RIC data recording: Difference between revisions
(Created page with "Back to Ricbot == Data recording == By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi. This will record most of the available data, like: * Odometry * Gyro and accelerometer data from the on-board IMU. * Motor voltage and velocity of each wheel. * MQTT communication * GNSS data (when operational) This data will be on the Pi in this directory /home/local/svn/robobot/teensy_interface/build/log_yyyymmdd_hhmmss The date and time part will b...") |
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== Data recording == | == Data recording == | ||
=== Internal robot data === | |||
Handled by the (left) navigation Raspberry Pi. | |||
By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi. | By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi. | ||
| Line 16: | Line 20: | ||
The intention is to adjust the time if GNSS coverage is available, but this has not yet been implemented. | The intention is to adjust the time if GNSS coverage is available, but this has not yet been implemented. | ||
=== Camera data === | |||
Handled by the right Raspberry Pi. | |||
For now, image capture starts at boot via the script 'on_reboot.bash' in the home directory of the user 'local'. | |||
The RealSense example code 'rs-save-to-disk' has been modified to save data from a single camera. | |||
It takes 2 parameters, like: | |||
rs-save-to-disk 1234567890 D455 | |||
where the camera serial number is the first parameter, and the camera type is the second. | |||
For now, D455 will run at 5 FPS, and D435 at 6 FPS. | |||
Both camera types will save one imageset per second. An imageset consists of an RGB image (in PNG format) and a coloured point cloud (in PYR format). | |||
=== Time stamping === | |||
The two Raspberry Pis are connected via a network cable and time-synchronised using PTP. | |||
The navigation Raspberry is the time master. | |||
Latest revision as of 14:16, 20 April 2026
Back to Ricbot
Data recording
Internal robot data
Handled by the (left) navigation Raspberry Pi.
By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi. This will record most of the available data, like:
- Odometry
- Gyro and accelerometer data from the on-board IMU.
- Motor voltage and velocity of each wheel.
- MQTT communication
- GNSS data (when operational)
This data will be on the Pi in this directory
/home/local/svn/robobot/teensy_interface/build/log_yyyymmdd_hhmmss
The date and time part will be when the interface started. Note that for now, it requires the Pi to be on a public network. If not, the date will be the last proper shutdown date.
The intention is to adjust the time if GNSS coverage is available, but this has not yet been implemented.
Camera data
Handled by the right Raspberry Pi.
For now, image capture starts at boot via the script 'on_reboot.bash' in the home directory of the user 'local'.
The RealSense example code 'rs-save-to-disk' has been modified to save data from a single camera.
It takes 2 parameters, like:
rs-save-to-disk 1234567890 D455
where the camera serial number is the first parameter, and the camera type is the second.
For now, D455 will run at 5 FPS, and D435 at 6 FPS. Both camera types will save one imageset per second. An imageset consists of an RGB image (in PNG format) and a coloured point cloud (in PYR format).
Time stamping
The two Raspberry Pis are connected via a network cable and time-synchronised using PTP. The navigation Raspberry is the time master.
