Launcher for path_tracer subt script that automatically records a video, autoconfigures the top-view camera to view exactly the explored space, zooms out several levels in the end to show the whole world, and repeats the last frames of the video a few times for easier inspection of what the state was in the very end.

path_tracer.sh

#!/bin/bash

[ $# -lt 1 ] && echo "Provide path to simulator logs" && exit 1

dir=$1

[ ! -f "${dir}/state.tlog" ] && echo "The given path is incorrect, it doesn't contain file state.tlog" && exit 1

tracer_conf="${dir}/../../path_tracer.yml"
[ $# -gt 1 ] && tracer_conf="$2"

world="$(cat "${dir}/run.yml" | grep "world_name" | cut -d: -f 2 | tr -d "[:space:]")"


min_x=$(cat "${dir}"/pos-data/*.data | cut -d " " -f 3 | sort -n | head -n1)
max_x=$(cat "${dir}"/pos-data/*.data | cut -d " " -f 3 | sort -n | tail -n1)
min_y=$(cat "${dir}"/pos-data/*.data | cut -d " " -f 4 | sort -n | head -n1)
max_y=$(cat "${dir}"/pos-data/*.data | cut -d " " -f 4 | sort -n | tail -n1)

range_x=$(python -c "print($max_x - $min_x)")
range_y=$(python -c "print($max_y - $min_y)")
center_x=$(python -c "print($range_x/2.0 + $min_x)")
center_y=$(python -c "print($range_y/2.0 + $min_y)")

[ -z "$zoom" ] && zoom=0.8
# we assume 16:9 simulator window
zoom_x=$(python -c "print($range_x * $zoom * 9 / 16)")
zoom_y=$(python -c "print($range_y * $zoom)")
zoom_z=$(python -c "print(max($zoom_x, $zoom_y))")

mkdir -p $HOME/.ignition/launch
mv $HOME/.ignition/launch/gui.config{,.bak}
cat << END > $HOME/.ignition/launch/gui.config
<window>
  <width>1920</width>
  <height>1080</height>
  <style
    material_theme='Light'
    material_primary='DeepOrange'
    material_accent='LightBlue'
    toolbar_color_light='#f3f3f3'
    toolbar_text_color_light='#111111'
    toolbar_color_dark='#414141'
    toolbar_text_color_dark='#f3f3f3'
    plugin_toolbar_color_light='#bbdefb'
    plugin_toolbar_text_color_light='#111111'
    plugin_toolbar_color_dark='#607d8b'
    plugin_toolbar_text_color_dark='#eeeeee'
  />
  <menus>
    <drawer default='false'>
    </drawer>
  </menus>
</window>
END

IGN_PARTITION=PATH_TRACER ign launch -v 4 path_tracer.ign worldName:=${world} &
sim_pid=$!

sleep 30

mv $HOME/.ignition/launch/gui.config{.bak,}

IGN_PARTITION=PATH_TRACER ign service -s /gui/move_to/pose --reqtype ignition.msgs.GUICamera --reptype ignition.msgs.Boolean --timeout 2000 --req "pose: {position: {x: ${center_x}, y: ${center_y}, z: ${zoom_z}}}"

IGN_PARTITION=PATH_TRACER ign service -s /gui/record_video --reqtype ignition.msgs.VideoRecord --reptype ignition.msgs.Boolean --timeout 2000 --req "start: true, format: 'mp4', save_filename: '$dir/path_trace.tmp.mp4'"

path_tracer "${dir}" "${tracer_conf}" | tee "${dir}"/tracer.log

# fly into the sky in the end
z=${zoom_z}
for i in $(seq 1 4); do
  sleep 10
  z=$(python -c "print($z + 50)")
  IGN_PARTITION=PATH_TRACER ign service -s /gui/move_to/pose --reqtype ignition.msgs.GUICamera --reptype ignition.msgs.Boolean --timeout 2000 --req "pose: {position: {x: ${center_x}, y: ${center_y}, z: ${z}}}"
done

sleep 20

IGN_PARTITION=PATH_TRACER ign service -s /gui/record_video --reqtype ignition.msgs.VideoRecord --reptype ignition.msgs.Boolean --timeout 2000 --req 'stop: true'

sleep 10

kill $sim_pid
killall atop
killall bwm-ng

# extend the video with its last frame by 10 seconds so that it's easier to see the artifact reports in the end
ffmpeg -y -i "${dir}"/path_trace.tmp.mp4 -filter_complex "[0]trim=0:10[hold];[0][hold]concat[extended];[extended][0]overlay" "${dir}"/path_trace.mp4
rm "${dir}"/path_trace.tmp.mp4