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sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black
BSD 3-Clause "New" or "Revised" License
3 stars 2 forks source link

Select best 10min of data based on stats #38

Open sgcarrier opened 7 years ago

sgcarrier commented 7 years ago

Add the option do extract the best 10 min window of data from each 15min session based on the statistics of the session. This will allow us to get the best possible quality data from the recordings.

This is to avoid getting data from sessions where the beginning or the end of the recording are not up to quality. This can be due to increased message drops caused by the system being overloaded.

Also add the option to give variable length windows based on a quality threshold. This way we can get the most data possible while still respecting a certain standard.

sgcarrier commented 7 years ago

Added the dropped messages graph over time generation option in commit a8f78d7dd3778768c60df80b4dd490d8af2dfbe0 . From the graphs (like shown below for S2 of E2 C1CORR), most of the dropped messages appears after a certain time (700 seconds in this case). Is this due to a memory limit that we imposed on ROS? If so this is an easy fix. Curiously, I did not see this behaviour, for the first recording.

msgs_dropped_s2

sgcarrier commented 7 years ago

Rosbag cropping now added to dataset creation process in 428b2d4ed0aafe40304e5e0266b561a60e381533 Next step would be to allow automatic mode based on quality threshold instead