Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[jsk_data/data_collection_server.py] set slop as rosparam #1483

Merged
merged 2 commits into from
Nov 22, 2016
Merged

[jsk_data/data_collection_server.py] set slop as rosparam #1483

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
376b16e
Fix abs() for approx sync in data_collection_server.py
wkentaro Nov 21, 2016
a98e76f
set slop as rosparam and add warning in data_collection_server
knorth55 Nov 21, 2016
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 5 additions & 3 deletions jsk_data/node_scripts/data_collection_server.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,7 @@ def __init__(self):
.format(field))
sys.exit(1)
self.params = rospy.get_param('~params', [])
self.slop = rospy.get_param('~slop', 0.1)
# validation for saving params
for param in self.params:
required_fields = ['key', 'fname', 'savetype']
Expand Down Expand Up @@ -95,16 +96,17 @@ def sub_cb(self, msg, topic_name):
def service_cb(self, req):
now = rospy.Time.now()
saving_msgs = {}
slop = 0.1
while len(saving_msgs) < len(self.topics):
for topic in self.topics:
if topic['name'] in saving_msgs:
continue
stamp = self.msg[topic['name']]['stamp']
if ((topic['name'] in self.msg) and
abs(now - stamp < rospy.Duration(slop))):
abs(now - stamp) < rospy.Duration(self.slop)):
saving_msgs[topic['name']] = self.msg[topic['name']]['msg']
rospy.sleep(0.1)
if now < stamp:
rospy.logwarn('timestamp exceeds starting time, try bigger slop')
rospy.sleep(self.slop)
save_dir = osp.join(self.save_dir, str(now.to_nsec()))
if not osp.exists(save_dir):
os.makedirs(save_dir)
Expand Down