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add robustness to missing inputbag path #2

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merged 1 commit into from
Sep 14, 2024
Merged

add robustness to missing inputbag path #2

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2 changes: 1 addition & 1 deletion launch/replay_packets.launch
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<launch>


<arg name="input_rosbag_path" default="/home/tutuna/box_ws/src/grand_tour_box/box_drivers/novatel_oem7_driver/src/novatel_oem7_driver/data/2024-08-14-10-45-39_nuc_hesai_1.bag"/>
<arg name="input_rosbag_path" default=""/>

<param name="/use_sim_time" value="true"/>
<arg name="node_start_delay" default="2.0" />
Expand Down
1 change: 1 addition & 0 deletions launch/start.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
<launch>
<node pkg="hesai_ros_driver" name="hesai_ros_driver_node" type="hesai_ros_driver_node" output="screen">
<param name="config_path" type="string" value= "$(find hesai_ros_driver)/config/config.yaml"/>
<param name="input_rosbag_path" type="string" value=""/>
</node>
<!-- rviz -->
<node pkg="rviz" name="rviz" type="rviz" args="-d '$(find hesai_ros_driver)/rviz/rviz.rviz'" required="true"/>
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123 changes: 59 additions & 64 deletions src/manager/source_driver_ros1.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,10 +265,15 @@ inline void SourceDriver::Start()
std::this_thread::sleep_for(std::chrono::milliseconds(50));

input_rosbag_path_ = driver_ptr_->inputRosbagPath_;
if (input_rosbag_path_ != ""){
if (!(save_replayed_topics_to_rosbag_))
{
ROS_WARN("[HesaiXT32] Replay mode is off.");
return;
}

if ( (input_rosbag_path_ != "") && (save_replayed_topics_to_rosbag_)){

ROS_WARN_STREAM("driver_ptr_->inputRosbagPath_: " << driver_ptr_->inputRosbagPath_);

ROS_WARN_STREAM("Input rosbag path: " << input_rosbag_path_);

// We need to do a dry-run on the rosbag to get the end time of the rosbag.
Expand All @@ -278,79 +283,69 @@ inline void SourceDriver::Start()
viewtopics.push_back("/gt_box/hesai/packets");

{

rosbag::View view(inputBag, rosbag::TopicQuery(viewtopics));
ros::Duration rosbag_duration = view.getEndTime() - view.getBeginTime();

// ros::Time custom_start =
// rosbag::View(bag).getBeginTime() + ros::Duration(view.getBeginTime());
// ros::Time custom_t_end =
// duration >= 0 ? custom_start + ros::Duration(duration) : ros::TIME_MAX;

// // customView.addQuery(customView.getConnections(), rosbag::TopicQuery::Options());
// // customView.setQueryOptions(rosbag::TopicQuery::Options(rosbag::TopicQuery::REVERSE));
// auto lastMessageIter = view.end();
// ros::Time lastMsgTime = lastMessageIter->getTime();
// ROS_WARN_STREAM("Last Msg time in the bag is: " << lastMsgTime.toSec() << " s");

// for (rosbag::View::iterator it = view.end(); it != view.begin(); --it) {
// rosbag::View::iterator it2 = view.end();
// ros::Time lastMsgTime = it2->getTime();
// ROS_WARN_STREAM("lastMsgTime: " << lastMsgTime.toSec() << " s");

// if (fp != NULL) {
// dataset->push_back(*fp);
rosbag::View view(inputBag, rosbag::TopicQuery(viewtopics));
ros::Duration rosbag_duration = view.getEndTime() - view.getBeginTime();

// ros::Time custom_start =
// rosbag::View(bag).getBeginTime() + ros::Duration(view.getBeginTime());
// ros::Time custom_t_end =
// duration >= 0 ? custom_start + ros::Duration(duration) : ros::TIME_MAX;

// // customView.addQuery(customView.getConnections(), rosbag::TopicQuery::Options());
// // customView.setQueryOptions(rosbag::TopicQuery::Options(rosbag::TopicQuery::REVERSE));
// auto lastMessageIter = view.end();
// ros::Time lastMsgTime = lastMessageIter->getTime();
// ROS_WARN_STREAM("Last Msg time in the bag is: " << lastMsgTime.toSec() << " s");

// for (rosbag::View::iterator it = view.end(); it != view.begin(); --it) {
// rosbag::View::iterator it2 = view.end();
// ros::Time lastMsgTime = it2->getTime();
// ROS_WARN_STREAM("lastMsgTime: " << lastMsgTime.toSec() << " s");

// if (fp != NULL) {
// dataset->push_back(*fp);
// }
// }
// }


totalNumberOfPackets_ = view.size();

ROS_WARN_STREAM("ROS bag begin time: " << view.getBeginTime().toSec() << " ROS bag end time: "
<< view.getEndTime().toSec() << " s " << "Duration: " << rosbag_duration.toSec() << " s");


bagStartTime_ = view.getBeginTime();
bagEndTime_ = view.getEndTime();
duration_ = bagEndTime_.toNSec() - bagStartTime_.toNSec();
totalNumberOfPackets_ = view.size();

ROS_WARN_STREAM("ROS bag begin time: " << view.getBeginTime().toSec() << " ROS bag end time: "
<< view.getEndTime().toSec() << " s " << "Duration: " << rosbag_duration.toSec() << " s");

bagStartTime_ = view.getBeginTime();
bagEndTime_ = view.getEndTime();
duration_ = bagEndTime_.toNSec() - bagStartTime_.toNSec();


auto it = view.begin();
// size_t dec_pointer = view.size()-1;
// auto last_it = view.crbegin();
rosbag::View::iterator last_item;
rosbag::View::iterator lastlast_item;
while (it != view.end())
{
last_item = it++;

auto it = view.begin();
// size_t dec_pointer = view.size()-1;
// auto last_it = view.crbegin();
rosbag::View::iterator last_item;
rosbag::View::iterator lastlast_item;
while (it != view.end())
{
last_item = it++;
if (it == view.end())
{
break;
}else{
lastlast_item = last_item;
}
}

if (it == view.end())
{
break;
}else{
lastlast_item = last_item;
}
}
{
// last_item = --it;
// rosbag::View customView(inputBag, rosbag::TopicQuery(viewtopics));
// rosbag::View::iterator it2 = customView.end();
lastPossibleMsgTime_ = lastlast_item->getTime();
// lastlast_item = (last_item+(dec_pointer--))
// ROS_WARN_STREAM("Last Msg time in the bag is: " << lastMsgTime.toNSec() << " s");

{
// last_item = --it;
// rosbag::View customView(inputBag, rosbag::TopicQuery(viewtopics));
// rosbag::View::iterator it2 = customView.end();
lastPossibleMsgTime_ = lastlast_item->getTime();
// lastlast_item = (last_item+(dec_pointer--))
// ROS_WARN_STREAM("Last Msg time in the bag is: " << lastMsgTime.toNSec() << " s");
}

}



}



}else{
ROS_ERROR_STREAM("Input rosbag path is empty. Exiting...");
raise(SIGINT);
Expand Down Expand Up @@ -540,7 +535,7 @@ inline sensor_msgs::PointCloud2 SourceDriver::ToRosMsg(const LidarDecodedFrame<L
outputBag.write("/gt_box/hesai/points_last", lastPointStamp_, ros_msg_last);
}

ros::Time now = ros::Time::now();
// ros::Time now = ros::Time::now();
// ROS_WARN_STREAM("Time diff left: " << lastPossibleMsgTime_.toNSec() - latestCloudStamp_.toNSec());
// ROS_WARN_STREAM("Time diff NOW: " << lastPossibleMsgTime_.toNSec() - now.toNSec());

Expand Down