subt virtual path_tracer launcher script

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="$(d="${dir}"; while [ "$d" != "/" ]; do if [ -f "${d}/path_tracer.yml" ]; then echo "${d}/path_tracer.yml"; break; else d="$(dirname "$d")"; fi; done)"
[ -z "${tracer_conf}" ] && echo "path_tracer.yml not found in the given or any parent directory" >&2 && exit 1

echo "Using path tracer configuration from ${tracer_conf}" | tee "${dir}"/tracer.log
grep rtf "${tracer_conf}" | tee -a "${dir}"/tracer.log

tracer_partition="${IGN_PARTITION}PATH_TRACER"

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

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

sleep_time=180
echo "Sleeping for $sleep_time"
sleep $sleep_time

rosrun subt_ign path_tracer "${dir}" "${tracer_conf}" "${tracer_partition}" "${center_x} ${center_y} ${zoom_z}" "${world}" 2>&1 | tee -a "${dir}"/tracer.log

kill $sim_pid
killall atop
killall bwm-ng

# extract the end of the video as a jpeg
ffmpeg -y -sseof -15 -t 1 -i "${dir}"/path_trace.mp4 -vsync 0 -q:v 2 -update true "${dir}"/path_trace.jpg