ament_cmake_python REQUIRED) 6 | find_package(gazebo_ros REQUIRED) 7 | find_package(rclpy REQUIRED) 8 | find_package(aws_robomaker_small_warehouse_world REQUIRED) 9 | 10 | install( 11 | DIRECTORY launch maps models rviz worlds 12 | DESTINATION share/${PROJECT_NAME} 13 | ) 14 | 15 | ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/dc_simulation.dsv.in") 16 | 17 | ament_export_dependencies(ament_cmake) 18 | ament_export_dependencies(gazebo_ros) 19 | 20 | # Install Python modules 21 | ament_python_install_package(${PROJECT_NAME}) 22 | 23 | ament_package() 24 | -------------------------------------------------------------------------------- /dc_simulation/dc_simulation/__init__.py: -------------------------------------------------------------------------------- 1 | """Directory which contains all examples.""" 2 | -------------------------------------------------------------------------------- /dc_simulation/env-hooks/dc_simulation.dsv.in: -------------------------------------------------------------------------------- 1 | prepend-non-duplicate;GAZEBO_MODEL_PATH;share/dc_simulation/models 2 | prepend-non-duplicate;GAZEBO_MODEL_PATH;share/dc_simulation/worlds 3 | -------------------------------------------------------------------------------- /dc_simulation/maps/qrcodes.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/maps/qrcodes.pgm -------------------------------------------------------------------------------- /dc_simulation/maps/qrcodes.yaml: -------------------------------------------------------------------------------- 1 | image: qrcodes.pgm 2 | mode: trinary 3 | resolution: 0.05 4 | origin: [-34.8, -26.1, 0] 5 | negate: 0 6 | occupied_thresh: 0.65 7 | free_thresh: 0.196 8 | -------------------------------------------------------------------------------- /dc_simulation/models/Chair/meshes/Chair.mtl: -------------------------------------------------------------------------------- 1 | # 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware 2 | # File Created: 21.03.2018 17:15:35 3 | 4 | newmtl Chair 5 | Ns 10.0000 6 | Ni 1.5000 7 | d 1.0000 8 | Tr 0.0000 9 | Tf 1.0000 1.0000 1.0000 10 | illum 2 11 | Ka 0.5882 0.5882 0.5882 12 | Kd 0.8000 0.8000 0.8000 13 | Ks 0.0000 0.0000 0.0000 14 | Ke 0.0000 0.0000 0.0000 15 | map_Ka Chair_Diffuse.png 16 | map_Kd Chair_Diffuse.png 17 | map_bump Chair_Normal_Normal_Bump.tga 18 | -------------------------------------------------------------------------------- /dc_simulation/models/Chair/meshes/Chair.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/Chair/meshes/Chair.png -------------------------------------------------------------------------------- /dc_simulation/models/Chair/meshes/Chair_Diffuse.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/Chair/meshes/Chair_Diffuse.png -------------------------------------------------------------------------------- /dc_simulation/models/Chair/meshes/Chair_Normal.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/Chair/meshes/Chair_Normal.png -------------------------------------------------------------------------------- /dc_simulation/models/Chair/meshes/Chair_SpecGloss.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/Chair/meshes/Chair_SpecGloss.png -------------------------------------------------------------------------------- /dc_simulation/models/Chair/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Chair 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Cole Biesemeyer 9 | cole@openrobotics.org 10 | 11 | 12 | 13 | A generic hospital chair 14 | 15 | 16 | -------------------------------------------------------------------------------- /dc_simulation/models/Chair/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 0 0 0 0 0 1.5708 7 | 8 | 9 | 10 | 11 | model://Chair/meshes/Chair.obj 12 | 0.00817 0.00817 0.00817 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | model://Chair/meshes/Chair.obj 21 | 0.00817 0.00817 0.00817 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /dc_simulation/models/Chair/thumbnails/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/Chair/thumbnails/1.png -------------------------------------------------------------------------------- /dc_simulation/models/Chair/thumbnails/2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/Chair/thumbnails/2.png -------------------------------------------------------------------------------- /dc_simulation/models/Chair/thumbnails/3.png: -------------------------------------------------------------------------------- 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/dc_simulation/models/MonitorAndKeyboard/meshes/keyboard.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 2 3 | 4 | newmtl metalDark 5 | Ns 96.078431 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.164706 0.207843 0.207843 8 | Ks 0.330000 0.330000 0.330000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl metalMedium 15 | Ns 96.078431 16 | Ka 0.000000 0.000000 0.000000 17 | Kd 0.368627 0.466667 0.466667 18 | Ks 0.330000 0.330000 0.330000 19 | Ke 0.000000 0.000000 0.000000 20 | Ni 1.000000 21 | d 1.000000 22 | illum 2 23 | -------------------------------------------------------------------------------- /dc_simulation/models/MonitorAndKeyboard/meshes/monitor.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 2 3 | 4 | newmtl metal 5 | Ns 96.078431 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.658823 0.827451 0.827451 8 | Ks 0.330000 0.330000 0.330000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl metalDark 15 | Ns 96.078431 16 | Ka 0.000000 0.000000 0.000000 17 | Kd 0.164706 0.207843 0.207843 18 | Ks 0.330000 0.330000 0.330000 19 | Ke 0.000000 0.000000 0.000000 20 | Ni 1.000000 21 | d 1.000000 22 | illum 2 23 | -------------------------------------------------------------------------------- /dc_simulation/models/MonitorAndKeyboard/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | MonitorAndKeyboard 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Kenney.nl 9 | 10 | 11 | 12 | 13 | A generic monitor and keyboard 14 | https://opengameart.org/content/furniture-kit - CC0 license 15 | 16 | 17 | -------------------------------------------------------------------------------- /dc_simulation/models/MonitorAndKeyboard/thumbnails/1.png: 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-------------------------------------------------------------------------------- /dc_simulation/models/__init__.py: -------------------------------------------------------------------------------- 1 | """Directory which contains all models.""" 2 | -------------------------------------------------------------------------------- /dc_simulation/models/bag/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | bag 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /dc_simulation/models/cutout_wall/materials/scripts/cutout_wall.material: -------------------------------------------------------------------------------- 1 | material drc_practice/cutout_wall 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture cutout_wall.png 10 | filtering anistropic 11 | max_anisotropy 16 12 | scale 1 1 13 | } 14 | } 15 | } 16 | } 17 | 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8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /dc_simulation/models/europallet/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | model://europallet/europallet.dae 10 | 0.001 0.001 0.001 11 | 12 | 13 | 14 | 15 | 16 | 17 | model://europallet/europallet.dae 18 | 0.001 0.001 0.001 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /dc_simulation/models/europallet_10/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | europallet_10 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0001/materials/textures/qrcode_0001.png: -------------------------------------------------------------------------------- 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7 | 8 | 9 | model://qrcode_0007/meshes/qrcode_0007.dae 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0008/materials/textures/qrcode_0008.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/qrcode_0008/materials/textures/qrcode_0008.png -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0008/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | qrcode_0008 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0008/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://qrcode_0008/meshes/qrcode_0008.dae 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0009/materials/textures/qrcode_0009.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/qrcode_0009/materials/textures/qrcode_0009.png -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0009/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | qrcode_0009 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0009/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://qrcode_0009/meshes/qrcode_0009.dae 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0010/materials/textures/qrcode_0010.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/models/qrcode_0010/materials/textures/qrcode_0010.png -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0010/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | qrcode_0010 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /dc_simulation/models/qrcode_0010/model.sdf: 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-------------------------------------------------------------------------------- /dc_simulation/models/warehouse/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0 0 0 0 0 0 5 | false 6 | 7 | 8 | 0 0 0 0 0 0 9 | 10 | 0 0 0 0 0 0 11 | 12 | 13 | 1 1 1 14 | meshes/warehouse_colision.stl 15 | 16 | 17 | 18 | 19 | 0 0 0 0 0 0 20 | 21 | 22 | 1 1 1 23 | meshes/warehouse.dae 24 | 25 | 26 | 27 | 28 | 0 0 0.101 0 0 0 29 | 30 | 31 | 1 1 1 32 | meshes/warehouse.dae 33 | 34 | drop1 35 |
true
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-------------------------------------------------------------------------------- /dc_simulation/tools/templates/model_qr/model.sdf.jinja2: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://qrcode_{{data}}/meshes/qrcode_{{data}}.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /dc_simulation/tools/templates/model_qr/ros_logo_large.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/dc_simulation/tools/templates/model_qr/ros_logo_large.png -------------------------------------------------------------------------------- /dc_util/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(dc_util) 3 | 4 | set(dependencies 5 | dc_common 6 | lifecycle_msgs 7 | nav2_util 8 | nlohmann_json 9 | rclcpp 10 | rclcpp_lifecycle 11 | yaml_cpp_vendor 12 | ) 13 | find_package(Boost REQUIRED) 14 | 15 | find_package(ament_cmake REQUIRED) 16 | foreach(Dependency IN ITEMS ${dependencies}) 17 | find_package(${Dependency} REQUIRED) 18 | endforeach() 19 | 20 | dc_package() 21 | 22 | set(library_name base64_library) 23 | 24 | add_library(${library_name} SHARED 25 | src/base64.cpp 26 | ) 27 | 28 | ament_target_dependencies(${library_name} 29 | ${dependencies} 30 | ) 31 | 32 | ament_export_targets(${library_name} HAS_LIBRARY_TARGET) 33 | 34 | install(TARGETS ${library_name} 35 | EXPORT ${library_name} 36 | ARCHIVE DESTINATION lib 37 | LIBRARY DESTINATION lib 38 | RUNTIME DESTINATION bin 39 | INCLUDES DESTINATION include 40 | ) 41 | 42 | include_directories( 43 | include 44 | ${YAML_CPP_INCLUDEDIR} 45 | ${OpenCV_INCLUDE_DIRS} 46 | ) 47 | 48 | install(DIRECTORY include/ 49 | DESTINATION include/ 50 | ) 51 | 52 | ament_export_include_directories(include) 53 | ament_export_libraries(${library_name}) 54 | ament_export_dependencies(${dependencies}) 55 | 56 | ament_package() 57 | -------------------------------------------------------------------------------- /dc_util/include/dc_util/base64.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // base64 encoding and decoding with C++. 3 | // Version: 2.rc.09 (release candidate) 4 | // 5 | 6 | #ifndef BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A 7 | #define BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A 8 | 9 | #include 10 | 11 | #if __cplusplus >= 201703L 12 | #include 13 | #endif // __cplusplus >= 201703L 14 | 15 | std::string base64_encode(std::string const& s, bool url = false); 16 | std::string base64_encode_pem(std::string const& s); 17 | std::string base64_encode_mime(std::string const& s); 18 | 19 | std::string base64_decode(std::string const& s, bool remove_linebreaks = false); 20 | std::string base64_encode(unsigned char const*, size_t len, bool url = false); 21 | 22 | #if __cplusplus >= 201703L 23 | // 24 | // Interface with std::string_view rather than const std::string& 25 | // Requires C++17 26 | // Provided by Yannic Bonenberger (https://github.com/Yannic) 27 | // 28 | std::string base64_encode(std::string_view s, bool url = false); 29 | std::string base64_encode_pem(std::string_view s); 30 | std::string base64_encode_mime(std::string_view s); 31 | 32 | std::string base64_decode(std::string_view s, bool remove_linebreaks = false); 33 | #endif // __cplusplus >= 201703L 34 | 35 | #endif /* BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A */ 36 | -------------------------------------------------------------------------------- /dc_util/include/dc_util/filesystem_utils.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_UTIL__FILESYSTEM_UTILS_HPP_ 2 | #define DC_UTIL__FILESYSTEM_UTILS_HPP_ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | namespace dc_util 11 | { 12 | 13 | std::string get_file_content(const std::string& path, const bool& strip_end_new_line = true) 14 | { 15 | std::ifstream ifs(path); 16 | std::string content((std::istreambuf_iterator(ifs)), (std::istreambuf_iterator())); 17 | 18 | if (strip_end_new_line) 19 | { 20 | if (!content.empty() && content[content.length() - 1] == '\n') 21 | { 22 | content.erase(content.length() - 1); 23 | } 24 | } 25 | 26 | return content; 27 | } 28 | 29 | void write_str_file(const std::string& path, const std::string& write_str, const bool& strip_end_new_line = true) 30 | { 31 | std::string content = write_str; 32 | if (strip_end_new_line) 33 | { 34 | if (!content.empty() && content[content.length() - 1] == '\n') 35 | { 36 | content.erase(content.length() - 1); 37 | } 38 | } 39 | // Open the file 40 | std::ofstream w_file(path); 41 | // Write to the file 42 | w_file << content; 43 | // Close the file 44 | w_file.close(); 45 | } 46 | 47 | } // namespace dc_util 48 | 49 | #endif // DC_UTIL__FILESYSTEM_UTILS_HPP_ 50 | -------------------------------------------------------------------------------- /dc_util/include/dc_util/image_utils.hpp: -------------------------------------------------------------------------------- 1 | #ifndef DC_UTIL__IMAGE_UTILS_HPP_ 2 | #define DC_UTIL__IMAGE_UTILS_HPP_ 3 | 4 | #include 5 | 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | #include "sensor_msgs/msg/image.hpp" 12 | 13 | namespace dc_util 14 | { 15 | sensor_msgs::msg::Image cvToImage(const cv_bridge::CvImagePtr& cv_ptr) 16 | { 17 | cv_bridge::CvImage img_bridge; 18 | img_bridge.encoding = sensor_msgs::image_encodings::BGR8; 19 | img_bridge.image = cv_ptr->image; 20 | sensor_msgs::msg::Image img_msg; 21 | img_bridge.toImageMsg(img_msg); 22 | 23 | return img_msg; 24 | } 25 | } // namespace dc_util 26 | 27 | #endif // DC_UTIL__IMAGE_UTILS_HPP_ 28 | -------------------------------------------------------------------------------- /dc_util/include/dc_util/service_utils.hpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include "dc_core/measurement.hpp" 10 | #include "dc_interfaces/srv/detect_barcode.hpp" 11 | #include "dc_interfaces/srv/draw_image.hpp" 12 | #include "dc_interfaces/srv/save_image.hpp" 13 | #include "dc_measurements/measurement.hpp" 14 | #include "dc_measurements/measurement_server.hpp" 15 | #include "dc_util/image_utils.hpp" 16 | #include "rclcpp/rclcpp.hpp" 17 | #include "sensor_msgs/msg/image.hpp" 18 | 19 | namespace dc_util 20 | { 21 | 22 | std::future_status req_save_image(const rclcpp::Client::SharedPtr& cli_save_img_, 23 | const sensor_msgs::msg::Image& data, const std::string& path, 24 | const std::chrono::milliseconds& timeout = std::chrono::milliseconds(500)) 25 | { 26 | auto save_raw_img_req = std::make_shared(); 27 | save_raw_img_req->frame = data; 28 | save_raw_img_req->path = path.c_str(); 29 | auto result_future = cli_save_img_->async_send_request(save_raw_img_req); 30 | std::future_status status = result_future.wait_for(timeout); 31 | 32 | return status; 33 | } 34 | 35 | } // namespace dc_util 36 | -------------------------------------------------------------------------------- /dc_util/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dc_util 5 | 0.1.0 6 | General headers used in DC 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake 11 | 12 | libboost-program-options-dev 13 | 14 | boost 15 | dc_common 16 | launch 17 | launch_testing_ament_cmake 18 | nav2_util 19 | nlohmann-json-dev 20 | rclcpp 21 | rclcpp_lifecycle 22 | yaml_cpp_vendor 23 | 24 | libboost-program-options 25 | 26 | 27 | ament_cmake 28 | 29 | 30 | -------------------------------------------------------------------------------- /doc/css/logo.css: -------------------------------------------------------------------------------- 1 | #logo-dc { 2 | display: block; 3 | margin: auto; 4 | height: 150px; 5 | } 6 | 7 | .sidebar-scrollbox { 8 | top: 150px !important; 9 | } 10 | -------------------------------------------------------------------------------- /doc/css/theme.css: -------------------------------------------------------------------------------- 1 | #nav-separator{ 2 | border-top: 1px solid var(--sidebar-active); 3 | } 4 | 5 | /* Same Markdown page is used on Github and documentation, we just hide some elements on the doc */ 6 | .github-only { 7 | display: none !important; 8 | } 9 | -------------------------------------------------------------------------------- /doc/js/mermaid-init.js: -------------------------------------------------------------------------------- 1 | function get_theme_mermaid() { 2 | let mermaid_theme = "light"; 3 | 4 | let mdbook_theme = localStorage.getItem('mdbook-theme') 5 | 6 | if (mdbook_theme == "ayu" || mdbook_theme == "navy" || mdbook_theme == "coal" || mdbook_theme == undefined) { 7 | // If undefined it is still dark, since default is navy mode, defined in book.toml 8 | mermaid_theme = "dark"; 9 | } 10 | return mermaid_theme 11 | } 12 | 13 | mermaid.initialize({ startOnLoad: true, theme: get_theme_mermaid() }); 14 | -------------------------------------------------------------------------------- /doc/js/theme.js: -------------------------------------------------------------------------------- 1 | // To reload mermaid graphs 2 | document.getElementById('light').onclick = function () { 3 | location.reload(); 4 | }; 5 | 6 | document.getElementById('rust').onclick = function () { 7 | location.reload(); 8 | }; 9 | 10 | document.getElementById('coal').onclick = function () { 11 | location.reload(); 12 | }; 13 | 14 | document.getElementById('navy').onclick = function () { 15 | location.reload(); 16 | }; 17 | 18 | document.getElementById('ayu').onclick = function () { 19 | location.reload(); 20 | }; 21 | 22 | if (window.location.href.indexOf('http://localhost/') == 0) { 23 | document.getElementById("logo-dc").src = "/images/dc.png" 24 | document.getElementById("a-logo-dc").href = "/" 25 | } else if (window.location.href.indexOf('https://minipada.github.io/ros2_data_collection/') == 0) { 26 | let level = window.location.href.split("https://minipada.github.io/ros2_data_collection/")[1].split("/").length - 1 27 | 28 | document.getElementById("logo-dc").src = "../".repeat(level) + "images/dc.png" 29 | document.getElementById("a-logo-dc").href = "https://minipada.github.io/ros2_data_collection" 30 | } 31 | -------------------------------------------------------------------------------- /doc/open-in.css: -------------------------------------------------------------------------------- 1 | /* based on https://github.com/badboy/mdbook-open-on-gh/ */ 2 | footer { 3 | font-size: 0.8em; 4 | text-align: center; 5 | border-top: 1px solid black; 6 | padding: 5px 0; 7 | } 8 | 9 | :root { 10 | --content-max-width: 1500px !important ; 11 | } 12 | 13 | /* Change font size of database diagrams */ 14 | .er.entityLabel { 15 | font-size: 1.6rem !important; 16 | } 17 | -------------------------------------------------------------------------------- /doc/src/dc/about_contact.md: -------------------------------------------------------------------------------- 1 | # About and Contact 2 | 3 | ## About 4 | Our team currently includes: 5 | 6 | | Name | GitHub ID | Current Role | 7 | | ---------------- | ---------------------------------------- | ------------ | 8 | | David Bensoussan | [Minipada](https://github.com/Minipada/) | | 9 | 10 | 11 | ## Contact 12 | 13 | For any inquiry, please contact David ([d.bensoussan@proton.me](mailto:d.bensoussan@proton.me)). If your inquiry relates to bugs or open-source feature requests, consider posting a ticket on our GitHub project. If your inquiry relates to configuration support or private feature development, reach out and we will be able to support you in your projects. 14 | -------------------------------------------------------------------------------- /doc/src/dc/concepts/destination_server.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/doc/src/dc/concepts/destination_server.md -------------------------------------------------------------------------------- /doc/src/dc/concepts/measurement_server.md: -------------------------------------------------------------------------------- 1 | # Measurements 2 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/bool_equal.md: -------------------------------------------------------------------------------- 1 | # Bool equal 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if equal. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ---- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | bool | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/double_equal.md: -------------------------------------------------------------------------------- 1 | # Double equal 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if equal. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ----- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | float | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/double_inferior.md: -------------------------------------------------------------------------------- 1 | # Double inferior 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if inferior. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ----- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | float | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/double_superior.md: -------------------------------------------------------------------------------- 1 | # Double superior 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if superior. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ----- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | float | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/exist.md: -------------------------------------------------------------------------------- 1 | # Exist 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if exists. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ---- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/integer_equal.md: -------------------------------------------------------------------------------- 1 | # Integer equal 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if equal. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ---- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | int | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/integer_inferior.md: -------------------------------------------------------------------------------- 1 | # Integer inferior 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if inferior. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ---- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | int | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/integer_superior.md: -------------------------------------------------------------------------------- 1 | # Integer superior 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if superior. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ---- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | int | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/list_bool_equal.md: -------------------------------------------------------------------------------- 1 | # List bool equal 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if equal. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | ----------------- | ---------------------------------------------------------------------- | ---- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | bool | N/A (Mandatory) | 13 | | **order_matters** | If true, will compare taking account of the order | bool | true | 14 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/list_double_equal.md: -------------------------------------------------------------------------------- 1 | # List double equal 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if equal. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | ----------------- | ---------------------------------------------------------------------- | ------------- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | list\[float\] | N/A (Mandatory) | 13 | | **order_matters** | If true, will compare taking account of the order | bool | true | 14 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/list_integer_equal.md: -------------------------------------------------------------------------------- 1 | # List integer equal 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if equal. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | ----------------- | ---------------------------------------------------------------------- | ----------- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | list\[int\] | N/A (Mandatory) | 13 | | **order_matters** | If true, will compare taking account of the order | bool | true | 14 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/list_string_equal.md: -------------------------------------------------------------------------------- 1 | # List string equal 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if equal. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | ----------------- | ---------------------------------------------------------------------- | ---- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **value** | Value to which compare the JSON value | bool | N/A (Mandatory) | 13 | | **order_matters** | If true, will compare taking account of the order | bool | true | 14 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/moving.md: -------------------------------------------------------------------------------- 1 | # Moving 2 | 3 | ## Description 4 | 5 | Use a [hysteresis](https://www.wikiwand.com/en/Hysteresis) on robot position to know whether the robot is moving. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | -------------------- | ------------------------------------------------------------ | ----- | ------- | 11 | | **odom_topic** | Topic from where odom is used to know if the robot is moving | str | "/odom" | 12 | | **speed_threshold** | Speed threshold used in the hysteresis | float | 0.2 | 13 | | **count_limit** | Counter to know if the robot is moving | int | 8 | 14 | | **count_hysteresis** | Hysteresis counter | int | 5 | 15 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/same_as_previous.md: -------------------------------------------------------------------------------- 1 | # Same as previous 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if match. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | ----------- | ------------------------------------------------------------------------- | ----------- | --------------- | 11 | | **keys** | JSON keys where values are located, separate nested dictionary with **/** | list\[str\] | N/A (Mandatory) | 12 | | **exclude** | JSON keys to exclude in comparison | list\[str\] | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/conditions/string_match.md: -------------------------------------------------------------------------------- 1 | # String match 2 | 3 | ## Description 4 | 5 | Compare JSON key value to the value passed in parameter and returns true if match. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------- | ---------------------------------------------------------------------- | ---- | --------------- | 11 | | **key** | JSON key where value is located, separate nested dictionary with **/** | str | N/A (Mandatory) | 12 | | **regex** | Regex to which compare the JSON value to | str | N/A (Mandatory) | 13 | -------------------------------------------------------------------------------- /doc/src/dc/destinations/flb_null.md: -------------------------------------------------------------------------------- 1 | # NULL - Fluent Bit 2 | 3 | ## Description 4 | 5 | The null output plugin just throws away events. See [fluent bit page](https://docs.fluentbit.io/manual/pipeline/outputs/null) for more information. 6 | 7 | ## Node configuration 8 | 9 | ```yaml 10 | ... 11 | flb_null: 12 | plugin: "dc_destinations/FlbNull" 13 | inputs: ["/dc/measurement/data"] 14 | ... 15 | ``` 16 | -------------------------------------------------------------------------------- /doc/src/dc/destinations/flb_slack.md: -------------------------------------------------------------------------------- 1 | # Slack - Fluent Bit 2 | 3 | ## Description 4 | 5 | The Slack output plugin delivers records or messages to your preferred Slack channel. See [fluent bit page](https://docs.fluentbit.io/manual/pipeline/outputs/slack) for more information. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | ----------- | -------------------------------------------------- | ---- | --------------- | 11 | | **webhook** | Absolute address of the Webhook provided by Slack. | str | N/A (Mandatory) | 12 | 13 | ## Node configuration 14 | 15 | ```yaml 16 | ... 17 | flb_slack: 18 | plugin: "dc_destinations/FlbSlack" 19 | inputs: ["/dc/group/data"] 20 | webhook: https://hooks.slack.com/services/T00000000/B00000000/XXXXXXXXXXXXXXXXXXXXXXXX 21 | ... 22 | ``` 23 | -------------------------------------------------------------------------------- /doc/src/dc/destinations/rcl.md: -------------------------------------------------------------------------------- 1 | # RCL - RCLCPP 2 | 3 | ## Description 4 | 5 | The RCL output collects the data with ROS and display it with `RCLCPP_INFO` call. 6 | 7 | ## Warning 8 | Note that plugins which are not using Fluent Bit like this one don't have any data integrity and persistence. Do not use in production! 9 | -------------------------------------------------------------------------------- /doc/src/dc/future_work.md: -------------------------------------------------------------------------------- 1 | # Future work and Roadmap 2 | 3 | DC still being in early development, it requires: 4 | 1. High test coverage 5 | 2. Automation: docker image build, PR and commit builds 6 | 3. More measurement plugins 7 | 4. More destination plugins 8 | 5. Guide for the Backend developer: I would like DC to be simple enough so a web developer can run it, get the data and work on its backend application 9 | 6. Guide for the ROS developer: I would like DC to be simple enough so a ROS developer can collect data without the expertise of knowing how to manage databases 10 | 7. Handle python destination plugins 11 | 8. More use cases showcased in demos 12 | -------------------------------------------------------------------------------- /doc/src/dc/infrastructure_setup.md: -------------------------------------------------------------------------------- 1 | # Infrastructure setup 2 | -------------------------------------------------------------------------------- /doc/src/dc/infrastructure_setup/adminer.md: -------------------------------------------------------------------------------- 1 | # Adminer 2 | 3 | ## Description 4 | Adminer (formerly phpMinAdmin) is a full-featured database management tool written in PHP. Conversely to phpMyAdmin, it consist of a single file ready to deploy to the target server. Adminer is available for MySQL, MariaDB, PostgreSQL, SQLite, MS SQL, Oracle, Elasticsearch, MongoDB and others via plugin 5 | 6 | ## Start with docker compose 7 | Execute: 8 | 9 | ```bash 10 | ./tools/infrastructure/scripts/install_infrastructure.bash \ 11 | --tool=adminer \ 12 | --install-type=docker 13 | ``` 14 | 15 | ## Start natively 16 | ```bash 17 | ./tools/infrastructure/scripts/install_infrastructure.bash \ 18 | --tool=adminer \ 19 | --install-type=native 20 | ``` 21 | 22 | ## Credentials 23 | 24 | | Type | User | Password | Database | Port | 25 | | ------------------- | ---- | -------- | -------- | ---- | 26 | | PostgreSQL (Native) | dc | password | dc | 80 | 27 | | PostgreSQL (Docker) | dc | password | dc | 8080 | 28 | 29 | ## How to use 30 | Natively, by accessing [http://localhost:80/adminer](http://localhost:80/adminer), and in docker, by accessing [http://localhost:8080](http://localhost:8080), you will be able to see this page: 31 | 32 | ![Adminer](../../images/adminer.png) 33 | -------------------------------------------------------------------------------- /doc/src/dc/infrastructure_setup/grafana.md: -------------------------------------------------------------------------------- 1 | # Grafana 2 | 3 | ## Description 4 | [Grafana](https://grafana.com/) is a multi-platform open source analytics and interactive visualization web application. It provides charts, graphs, and alerts for the web when connected to supported data sources. 5 | 6 | ## Start with docker compose 7 | Execute: 8 | 9 | ```bash 10 | ./tools/infrastructure/scripts/install_infrastructure.bash \ 11 | --tool=grafana \ 12 | --install-type=docker 13 | ``` 14 | 15 | ## Start natively 16 | ```bash 17 | ./tools/infrastructure/scripts/install_infrastructure.bash \ 18 | --tool=grafana \ 19 | --install-type=native 20 | ``` 21 | 22 | ## Credentials 23 | 24 | | User | Password | Port | 25 | | ----- | -------- | ---- | 26 | | admin | admin | 3000 | 27 | 28 | ## How to use 29 | Natively, by accessing [http://localhost:80/adminer](http://localhost:80/adminer), and in docker, by accessing [http://localhost:8080](http://localhost:8080), you will be able to see this page: 30 | 31 | ![Grafana](../../images/adminer.png) 32 | -------------------------------------------------------------------------------- /doc/src/dc/infrastructure_setup/influxdb.md: -------------------------------------------------------------------------------- 1 | # InfluxDB 2 | 3 | ## Description 4 | PostgreSQL is a powerful, open source object-relational database system that uses and extends the SQL language combined with many features that safely store and scale the most complicated data workloads. The origins of PostgreSQL date back to 1986 as part of the POSTGRES project at the University of California at Berkeley and has more than 35 years of active development on the core platform. 5 | 6 | ## Start with docker compose 7 | Execute: 8 | 9 | ```bash 10 | ./tools/infrastructure/scripts/install_infrastructure.bash \ 11 | --tool=influxdb 12 | --install-type=docker 13 | ``` 14 | 15 | ## Start natively 16 | 17 | ```bash 18 | ./tools/infrastructure/scripts/install_infrastructure.bash \ 19 | --tool=influxdb 20 | --install-type=native 21 | ``` 22 | 23 | ## Credentials 24 | 25 | | User | Password | Database | Port | 26 | | ----- | -------- | -------- | ---- | 27 | | admin | admin | dc | 8086 | 28 | -------------------------------------------------------------------------------- /doc/src/dc/infrastructure_setup/postgresql.md: -------------------------------------------------------------------------------- 1 | # PostgreSQL 2 | ## Description 3 | PostgreSQL is a powerful, open source object-relational database system that uses and extends the SQL language combined with many features that safely store and scale the most complicated data workloads. The origins of PostgreSQL date back to 1986 as part of the POSTGRES project at the University of California at Berkeley and has more than 35 years of active development on the core platform. 4 | 5 | ## Start with docker compose 6 | Execute: 7 | 8 | ```bash 9 | ./tools/infrastructure/scripts/install_infrastructure.bash \ 10 | --tool=postgresql \ 11 | --install-type=docker 12 | ``` 13 | 14 | ## Start natively 15 | Execute: 16 | 17 | ```bash 18 | ./tools/infrastructure/scripts/install_infrastructure.bash \ 19 | --tool=postgresql \ 20 | --install-type=native 21 | ``` 22 | 23 | ## Credentials 24 | 25 | | User | Password | Database | Port | 26 | | ---- | -------- | -------- | ---- | 27 | | dc | password | dc | 5432 | 28 | -------------------------------------------------------------------------------- /doc/src/dc/measurements/distance_traveled.md: -------------------------------------------------------------------------------- 1 | # Distance traveled 2 | 3 | ## Description 4 | 5 | Collect total distance traveled in the robot since it is powered. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------------------- | ------------------------------------ | ----- | ----------- | 11 | | **global_frame** | Global frame | str | "map" | 12 | | **robot_base_frame** | Robot base frame | str | "base_link" | 13 | | **transform_timeout** | TF Timeout to use for transformation | float | 0.1 | 14 | 15 | ## Schema 16 | 17 | ```json 18 | { 19 | "$schema": "http://json-schema.org/draft-07/schema#", 20 | "title": "Distance traveled", 21 | "description": "Total distance traveled in meters by the robot", 22 | "properties": { 23 | "distance_traveled": { 24 | "description": "Total distance traveled in meters", 25 | "type": "number" 26 | } 27 | }, 28 | "type": "object" 29 | } 30 | ``` 31 | 32 | ## Measurement configuration 33 | 34 | ```yaml 35 | ... 36 | distance_traveled: 37 | plugin: "dc_measurements/DistanceTraveled" 38 | topic_output: "/dc/measurement/distance_traveled" 39 | tags: ["flb_stdout"] 40 | global_frame: "map" 41 | robot_base_frame: "base_link" 42 | transform_timeout: 0.1 43 | ``` 44 | -------------------------------------------------------------------------------- /doc/src/dc/measurements/dummy.md: -------------------------------------------------------------------------------- 1 | # Dummy 2 | 3 | ## Description 4 | The dummy measurement, generates dummy events. It is useful for testing, debugging, benchmarking and getting started with ROS 2 Data collection. 5 | 6 | ## Parameters 7 | 8 | | Parameter | Description | Type | Default | 9 | | ---------- | ------------------ | ---- | --------------------------------------- | 10 | | **record** | Dummy JSON record. | str | "{\"message\":\"Hello from ROS 2 DC\"}" | 11 | 12 | 13 | ## Schema 14 | 15 | ```json 16 | { 17 | "$schema": "http://json-schema.org/draft-07/schema#", 18 | "title": "Dummy", 19 | "description": "Dummy JSON", 20 | "properties": { 21 | "message": { 22 | "description": "Dummy message", 23 | "type": "string" 24 | } 25 | }, 26 | "type": "object" 27 | } 28 | ``` 29 | 30 | ## Measurement configuration 31 | 32 | ```yaml 33 | ... 34 | dummy: 35 | plugin: "dc_measurements/Dummy" 36 | topic_output: "/dc/measurement/dummy" 37 | tags: ["flb_stdout"] 38 | ``` 39 | -------------------------------------------------------------------------------- /doc/src/dc/measurements/memory.md: -------------------------------------------------------------------------------- 1 | # Memory 2 | 3 | ## Description 4 | 5 | Collect memory used in percentage. 6 | 7 | ## Schema 8 | 9 | ```json 10 | { 11 | "$schema": "http://json-schema.org/draft-07/schema#", 12 | "title": "Memory", 13 | "description": "Memory used", 14 | "properties": { 15 | "used": { 16 | "description": "Memory used in percent", 17 | "type": "number", 18 | "minimum": 0 19 | } 20 | }, 21 | "type": "object" 22 | } 23 | ``` 24 | 25 | ## Measurement configuration 26 | 27 | ```yaml 28 | ... 29 | memory: 30 | plugin: "dc_measurements/Memory" 31 | topic_output: "/dc/measurement/memory" 32 | tags: ["flb_stdout"] 33 | ``` 34 | -------------------------------------------------------------------------------- /doc/src/dc/measurements/os.md: -------------------------------------------------------------------------------- 1 | # OS 2 | 3 | ## Description 4 | Collects the Operating System information: cpus, operating system name and kernel information 5 | 6 | ## Schema 7 | 8 | ```json 9 | { 10 | "$schema": "http://json-schema.org/draft-07/schema#", 11 | "title": "OS", 12 | "description": "OS, kernel and CPUs information", 13 | "properties": { 14 | "os": { 15 | "description": "Host distribution name", 16 | "type": "string" 17 | }, 18 | "kernel": { 19 | "description": "Kernel version", 20 | "type": "string" 21 | }, 22 | "cpu": { 23 | "description": "Number of CPUs", 24 | "type": "integer", 25 | "minimum": 0 26 | }, 27 | "memory": { 28 | "description": "System memory", 29 | "type": "number", 30 | "minimum": 0 31 | } 32 | }, 33 | "type": "object" 34 | } 35 | ``` 36 | 37 | ## Measurement configuration 38 | 39 | ```yaml 40 | ... 41 | os: 42 | plugin: "dc_measurements/OS" 43 | topic_output: "/dc/measurement/os" 44 | tags: ["flb_stdout"] 45 | ``` 46 | -------------------------------------------------------------------------------- /doc/src/dc/measurements/position.md: -------------------------------------------------------------------------------- 1 | # Position 2 | 3 | ## Description 4 | 5 | Collect x, y and yaw of the robot. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------------------- | ------------------------------------ | ----- | ----------- | 11 | | **global_frame** | Global frame | str | "map" | 12 | | **robot_base_frame** | Robot base frame | str | "base_link" | 13 | | **transform_timeout** | TF Timeout to use for transformation | float | 0.1 | 14 | 15 | ## Schema 16 | 17 | ```json 18 | { 19 | "$schema": "http://json-schema.org/draft-07/schema#", 20 | "title": "Position", 21 | "description": "Position and orientation of the robot", 22 | "properties": { 23 | "x": { 24 | "description": "X position of the robot", 25 | "type": "number" 26 | }, 27 | "y": { 28 | "description": "Y position of the robot", 29 | "type": "number" 30 | }, 31 | "yaw": { 32 | "description": "Yaw angle of the robot", 33 | "type": "number" 34 | } 35 | }, 36 | "type": "object" 37 | } 38 | ``` 39 | 40 | ## Measurement configuration 41 | 42 | ```yaml 43 | ... 44 | position: 45 | plugin: "dc_measurements/Position" 46 | topic_output: "/dc/measurement/position" 47 | tags: ["flb_stdout"] 48 | ``` 49 | -------------------------------------------------------------------------------- /doc/src/dc/measurements/string_stamped.md: -------------------------------------------------------------------------------- 1 | # String stamped 2 | 3 | ## Description 4 | 5 | Collect generic data from a topic publishing a StringStamped message and republish it. It allows to fetch data from rclc, rclpy and your custom ROS 2 nodes that don't have use a plugin. 6 | 7 | ## Parameters 8 | 9 | | Parameter | Description | Type | Default | 10 | | --------------- | ------------------------------------------------------------------------------------------------ | ---- | --------------- | 11 | | **timer_based** | If true, collect data at interval and if false collect every record and ignores polling_interval | bool | true | 12 | | **topic** | Topic to get data from | str | N/A (mandatory) | 13 | 14 | 15 | ## Schema 16 | 17 | Given that the data is customized here, there is no default schema. 18 | 19 | ## Measurement configuration 20 | 21 | ```yaml 22 | ... 23 | my_data: 24 | plugin: "dc_measurements/StringStamped" 25 | topic_output: "/dc/measurement/my_data" 26 | tags: ["flb_stdout"] 27 | topic: "/hello-world" 28 | timer_based: true 29 | ``` 30 | -------------------------------------------------------------------------------- /doc/src/dc/measurements/uptime.md: -------------------------------------------------------------------------------- 1 | # Uptime 2 | 3 | ## Description 4 | Time since when the robot PC has been on. 5 | 6 | ## Schema 7 | 8 | ```json 9 | { 10 | "$schema": "http://json-schema.org/draft-07/schema#", 11 | "title": "Uptime", 12 | "description": "Time the system has been up", 13 | "properties": { 14 | "time": { 15 | "description": "Time the system has been up", 16 | "type": "integer", 17 | "minimum": 0 18 | } 19 | }, 20 | "type": "object" 21 | } 22 | ``` 23 | 24 | ## Measurement configuration 25 | 26 | ```yaml 27 | ... 28 | uptime: 29 | plugin: "dc_measurements/Uptime" 30 | topic_output: "/dc/measurement/uptime" 31 | tags: ["flb_stdout"] 32 | ``` 33 | -------------------------------------------------------------------------------- /doc/src/dc/requirements.md: -------------------------------------------------------------------------------- 1 | # Requirements 2 | 3 | Requirements are tracked using [Strictdoc](https://github.com/strictdoc-project/strictdoc). 4 | 5 | The goal is to list tasks and do [test based requirements](https://visuresolutions.com/requirements-management-traceability-guide/requirement-based-testing). 6 | 7 | 8 | -------------------------------------------------------------------------------- /doc/src/fonts/lineicons.eot: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/doc/src/fonts/lineicons.eot -------------------------------------------------------------------------------- /doc/src/fonts/lineicons.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/doc/src/fonts/lineicons.ttf -------------------------------------------------------------------------------- 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} 32 | 33 | pre > .buttons { 34 | z-index: 2; 35 | } 36 | 37 | a, a:visited, a:active, a:hover { 38 | color: #4183c4; 39 | text-decoration: none; 40 | } 41 | 42 | h1, h2, h3, h4, h5, h6 { 43 | page-break-inside: avoid; 44 | page-break-after: avoid; 45 | } 46 | 47 | pre, code { 48 | page-break-inside: avoid; 49 | white-space: pre-wrap; 50 | } 51 | 52 | .fa { 53 | display: none !important; 54 | } 55 | -------------------------------------------------------------------------------- /doc/theme/favicon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/doc/theme/favicon.png -------------------------------------------------------------------------------- /docker-compose.yaml: -------------------------------------------------------------------------------- 1 | version: "3.9" 2 | x-logging: 3 | &x-logging 4 | options: 5 | max-size: 50m 6 | max-file: "1" 7 | driver: json-file 8 | x-restart: &x-restart "unless-stopped" 9 | x-stop-grace-period: &x-stop-grace-period "3s" 10 | 11 | services: 12 | ros2-data-collection: 13 | image: minipada/ros2_data_collection:humble-source-sim 14 | privileged: true 15 | container_name: ros2-data-collection 16 | environment: 17 | - QT_X11_NO_MITSHM=1 18 | - NVIDIA_VISIBLE_DEVICES=all 19 | - NVIDIA_DRIVER_CAPABILITIES=compute,utility,display 20 | - DISPLAY=unix$DISPLAY 21 | - XAUTHORITY=$XAUTHORITY 22 | volumes: 23 | - ${HOME}/.Xauthority:/root/.Xauthority 24 | - /tmp/.X11-unix:/tmp/.X11-unix 25 | - /var/run/docker.sock:/var/run/docker.sock 26 | - ${PWD}:/root/ros2_data_collection/src/ros2_data_collection 27 | network_mode: "host" 28 | logging: *x-logging 29 | restart: *x-restart 30 | stop_grace_period: *x-stop-grace-period 31 | runtime: nvidia 32 | command: tail -F anything 33 | working_dir: /root/ros2_data_collection 34 | -------------------------------------------------------------------------------- /docker/ci-testing/Dockerfile: -------------------------------------------------------------------------------- 1 | # ghcr.io/minipada/ros2_data_collection:${ROS_DISTRO}-ci-testing 2 | # CI image using the ROS testing repository 3 | 4 | ARG ROS_DISTRO=humble 5 | FROM ghcr.io/minipada/ros2_data_collection:${ROS_DISTRO}-ci 6 | 7 | # Switch to ros-testing 8 | SHELL ["/bin/bash", "-o", "pipefail", "-c"] 9 | RUN echo "deb http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2-latest.list 10 | 11 | # Upgrade packages to ros-shadow-fixed and clean apt-cache within one RUN command 12 | RUN apt-get -qq update && \ 13 | apt-get -qq dist-upgrade && \ 14 | # Clear apt-cache to reduce image size 15 | rm -rf /var/lib/apt/lists/* 16 | -------------------------------------------------------------------------------- /docker/doc/Dockerfile: -------------------------------------------------------------------------------- 1 | # ghcr.io/minipada/ros2_data_collection:${ROS_DISTRO}-doc 2 | # Image to build the documentation 3 | FROM rust:1.68.2-bullseye AS ros2_dc_doc_builder 4 | 5 | WORKDIR / 6 | 7 | COPY requirements.txt . 8 | COPY requirements-dev.txt . 9 | 10 | RUN apt-get -q update && \ 11 | # Python3 12 | apt-get -q install --no-install-recommends -y python-is-python3 python3-pip && \ 13 | pip3 install --no-cache-dir -r requirements.txt -r requirements-dev.txt && \ 14 | cargo install mdbook mdbook-admonish mdbook-linkcheck mdbook-mermaid mdbook-open-on-gh && \ 15 | # Clear apt-cache to reduce image size 16 | rm -rf /var/lib/apt/lists/* 17 | -------------------------------------------------------------------------------- /fluent_bit_plugins/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | fluent_bit_plugins 5 | 0.1.0 6 | A vendor package for An End to End Observability Pipeline 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | golang-go 11 | 12 | dc_interfaces 13 | fluent_bit_vendor 14 | rcl 15 | rclc 16 | 17 | 18 | ament_cmake 19 | 20 | 21 | -------------------------------------------------------------------------------- /fluent_bit_plugins/src/go/out_files_metrics/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(out_files_metrics) 3 | 4 | set(GO_COMPILER go) 5 | set(FILES_METRICS_LIBRARY out_files_metrics.so) 6 | set(FILES_METRICS_INCLUDE out_files_metrics.h) 7 | 8 | add_custom_target(plugin_out_files_metrics_install ALL 9 | COMMAND ${GO_COMPILER} get 10 | WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} 11 | ) 12 | 13 | add_custom_target(plugin_out_files_metrics ALL 14 | COMMAND ${GO_COMPILER} build -buildmode=c-shared -buildvcs=false -o ${FILES_METRICS_LIBRARY} ${CMAKE_CURRENT_SOURCE_DIR} 15 | WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} 16 | ) 17 | 18 | install( 19 | FILES ${CMAKE_CURRENT_SOURCE_DIR}/${FILES_METRICS_LIBRARY} 20 | FILES ${CMAKE_CURRENT_SOURCE_DIR}/${FILES_METRICS_INCLUDE} 21 | DESTINATION lib 22 | ) 23 | -------------------------------------------------------------------------------- /fluent_bit_plugins/src/go/out_files_metrics/go.mod: -------------------------------------------------------------------------------- 1 | module out_files_metrics 2 | 3 | go 1.18 4 | 5 | require ( 6 | github.com/fluent/fluent-bit-go v0.0.0-20230515084116-b93d969da46d 7 | github.com/lib/pq v1.10.9 8 | github.com/minio/minio-go/v7 v7.0.56 9 | ) 10 | 11 | require ( 12 | github.com/dustin/go-humanize v1.0.1 // indirect 13 | github.com/google/uuid v1.3.0 // indirect 14 | github.com/json-iterator/go v1.1.12 // indirect 15 | github.com/klauspost/compress v1.16.5 // indirect 16 | github.com/klauspost/cpuid/v2 v2.2.4 // indirect 17 | github.com/minio/md5-simd v1.1.2 // indirect 18 | github.com/minio/sha256-simd v1.0.1 // indirect 19 | github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd // indirect 20 | github.com/modern-go/reflect2 v1.0.2 // indirect 21 | github.com/rs/xid v1.5.0 // indirect 22 | github.com/sirupsen/logrus v1.9.2 // indirect 23 | github.com/ugorji/go/codec v1.1.7 // indirect 24 | golang.org/x/crypto v0.9.0 // indirect 25 | golang.org/x/net v0.10.0 // indirect 26 | golang.org/x/sys v0.8.0 // indirect 27 | golang.org/x/text v0.9.0 // indirect 28 | gopkg.in/ini.v1 v1.67.0 // indirect 29 | ) 30 | -------------------------------------------------------------------------------- /fluent_bit_plugins/src/go/out_files_metrics/misc.go: -------------------------------------------------------------------------------- 1 | package main 2 | 3 | import ( 4 | "fmt" 5 | ) 6 | 7 | func contains(elems []int, v int) bool { 8 | for _, s := range elems { 9 | if v == s { 10 | return true 11 | } 12 | } 13 | return false 14 | } 15 | 16 | func containsStr(elems []string, v string) bool { 17 | for _, s := range elems { 18 | if v == s { 19 | return true 20 | } 21 | } 22 | return false 23 | } 24 | 25 | type M map[string]interface{} 26 | 27 | func NestedMapLookup(m map[interface{}]interface{}, ks ...string) (rval interface{}, err error) { 28 | var ok bool 29 | 30 | if len(ks) == 0 { // degenerate input 31 | return nil, fmt.Errorf("NestedMapLookup needs at least one key") 32 | } 33 | if rval, ok = m[ks[0]]; !ok { 34 | return nil, fmt.Errorf("key not found; remaining keys: %v", ks) 35 | } else if len(ks) == 1 { // we've reached the final key 36 | return rval, nil 37 | } else if m, ok = rval.(map[interface{}]interface{}); !ok { 38 | return nil, fmt.Errorf("malformed structure at %#v", rval) 39 | } else { // 1+ more keys 40 | return NestedMapLookup(m, ks[1:]...) 41 | } 42 | } 43 | -------------------------------------------------------------------------------- /fluent_bit_plugins/src/go/out_minio/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(out_minio) 3 | 4 | set(GO_COMPILER go) 5 | set(MINIO_LIBRARY out_minio.so) 6 | set(MINIO_INCLUDE out_minio.h) 7 | 8 | add_custom_target(plugin_out_minio_install ALL 9 | COMMAND ${GO_COMPILER} get 10 | WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} 11 | ) 12 | 13 | add_custom_target(plugin_out_minio ALL 14 | COMMAND ${GO_COMPILER} build -buildmode=c-shared -buildvcs=false -o ${MINIO_LIBRARY} ${CMAKE_CURRENT_SOURCE_DIR} 15 | WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} 16 | ) 17 | 18 | install( 19 | FILES ${CMAKE_CURRENT_SOURCE_DIR}/${MINIO_LIBRARY} 20 | FILES ${CMAKE_CURRENT_SOURCE_DIR}/${MINIO_INCLUDE} 21 | DESTINATION lib 22 | ) 23 | -------------------------------------------------------------------------------- /fluent_bit_plugins/src/go/out_minio/go.mod: -------------------------------------------------------------------------------- 1 | module out_minio 2 | 3 | go 1.18 4 | 5 | require ( 6 | github.com/fluent/fluent-bit-go v0.0.0-20230515084116-b93d969da46d 7 | github.com/minio/minio-go/v7 v7.0.56 8 | ) 9 | 10 | require ( 11 | github.com/dustin/go-humanize v1.0.1 // indirect 12 | github.com/google/uuid v1.3.0 // indirect 13 | github.com/json-iterator/go v1.1.12 // indirect 14 | github.com/klauspost/compress v1.16.5 // indirect 15 | github.com/klauspost/cpuid/v2 v2.2.4 // indirect 16 | github.com/minio/md5-simd v1.1.2 // indirect 17 | github.com/minio/sha256-simd v1.0.1 // indirect 18 | github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd // indirect 19 | github.com/modern-go/reflect2 v1.0.2 // indirect 20 | github.com/rs/xid v1.5.0 // indirect 21 | github.com/sirupsen/logrus v1.9.2 // indirect 22 | github.com/ugorji/go/codec v1.1.7 // indirect 23 | golang.org/x/crypto v0.9.0 // indirect 24 | golang.org/x/net v0.10.0 // indirect 25 | golang.org/x/sys v0.8.0 // indirect 26 | golang.org/x/text v0.9.0 // indirect 27 | gopkg.in/ini.v1 v1.67.0 // indirect 28 | ) 29 | -------------------------------------------------------------------------------- /fluent_bit_plugins/src/go/out_minio/misc.go: -------------------------------------------------------------------------------- 1 | package main 2 | 3 | import ( 4 | "fmt" 5 | "net/http" 6 | "os" 7 | ) 8 | 9 | func NestedMapLookup(m map[interface{}]interface{}, ks ...string) (rval interface{}, err error) { 10 | var ok bool 11 | 12 | if len(ks) == 0 { // degenerate input 13 | return nil, fmt.Errorf("NestedMapLookup needs at least one key") 14 | } 15 | if rval, ok = m[ks[0]]; !ok { 16 | return nil, fmt.Errorf("key not found; remaining keys: %v", ks) 17 | } else if len(ks) == 1 { // we've reached the final key 18 | return rval, nil 19 | } else if m, ok = rval.(map[interface{}]interface{}); !ok { 20 | return nil, fmt.Errorf("malformed structure at %#v", rval) 21 | } else { // 1+ more keys 22 | return NestedMapLookup(m, ks[1:]...) 23 | } 24 | } 25 | 26 | func get_file_content(path string) string { 27 | file, err := os.Open(path) 28 | 29 | defer file.Close() 30 | 31 | if err != nil { 32 | panic(err) 33 | } 34 | // Get the file content 35 | buf := make([]byte, 512) 36 | _, err = file.Read(buf) 37 | 38 | if err != nil { 39 | panic(err) 40 | } 41 | 42 | contentType := http.DetectContentType(buf) 43 | 44 | return contentType 45 | } 46 | 47 | func contains(elems []int, v int) bool { 48 | for _, s := range elems { 49 | if v == s { 50 | return true 51 | } 52 | } 53 | return false 54 | } 55 | -------------------------------------------------------------------------------- /fluent_bit_vendor/fluentbit_vendor-extras.cmake: -------------------------------------------------------------------------------- 1 | list(INSERT CMAKE_MODULE_PATH 0 "${fluent_bit_vendor_DIR}/Modules") 2 | list(INSERT CMAKE_MODULE_PATH 0 "${fluent_bit_vendor_DIR}/cmake") 3 | list(INSERT CMAKE_MODULE_PATH 0 "${fluent_bit_vendor_DIR}/sanitizers-cmake/cmake") 4 | -------------------------------------------------------------------------------- /fluent_bit_vendor/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | fluent_bit_vendor 5 | 2.0.0 6 | A vendor package for An End to End Observability Pipeline 7 | David Bensoussan 8 | MPL-2.0 9 | 10 | ament_cmake 11 | dc_interfaces 12 | git 13 | flex 14 | bison 15 | libpq-dev 16 | libssl-dev 17 | rclc 18 | 19 | 20 | ament_cmake 21 | 22 | 23 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | numpy==1.24.2 ; python_full_version >= "3.8.10" and python_full_version != "3.9.7" and python_full_version < "4.0.0" 2 | opencv-python==4.7.0.68 ; python_full_version >= "3.8.10" and python_full_version != "3.9.7" and python_full_version < "4.0.0" 3 | pillow==9.4.0 ; python_full_version >= "3.8.10" and python_full_version != "3.9.7" and python_full_version < "4.0.0" 4 | pydantic==1.10.4 ; python_full_version >= "3.8.10" and python_full_version != "3.9.7" and python_full_version < "4.0.0" 5 | pyzbar==0.1.9 ; python_full_version >= "3.8.10" and python_full_version != "3.9.7" and python_full_version < "4.0.0" 6 | typing-extensions==4.5.0 ; python_full_version >= "3.8.10" and python_full_version != "3.9.7" and python_full_version < "4.0.0" 7 | -------------------------------------------------------------------------------- /requirements/general.sdoc: -------------------------------------------------------------------------------- 1 | [DOCUMENT] 2 | TITLE: General 3 | 4 | [SECTION] 5 | TITLE: Usability 6 | 7 | [REQUIREMENT] 8 | UID: GEN-USAB-001 9 | TITLE: Can load configuration from YAML 10 | STATEMENT: All configuration can be passed as a standard ROS 2 YAML configuration file. 11 | 12 | [/SECTION] 13 | 14 | [SECTION] 15 | TITLE: Deployment 16 | 17 | [REQUIREMENT] 18 | UID: GEN-DEP-001 19 | TITLE: Container deployment 20 | STATEMENT: The system should support deployment with docker images. 21 | 22 | [REQUIREMENT] 23 | UID: GEN-DEP-002 24 | TITLE: Native deployment 25 | STATEMENT: The system should support deployment with native apt packages. 26 | 27 | [REQUIREMENT] 28 | UID: GEN-DEP-003 29 | TITLE: Easy configuration and management 30 | STATEMENT: The system should provide an easy-to-use configuration and management interface, allowing users to quickly and easily set up and manage the system. 31 | 32 | [REQUIREMENT] 33 | UID: GEN-DEP-004 34 | TITLE: Fault tolerance and error handling 35 | STATEMENT: The system should be fault-tolerant and provide robust error handling mechanisms to ensure that the system continues to operate even in the event of failures or errors. 36 | 37 | [/SECTION] 38 | -------------------------------------------------------------------------------- /requirements/tooling.sdoc: -------------------------------------------------------------------------------- 1 | [DOCUMENT] 2 | TITLE: Tooling 3 | 4 | [SECTION] 5 | TITLE: Monitoring 6 | 7 | [REQUIREMENT] 8 | UID: TOOL-MON-001 9 | TITLE: Can monitor system performance and health 10 | STATEMENT: The system should be able to monitor its own performance and health, such as CPU usage, memory usage, network usage, and report any issues or errors to a logging system. 11 | 12 | [/SECTION] 13 | 14 | [SECTION] 15 | TITLE: Reports 16 | 17 | [REQUIREMENT] 18 | UID: TOOL-REP-001 19 | TITLE: Can generate reports and statistics on data usage and performance 20 | STATEMENT: The system should be able to generate reports and statistics on data usage and performance to help users optimize their data collection and analysis processes. 21 | 22 | [/SECTION] 23 | 24 | [SECTION] 25 | TITLE: CLI 26 | 27 | [REQUIREMENT] 28 | UID: TOOL-CLI-001 29 | TITLE: Can list plugins from CLI 30 | STATEMENT: Plugins defined in xml files can be fetched and listed so the user knows which ones are available. 31 | 32 | [/SECTION] 33 | -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- 1 | [metadata] 2 | name = 'ros2_data_collection' 3 | long_description = file: README.md 4 | long_description_content_type = text/markdown 5 | 6 | [flake8] 7 | jobs = auto 8 | verbose = 0 9 | quiet = 0 10 | format = default 11 | count = True 12 | show-source = True 13 | statistics = True 14 | tee = True 15 | exclude = .git, __pycache__ 16 | filename = *.py 17 | disable-noqa = False 18 | max-line-length = 100 19 | max-complexity = 10 20 | ignore = BLK100, W503, T101, E203, E266, B008, D106, D100, C901, D104 21 | enable-extensions = alfred, black, builtins, bugbear, comprehensions, darglint, debugger, executable, logging-format, pep3101, variables-names, copyright 22 | doctests = True 23 | inline-quotes = " 24 | multiline-quotes = """ 25 | per-file-ignores = */launch/*launch.py:D103 26 | 27 | [darglint] 28 | strictness = short 29 | ignore = D407 30 | docstring_style=google 31 | -------------------------------------------------------------------------------- /tools/infrastructure/docker/config/grafana/configuration/conf.ini: -------------------------------------------------------------------------------- 1 | instance_name = "ROS 2 Data Collection" 2 | app_mode = development 3 | 4 | [dashboards] 5 | default_home_dashboard_path = "/etc/dashboards/home.json" 6 | 7 | [panels] 8 | disable_sanitize_html = true 9 | -------------------------------------------------------------------------------- /tools/infrastructure/docker/config/grafana/img/dc.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Minipada/ros2_data_collection/50336c9af003ff2f9c631830218e444206dfa5d0/tools/infrastructure/docker/config/grafana/img/dc.png -------------------------------------------------------------------------------- /tools/infrastructure/docker/config/grafana/provisioning/grafana-dashboards.yml: -------------------------------------------------------------------------------- 1 | apiVersion: 1 2 | 3 | providers: 4 | - name: dashboards 5 | type: file 6 | orgId: 1 7 | updateIntervalSeconds: 10 8 | options: 9 | path: /etc/dashboards 10 | foldersFromFilesStructure: true 11 | allowUiUpdates: true 12 | -------------------------------------------------------------------------------- /tools/infrastructure/docker/config/grafana/provisioning/grafana-datasource.yml: -------------------------------------------------------------------------------- 1 | apiVersion: 1 2 | 3 | datasources: 4 | - name: InfluxDB 5 | type: influxdb 6 | database: dc 7 | user: admin 8 | password: admin 9 | url: http://influxdb:8086 10 | isDefault: true 11 | uid: flb_influxdb 12 | -------------------------------------------------------------------------------- /tools/infrastructure/docker/docker-compose.adminer.yaml: -------------------------------------------------------------------------------- 1 | version: '3.1' 2 | 3 | services: 4 | adminer: 5 | image: adminer 6 | container_name: adminer 7 | restart: unless-stopped 8 | ports: 9 | - 8080:8080 10 | -------------------------------------------------------------------------------- /tools/infrastructure/docker/docker-compose.grafana.yaml: -------------------------------------------------------------------------------- 1 | version: '3.7' 2 | 3 | services: 4 | grafana: 5 | image: grafana/grafana:9.5.2 6 | container_name: grafana 7 | restart: unless-stopped 8 | environment: 9 | - GF_SECURITY_ADMIN_USER=admin 10 | - GF_SECURITY_ADMIN_PASSWORD=admin 11 | - GF_INSTALL_PLUGINS=volkovlabs-image-panel,marcusolsson-dynamictext-panel 12 | ports: 13 | - 3000:3000 14 | volumes: 15 | - ./config/grafana/provisioning/grafana-datasource.yml:/etc/grafana/provisioning/datasources/grafana-datasource.yml 16 | - ./config/grafana/provisioning/grafana-dashboards.yml:/etc/grafana/provisioning/dashboards/grafana-dashboards.yml 17 | - ./config/grafana/dashboards:/etc/dashboards 18 | - ./config/grafana/configuration/conf.ini:/etc/grafana/grafana.ini 19 | - ./config/grafana/img:/usr/share/grafana/public/img/dc 20 | - /etc/localtime:/etc/localtime:ro 21 | -------------------------------------------------------------------------------- /tools/infrastructure/docker/docker-compose.influxdb.yaml: -------------------------------------------------------------------------------- 1 | version: '3.7' 2 | 3 | services: 4 | influxdb: 5 | image: influxdb:1.8-alpine 6 | container_name: influxdb 7 | restart: unless-stopped 8 | environment: 9 | - INFLUXDB_DB=dc 10 | - INFLUXDB_ADMIN_USER=admin 11 | - INFLUXDB_ADMIN_PASSWORD=admin 12 | ports: 13 | - 8086:8086 14 | -------------------------------------------------------------------------------- /tools/infrastructure/docker/docker-compose.postgresql.yaml: -------------------------------------------------------------------------------- 1 | version: '3.1' 2 | 3 | services: 4 | db: 5 | image: postgres:13 6 | container_name: db 7 | restart: unless-stopped 8 | environment: 9 | POSTGRES_USER: dc 10 | POSTGRES_PASSWORD: password 11 | ports: 12 | - 5432:5432 13 | -------------------------------------------------------------------------------- /tools/infrastructure/scripts/minio/minio.conf: -------------------------------------------------------------------------------- 1 | # Volume to be used for MinIO server. 2 | MINIO_VOLUMES="/mnt/data" 3 | # Use if you want to run MinIO on a custom port. 4 | MINIO_OPTS="--address :9199 --console-address :9001" 5 | # Root user for the server. 6 | MINIO_ROOT_USER=Root-User 7 | # Root secret for the server. 8 | MINIO_ROOT_PASSWORD=Root-Password 9 | 10 | # set this for MinIO to reload entries with 'mc admin service restart' 11 | MINIO_CONFIG_ENV_FILE=/etc/default/minio 12 | -------------------------------------------------------------------------------- /tools/infrastructure/scripts/minio/minio.service: -------------------------------------------------------------------------------- 1 | # Source: https://github.com/minio/minio-service/blob/master/linux-systemd/minio.service 2 | [Unit] 3 | Description=MinIO 4 | Documentation=https://docs.min.io 5 | Wants=network-online.target 6 | After=network-online.target 7 | AssertFileIsExecutable=/usr/local/bin/minio 8 | AssertFileNotEmpty=/etc/default/minio 9 | 10 | [Service] 11 | Type=notify 12 | 13 | WorkingDirectory=/usr/local/ 14 | 15 | User=minio-user 16 | Group=minio-user 17 | ProtectProc=invisible 18 | 19 | EnvironmentFile=/etc/default/minio 20 | ExecStartPre=/bin/bash -c "if [ -z \"${MINIO_VOLUMES}\" ]; then echo \"Variable MINIO_VOLUMES not set in /etc/default/minio\"; exit 1; fi" 21 | ExecStart=/usr/local/bin/minio server $MINIO_OPTS $MINIO_VOLUMES 22 | 23 | # Let systemd restart this service always 24 | Restart=always 25 | 26 | # Specifies the maximum file descriptor number that can be opened by this process 27 | LimitNOFILE=1048576 28 | 29 | # Specifies the maximum number of threads this process can create 30 | TasksMax=infinity 31 | 32 | # Disable timeout logic and wait until process is stopped 33 | TimeoutStopSec=infinity 34 | SendSIGKILL=no 35 | 36 | [Install] 37 | WantedBy=multi-user.target 38 | 39 | # Built for ${project.name}-${project.version} (${project.name}) 40 | --------------------------------------------------------------------------------