Merge pull request #633 from osrf/playback_event_recorder

Add playback event recorder
osrf · Dec 10, 2020 · cacce19 · cacce19
2 parents 8e78d6a + bf7703b
commit cacce19
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diff --git a/subt_example/CMakeLists.txt b/subt_example/CMakeLists.txt
@@ -46,8 +46,6 @@ add_executable(teleop_node src/teleop_node.cc)
 add_dependencies(teleop_node ${catkin_EXPORTED_TARGETS})
 target_link_libraries(teleop_node ${catkin_LIBRARIES})
 
-# add_subdirectory(src/truth_controller)
-
 
 ###########
 ## Tests ##

diff --git a/subt_ign/CMakeLists.txt b/subt_ign/CMakeLists.txt
@@ -343,6 +343,35 @@ install(TARGETS ${gas_emitter_detector_plugin_name}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
+# Create the libPlaybackEventRecorder.so library.
+set(playback_event_recorder_name PlaybackEventRecorder)
+add_library(${playback_event_recorder_name} SHARED
+  src/PlaybackEventRecorder.cc
+  src/PlaybackEventRecorder.cc
+)
+
+target_include_directories(${playback_event_recorder_name}
+  PRIVATE
+    ${CATKIN_DEVEL_PREFIX}/include)
+target_link_libraries(${playback_event_recorder_name}
+  PRIVATE
+    ignition-gazebo${IGN_GAZEBO_VER}::core
+    ignition-common3::ignition-common3
+    ignition-launch4::ignition-launch4
+    ignition-math6::ignition-math6
+    ignition-msgs7::ignition-msgs7
+    ignition-plugin1::loader
+    ignition-transport9::ignition-transport9
+    sdformat10::sdformat10
+    ${catkin_LIBRARIES}
+    ${YAML_CPP_LIBRARIES}
+)
+
+install(TARGETS ${playback_event_recorder_name}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
 # Create log_checker executable.
 add_executable(log_checker src/LogChecker.cc)
 target_link_libraries(log_checker

diff --git a/subt_ign/launch/path_tracer.ign b/subt_ign/launch/path_tracer.ign
@@ -48,6 +48,9 @@
     <% elsif $worldName.include?('urban_circuit_') &&
           !$worldName.include?('practice') %>
       <world_file>urban_circuit/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
+    <% elsif $worldName.include?('cave_circuit_') &&
+          !$worldName.include?('practice') %>
+      <world_file>cave_circuit/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
     <% else %>
       <world_file><%= $worldName %>.sdf</world_file>
     <% end %>

diff --git a/subt_ign/scripts/playback_event_recorder/README.md b/subt_ign/scripts/playback_event_recorder/README.md
@@ -0,0 +1,82 @@
+# Playback Event Recorder
+
+The playback event recorder creates videos for events that are stored in the
+events.yml log file in the state log directory.
+
+Here are the events being recorded and their associated camera mode:
+
+* robots exiting staging area: static camera above staging area looking down at angle
+* rock fall: static camera above dynamic rocks model looking directly downward
+* marsupial vehicle detaching child robot: camera follows the child robot
+* artifact proximity: camera follows the robot
+* region of interest (decision, vertical, elevation): camera follows the robot
+
+## Running the demo
+
+To create event videos for a subt log, run:
+
+```
+bash record_playback_events.bash <path_to_log_dir>
+```
+
+The script launches ign gazebo in playback mode and creates videos using the
+GUI camera video recording feature. For each event, it seeks playback to some
+time before the event, moves the camera to the desired location (either in
+follow mode or moves to a static pose), and starts recording until some time
+after the event. After recording all events, ign-gazebo will exit on its own
+and you can find the recorded videos in a timestamped directory inside the
+directory where the bash script is run.
+
+## Video recorder settings
+
+By default, the video recorder plugin records videos based on real time and
+in lower quality than desired. In order to produce smooth high quality videos
+with accurate timing, we need to specify a few video recorder
+configurations in the `gui.config` file. The config file should be located in
+`$HOME/.ignition/gazebo`. Find the 3D Scene plugin and add the following
+`<record_video>` settings:
+
+```xml
+<!-- 3D scene -->
+<plugin filename="GzScene3D" name="3D View">
+  <ignition-gui>
+    <title>3D View</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+
+  <engine>ogre2</engine>
+  <scene>scene</scene>
+  <ambient_light>0.4 0.4 0.4</ambient_light>
+  <background_color>0.8 0.8 0.8</background_color>
+  <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
+
+  <record_video>
+    <use_sim_time>true</use_sim_time>
+    <lockstep>true</lockstep>
+    <bitrate>8000000</bitrate>
+  </record_video>
+
+</plugin>
+```
+
+This makes sure the video recording is done in lock step with simulation
+state updates so that we do not miss any frames during encoding. Additionally
+sim time is used as timestamp so that the generated video length is unaffected
+by the speed at which log playback is running in. For example, it may take
+up to several hours to playback an event in a subt log due to low RTF but the
+resulting video should still have a length that matches the specified duration
+of the event.
+
+## Known issue
+
+The video recorder configurations are set to produce higher quality videos
+but the encoding process is also more expensive. Since the server and the GUI
+run asynchronously in two separate processes, we usually see that the GUI start
+to lag behind the server after several minutes into recording. Once the ignition
+transport msg queue is full, it starts dropping state msgs, and we would
+notice missing frames in the generated videos. This is currently mitigated by
+using a "catch-up" recording strategy in the playback event recorder, which
+basically pauses the simulation when we detect the the video recorder is lagging
+behind the server above some threshold, and only resumes playing back simulation
+when the lag is within a reasonable amount of time.
diff --git a/subt_ign/scripts/playback_event_recorder/playback_event_recorder.sdf b/subt_ign/scripts/playback_event_recorder/playback_event_recorder.sdf
@@ -0,0 +1,104 @@
+<?xml version='1.0'?>
+<!--
+  Playback event recorder.
+
+  This world is used by the record_playback_events.bash script.
+  Videos will be saved to a timestamped directory inside the directory
+  where the bash script is run.
+
+  To set whether or not the gui camera should follow the entity
+  during video recording, change the <camera_follow> sdf parameter in the
+  PlaybackEventRecorder plugin to either true or false.
+
+  Usage: bash record_playback_events.bash <path_to_log_dir>
+-->
+
+<sdf version='1.6'>
+
+  <world name='default'>
+<!--
+    <gui fullscreen="0">
+    <plugin filename="GzScene3D" name="3D View">
+      <ignition-gui>
+        <title>3D View</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="string" key="state">docked</property>
+      </ignition-gui>
+      <engine>ogre2</engine>
+      <scene>scene</scene>
+      <ambient_light>0.4 0.4 0.4</ambient_light>
+      <background_color>0.8 0.8 0.8</background_color>
+      <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
+    </plugin>
+
+    <plugin filename="WorldControl" name="World control">
+      <ignition-gui>
+        <title>World control</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="bool" key="resizable">false</property>
+        <property type="double" key="height">72</property>
+        <property type="double" key="width">121</property>
+        <property type="double" key="z">1</property>
+
+        <property type="string" key="state">floating</property>
+        <anchors target="3D View">
+          <line own="left" target="left"/>
+          <line own="bottom" target="bottom"/>
+        </anchors>
+      </ignition-gui>
+
+      <play_pause>true</play_pause>
+      <step>true</step>
+      <start_paused>true</start_paused>
+    </plugin>
+
+    <plugin filename="WorldStats" name="World stats">
+      <ignition-gui>
+        <title>World stats</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="bool" key="resizable">false</property>
+        <property type="double" key="height">110</property>
+        <property type="double" key="width">290</property>
+        <property type="double" key="z">1</property>
+
+        <property type="string" key="state">floating</property>
+        <anchors target="3D View">
+          <line own="right" target="right"/>
+          <line own="bottom" target="bottom"/>
+        </anchors>
+      </ignition-gui>
+
+      <sim_time>true</sim_time>
+      <real_time>true</real_time>
+      <real_time_factor>true</real_time_factor>
+      <iterations>true</iterations>
+    </plugin>
+    </gui>
+-->
+
+    <plugin filename='ignition-gazebo-scene-broadcaster-system'
+            name='ignition::gazebo::systems::SceneBroadcaster'>
+      <state_hertz>25</state_hertz>
+    </plugin>
+    <plugin
+      filename='ignition-gazebo-log-system'
+      name='ignition::gazebo::systems::LogPlayback'>
+      <path>tmp_record</path>
+    </plugin>
+
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+
+    <plugin
+        filename="libPlaybackEventRecorder.so"
+        name="subt::PlaybackEventRecorder">
+      <log_path>tmp_record</log_path>
+      <exit_on_finish>true</exit_on_finish>
+      <spawn_light>true</spawn_light>
+    </plugin>
+
+  </world>
+</sdf>
+
diff --git a/subt_ign/scripts/playback_event_recorder/record_playback_events.bash b/subt_ign/scripts/playback_event_recorder/record_playback_events.bash
@@ -0,0 +1,57 @@
+#!/bin/bash
+
+# The playback event recorder creates videos for events that are stored
+# in the events.yml log file in the state log directory. The script launches
+# ign gazebo in playback mode and creates videos using the gui camera video
+# recording feature. For each event, it seeks playback to some time before the
+# event, moves the camera to the desired location, and starts recording until
+# some time after the event.
+
+echo "==================================="
+echo "Staring Playback Event Recorder"
+echo "==================================="
+
+if [ -z "$1" ]; then
+  echo "Usage: bash ./record_playback_events.bash [path_to_log_dir]"
+  exit 0
+fi
+
+logDirPath=$1
+
+if [ ! -d "$logDirPath" ]; then
+  echo "Directory does not exist: $logDirPath"
+  exit 0
+fi
+
+scriptDir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+tmpDir="tmp_record"
+
+echo "Creating tmp dir for recording: $tmpDir"
+
+if [ -d "$tmpDir" ]; then
+ rm -fr $tmpDir
+fi
+
+ln -s $logDirPath $tmpDir
+
+echo "Starting log playback and video recording"
+
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$LD_LIBRARY_PATH
+sdfName="playback_event_recorder"
+ign gazebo -v 4 "$scriptDir/$sdfName.sdf"
+
+echo "Video recording ended. Shutting down playback"
+
+pgrep -f $sdfName | xargs kill -9 &> /dev/null
+
+videoDir=$(date +%s)
+echo "Moving mp4 videos to dir: $videoDir"
+mkdir $videoDir
+mv *.mp4 $videoDir
+
+# remove tmp dir
+if [ -d "$tmpDir" ]; then
+ rm -fr $tmpDir
+fi
+echo "Done"
+