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Enable topic statistics for breadcrumbs #742

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merged 4 commits into from
Jan 28, 2021
Merged

Enable topic statistics for breadcrumbs #742

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fcb5b12
Enable topic statistics for breadcrumbs
Jan 6, 2021
5a45295
merged with master
Jan 25, 2021
96e10d0
Remove extra env var
Jan 26, 2021
2d52321
Added back in vehicle topic env defs
Jan 28, 2021
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1 change: 1 addition & 0 deletions submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>"
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>"
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>"
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>"
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/marble_husky_sensor_config_2/launch/spawner.rb
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>6</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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1 change: 1 addition & 0 deletions submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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7 changes: 7 additions & 0 deletions subt_ign/launch/cave_circuit.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -239,6 +239,11 @@
<value>$LD_LIBRARY_PATH</value>
</env>

<env>
<name>IGN_TRANSPORT_TOPIC_STATISTICS</name>
<value>1</value>
</env>

<!-- Start ROS first. This is a bit hacky for now. -->
<!-- Make sure to source /opt/ros/melodic/setup.bash -->
<executable name='ros'>
Expand Down Expand Up @@ -738,6 +743,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
Expand Down Expand Up @@ -880,6 +886,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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7 changes: 7 additions & 0 deletions subt_ign/launch/cloudsim_sim.ign
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Expand Up @@ -304,6 +304,11 @@
<value>$LD_LIBRARY_PATH</value>
</env>

<env>
<name>IGN_TRANSPORT_TOPIC_STATISTICS</name>
<value>1</value>
</env>

<!-- Run the websocket server -->
<plugin name="ignition::launch::WebsocketServer"
filename="libignition-launch-websocket-server.so">
Expand Down Expand Up @@ -615,6 +620,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
Expand Down Expand Up @@ -757,6 +763,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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7 changes: 7 additions & 0 deletions subt_ign/launch/competition.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -236,6 +236,11 @@
<value>$LD_LIBRARY_PATH</value>
</env>

<env>
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nit: I'm not sure why this launch file has this. Shouldn't it be just in cloudsim_sim.ign?

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I put this here so that the behavior is the same when running locally using this launch file and running in the cloud.

<name>IGN_TRANSPORT_TOPIC_STATISTICS</name>
<value>1</value>
</env>

<!-- Start ROS first. This is a bit hacky for now. -->
<!-- Make sure to source /opt/ros/melodic/setup.bash -->
<executable name='ros'>
Expand Down Expand Up @@ -539,6 +544,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
Expand Down Expand Up @@ -681,6 +687,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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6 changes: 6 additions & 0 deletions subt_ign/launch/tunnel_circuit_practice.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -238,6 +238,10 @@
<name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
<value>$LD_LIBRARY_PATH</value>
</env>
<env>
<name>IGN_TRANSPORT_TOPIC_STATISTICS</name>
<value>1</value>
</env>

<!-- Start ROS first. This is a bit hacky for now. -->
<!-- Make sure to source /opt/ros/melodic/setup.bash -->
Expand Down Expand Up @@ -542,6 +546,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
Expand Down Expand Up @@ -684,6 +689,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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7 changes: 7 additions & 0 deletions subt_ign/launch/urban_circuit.ign
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Expand Up @@ -239,6 +239,11 @@
<value>$LD_LIBRARY_PATH</value>
</env>

<env>
<name>IGN_TRANSPORT_TOPIC_STATISTICS</name>
<value>1</value>
</env>

<!-- Start ROS first. This is a bit hacky for now. -->
<!-- Make sure to source /opt/ros/melodic/setup.bash -->
<executable name='ros'>
Expand Down Expand Up @@ -542,6 +547,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
Expand Down Expand Up @@ -684,6 +690,7 @@
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>#{max_breadcrumbs}</max_deployments>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
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2 changes: 2 additions & 0 deletions subt_ros/launch/competition_init.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
<?xml version="1.0"?>
<launch>

<env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
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Probably not needed here as well.

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I think this is needed in order get topic statistics on bridge, I'll double check.


<arg name="world_name"/>
<arg name="robot_names" default=""/>
<arg name="enable_ground_truth" default="0"/>
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2 changes: 2 additions & 0 deletions subt_ros/launch/vehicle_topics.launch
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
<?xml version="1.0"?>
<launch>
<env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
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<arg name="world_name"/>
<arg name="name"/>
<arg name="link_name" value="base_link"/>
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