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tilde's Introduction

TILDE - Tilde Is Latency Data Embedding

src/	about
tilde	TILDE main code
tilde_sample	samples including talker, relay, listener and so on.
tilde_msg	TILDE internal msg
tilde_vis	TILDE results visualization

Build

. /path/to/ros2_galactic/install/setup.bash
vcs import src < build_depends.repos
colcon build --symlink-install --cmake-args --cmake-args -DCMAKE_BUILD_TYPE=Release

tilde's People

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bopeng-saitama nabetetsu hsato-saitama hoyuenhang

tilde's Issues

Purge temporary value to get time stamp from message

We define get_timestamp(rclcpp::Time *t, M * m) in tilde_publisher.hpp.

But This API is very confusing because:

return m->header.stamp if m has header.stamp field,
otherwise return t

This API has two objectives:

(1) check the existence of the header.stamp field
(2) get header.stamp if exists

How about splitting these?

how to use explicit API when the message doesn't have header.stamp?

When the message has no header.stamp, how do we use explicit API?
Although we can call explicit API with a dummy timestamp, is it intuitive?

Reproduce

tilde_sample (4) Multiple Publishers and buffered Subscription.

cannot pass `const ref` to create_stee_subscription?

By changing std::shared_ptr<const PointCloud2> msg to const PointCloud2 & msg in test_stee_node.cpp, we got compilation error.

PubInfo header_stamp is filled even when the main message has no header stamp

version: 3260cb
How to reproduce: Run tilde_sample.

Here is the PubInfo.
This node relays std_msgs::msg::String.

header:
  stamp:
    sec: 1646034075
    nanosec: 142661059
  frame_id: ''
output_info:
  topic_name: /relay_without_stamp
  node_fqn: ''
  seq: 13
  pub_time:
    sec: 1646034075
    nanosec: 142667675
  pub_time_steady:
    sec: 6846520
    nanosec: 913127491
  header_stamp:                      # std_msgs::msg::String has no header.stamp but this field is filled
    sec: 1646034075
    nanosec: 142651785
input_infos:
- topic_name: /topic_without_stamp
  sub_time:
    sec: 1646034075
    nanosec: 131743819
  sub_time_steady:
    sec: 6846520
    nanosec: 902204465
  has_header_stamp: false      # false, that's right
  header_stamp:
    sec: 0
    nanosec: 0

no buffer + explicit API = implicit association behavior

The default implicit association is made in cases where the explicit API is used but buffer messages are not used.

version
- 496edfb

Steps to reproduce issue

https://github.com/hsgwa/CARET_demos/tree/impl_buffered_node

unify tilde_vis unit tests to colcon test

At cda8e0c, colcon test does not kick original tests in tilde_vis/test/. Fix it.

latency viewer may hang if the target message doesn't have header stamp field or very slow Hz

Originally, this happened with tilde bf0d05f for internal experiments.

Be aware the target topic doesn't have the header.stamp field.

stamps: 1, 0.000000000
(snip, same lines)
stamps: 1, 0.000000000
Traceback (most recent call last):
  File "TILDE/install/tilde_vis/lib/tilde_vis/latency_viewer", line 11, in <module>
    load_entry_point('tilde-vis', 'console_scripts', 'latency_viewer')()
  File "TILDE/build/tilde_vis/tilde_vis/latency_viewer.py", line 767, in main
    main_curses(None, args=sys.argv)
  File "TILDE/build/tilde_vis/tilde_vis/latency_viewer.py", line 749, in main_curses
    rclpy.spin(node)
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/__init__.py", line 196, in spin
    executor.spin_once()
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 707, in spin_once
    raise handler.exception()
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 415, in handler
    await call_coroutine(entity, arg)
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 329, in _execute_timer
    await await_or_execute(tmr.callback)
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "TILDE/build/tilde_vis/tilde_vis/latency_viewer.py", line 695, in timer_callback
    logs.extend(self.handle_stat(stamps))
  File "TILDE/build/tilde_vis/tilde_vis/latency_viewer.py", line 573, in handle_stat
    stats = handle_stat(stamps,
  File "TILDE/build/tilde_vis/tilde_vis/latency_viewer.py", line 295, in handle_stat
    stats = calc_stat(merged)
  File "TILDE/build/tilde_vis/tilde_vis/latency_viewer.py", line 388, in calc_stat
    return results.apply_with_depth(_calc_stat)
AttributeError: 'NoneType' object has no attribute 'apply_with_depth'

It looks merged is None at stats = calc_stat(merged) in latency_viewer.py:295.
This happens when:

(1) message does not have the header.stamp field. We need to check has_header_field.

(2) even if a message has the header.stamp field, this problem happens.
For example, idx can be 0 in the code below when Hz is very low.

# latency_viewer.py
def handle_stat(stamps, pubinfos, target_topic, solver, stops, dumps=False):
	idx = 0        # actually, we set idx by logic.
    merged = None
    for target_stamp in stamps[:idx]:  # if idx=0, no loop
	   # update merged

    stats = calc_stat(merged)  # here, merged = None
    return stats

minimum case

See issues_23_1.launch.py and issues_23_2.launch.py in tilde_vis_test.

Clear STEE explicit sources after publish

When we use explicit API multiple times, old information in the sources field doesn't disappear.