Result File

[Kazadhum]

Hi @rarrais and @MisterOwlPT! I was wondering something that might come up as an issue later. So this plugin would use as input the result file from a calibration using ATOM in our containers. My question is, how do we get the csv file from inside the containers to use in this introspection plugin? Does Rigel include a tool to extract such a file?

Thanks in advance!

[MisterOwlPT]

Hi @Kazadhum!

I just made some changes to Rigel to help you copy files from containers in a more standardized way.

Components in the rigel.plugins.core.TestPlugin now support a new optional field artifacts consisting of a list of absolute file paths inside the container (of type str). Use it to declare all the files you want to copy.

Consider the following example Rigelfile excerpt as a usage guide:

# ...
test:
  plugin: rigel.plugins.core.TestPlugin
  with:
    components:
      -
        name: robot
        artifacts:
          - /home/rigeluser/ros_workspace/log/latest/events.log
        # ...
# ...

Please keep in mind that files are only copied at the end of simulations (or whenever they are canceled)!

NOTE: invalid paths are ignored by Rigel.

NOTE: copied files always preserve their original names.

All copied files are placed in the following folder: ~/.rigel/archives/test/ (Rigel automatically creates it for you).

Inside the said folder Rigel will automatically create:

• A new folder each time the test plugin is executed identified with the date of the execution. Inside each folder, you'll find the copied files indexed by the name of the plugin component.
• A symbolic link called latest that always points to the most recent folder. This link is updated every time a simulation is run.

Look at the following directory tree. Based on the previous information I think you can understand its internal structure:

NOTE: the presented folder structure may change as Rigel is being developed, so you may have to change a thing or two in your plugin in the future. But don't worry I'll look to minimize inconveniences to your work as much as possible.

. (/home/pedro/.rigel/archives)
└── test
    ├── 16-03-2023-15-55-20
    │   └── robot
    │       └── events.log
    ├── 16-03-2023-15-56-19
    │   └── robot
    │       └── events.log
    └── latest -> /home/pedro/.rigel/archives/test/16-03-2023-15-56-19

Thus, to access the most updated copy of your target .csv file inside your plugin use the following path: ~/.rigel/archives/test/latest/<PLUGIN_COMPONENT_NAME>/<FILE_NAME>.csv.

If you need an older version replace latest with the simulation time as required.

DEVELOPMENT SUGGESTION: when developing your plugin, try to make things as "less verbose" as possible. If your .csv file has a constant name (or follows a naming pattern of some sort) make sure your plugin can fetch it automatically within the .rigel folder. No need for a mandatory extra line on the Rigelfile. Still, allow the users to pass a field path (for instance) if they so required.

I hope you find this message useful. Let me know if you have any doubts or questions. Good work! 😃

PS: don't forget to pull the changes I've made to Rigel.

[Kazadhum]

Thanks for the help @MisterOwlPT ! I've git pull-ed your changes and everything smoothly! I'll try implementing this as soon as I can get ATOM to run both the calibration and evaluation inside the container.