Merged in rostopic_stats_logger (pull request #433)

ROS topic statistics logger Approved-by: Nate Koenig <natekoenig@gmail.com>
osrf · Apr 6, 2020 · 108a603 · 108a603
2 parents 3d8cdee + d442fc3
commit 108a603
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Showing 3 changed files with 16 additions and 0 deletions.
diff --git a/subt_ros/CMakeLists.txt b/subt_ros/CMakeLists.txt
@@ -76,3 +76,7 @@ install(TARGETS pose_tf_broadcaster subt_ros_relay set_pose_relay bridge_logger
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+
+install(PROGRAMS scripts/rostopic_stats_logger.sh
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/subt_ros/launch/competition_init.launch b/subt_ros/launch/competition_init.launch
@@ -5,6 +5,7 @@
   <arg name="robot_names" default=""/>
   <arg name="enable_ground_truth" default="0"/>
 
+  <param name="/enable_statistics" value="true"/>
   <param name="/use_sim_time" value="true"/>
   <param name="/world_name" value="$(arg world_name)"/>
   <rosparam param="/robot_names" subst_value='true'>$(arg robot_names)</rosparam>
@@ -22,6 +23,12 @@
     type="bridge_logger"
     name="bridge_logger"/>
 
+
+  <node
+    pkg="subt_ros"
+    type="rostopic_stats_logger.sh"
+    name="rostopic_stats_logger"/>
+
   <group if="$(arg enable_ground_truth)">
     <!-- In the case that ground truth is enabled, also relay the /set_pose
          service, which allows teleportation of models in the sim environment.

diff --git a/subt_ros/scripts/rostopic_stats_logger.sh b/subt_ros/scripts/rostopic_stats_logger.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+source /opt/ros/melodic/setup.bash
+
+rostopic echo /statistics > $HOME/.ros/rostopic_stats_logger.log