Initial Bit-Bots rosbag import #32
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as one row refers to a list of states/commands for each joint
as we only ever have the joint commands of specific joints which are actually moved at a certain point in time
and close DB session on destruction of object
of gamestate, joint states and joint commands
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| for _, channel, message, ros_msg in reader.iter_decoded_messages(topics=USED_TOPICS): | ||
| first_used_msg_time = first_used_msg_time or message.publish_time | ||
| relative_timestamp = (message.publish_time - first_used_msg_time) / 1e9 |
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@Flova Do we want to use the publish_time or the time from the header.stamp if available?
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Good point. The header stamp is more accurate, but is could also lead to data from the future being available too early.
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For example camera images are stamped when the trigger is activated. But they are available to the software a fraction of a second later. Using the trigger time could lead to an image being available to the network where it would normally be in transit. This could lead to the network expecting it to be available and performing different during inference where it physically isn't available yet.
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and add the rosbag import to github ci
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Summary
Setup of initial rosbag import (for
GameState,JointStates,JointCommands,Image),tested with rosbags from data.bit-bots.de recorded during the RoboCup 2024
and the GermanOpen 2024.
Proposed changes
end_timeto RecordingJointCommandscolumn nullableimportsubcommand and validation