Add playback event recorder

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 ##

subt_ign/CMakeLists.txt

@@ -227,7 +227,7 @@ target_link_libraries(
 add_executable(validate_visibility_table
   src/validate_visibility_table.cc)
 target_link_libraries(validate_visibility_table
-  PRIVATE 
+  PRIVATE
   Visibility
 )
 install(TARGETS validate_visibility_table
@@ -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-launch2::ignition-launch2
+    ignition-math6::ignition-math6
+    ignition-msgs5::ignition-msgs5
+    ignition-plugin1::loader
+    ignition-transport8::ignition-transport8
+    sdformat9::sdformat9
+    ${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

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 %>

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">
+    <!-- 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>
+    </plugin>
+
+    <!-- Play / pause / step -->
+    <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>
+
+    <!-- Time / RTF -->
+    <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'>
+    </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>
+

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="$scriptDir/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 $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"
+