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Recording data

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Nikolas Sanderson edited this page Jul 16, 2025 · 4 revisions

Checklist

Payload

While payload is off
Ensure:

  • No major visible physical damage
  • No loose or unmounted objects inside or outside the payload
  • Sensors (LiDAR, Cameras, GPS) views are not obstructed by other objects that could impair it's function (i.e. lens protectors still on camera)
  • Batteries are adequately charged (Preferably taken and placed directly into payload from charger)
  • Wire's are all connected to a port, no loose wires inside the payload anywhere

Turning on payload
Ensure:

  • Make sure battery board gives both green and blue lights
  • Fans on the jetson turn on
  • No sounds such as a pop or whine, no smoke, no burning smell that indicate improper function, shorts, or damaged components
  • Orange box is turned on

Payload is live
Ensure:

  • Payload is connected to NEUFRL-mesh network (payload number corresponds to an hostname address)
  • Inside NeuRoam folder that ros is sourced
  • All sensors and their topics are active (See topic list under topics to record)
  • Run ros2 topic hz ______ , cameras should be at 20 hz, imu is 200 hz, and the ouster is 10 hz
  • The jetson's have adequate GB's available on their drive to record on the duration of their mission
  • Jetson's cpu is not being overworked either idle or when recording topics (50-60% utilization is expected, if above 90% that is a problem)
  • no other program or script is running beside the data collection

Robots

Topics to record

/parameter_events /rosout /ouster/os_driver/transition_event /vectornav/raw/common /vectornav/raw/time /vectornav/time_startup /vectornav/time_gps /vectornav/raw/imu /vectornav/time_syncin /vectornav/raw/gps /vectornav/time_pps /vectornav/imu /vectornav/gnss /vectornav/raw/attitude /vectornav/imu_uncompnmea /rtcm /ublox_gps_node/navpvt /ublox_gps_node/fix /ublox_gps_node/fix_velocityensated /vectornav/raw/ins /vectornav/magnetic /vectornav/raw/gps2 /vectornav/velocity_aiding /vectornav/temperature /vectornav/pressure /vectornav/velocity_body /vectornav/pose /tf_static /diagnostics /navstatus /navcov /navclock /aidalm /aideph /nmea /rtcm /ublox_gps_node/navpvt /ublox_gps_node/fix /ublox_gps_node/fix_velocity /navstate /monhw /rxmrtcm /timtm2 /interrupt_time /rxmsfrb /rxmraw /cam_sync/cam0/meta /cam_sync/cam0/image_raw /cam_sync/cam0/camera_info /cam_sync/cam1/meta /cam_sync/cam1/image_raw /cam_sync/cam1/camera_info /ouster/metadata /ouster/imu /ouster/points /ouster/telemetry

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