| dataset_tools: fix recorder shutdown and export playback
Prevent episode recorder teardown from destroying timers while the
executor may still touch them. Cancel timers instead, remove the
timer-based metadata retry loop, and add a timeout in record_cli so
the CLI does not wait forever after recorder failures.
Improve bag_to_lerobot for the issue 34 follow-up by preferring
H.264 encoding when available and by logging image source rate,
unique output frames, and repeated-frame ratios. This keeps local
playback smoother and makes timestamp jitter or low camera rates
visible during conversion.
Reduce image loss during episodic recording by enabling rosbag cache
by default, surfacing per-topic seen/written/drop statistics in
recorder logs, and subscribing to raw serialized messages so image
callbacks avoid Python-side re-serialization overhead. Pass storage
tuning options through the recording launch builder so capture
pressure can be diagnosed and tuned.
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 1 个月前 |
| dataset_tools: add camera alignment tool
Move the marker-based camera alignment helper into dataset_tools so
the interactive calibration workflow stays outside robot_config.
Extract the OpenCV GUI resolution logic into a reusable helper,
register the ros2 run entry point in dataset_tools, and move the
related tests and documentation while keeping the original CLI
options intact.
Signed-off-by: Shi Xin <shixin21@h-partners.com>
| 2 个月前 |
| dataset_tools: fix recorder shutdown and export playback
Prevent episode recorder teardown from destroying timers while the
executor may still touch them. Cancel timers instead, remove the
timer-based metadata retry loop, and add a timeout in record_cli so
the CLI does not wait forever after recorder failures.
Improve bag_to_lerobot for the issue 34 follow-up by preferring
H.264 encoding when available and by logging image source rate,
unique output frames, and repeated-frame ratios. This keeps local
playback smoother and makes timestamp jitter or low camera rates
visible during conversion.
Reduce image loss during episodic recording by enabling rosbag cache
by default, surfacing per-topic seen/written/drop statistics in
recorder logs, and subscribing to raw serialized messages so image
callbacks avoid Python-side re-serialization overhead. Pass storage
tuning options through the recording launch builder so capture
pressure can be diagnosed and tuned.
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 1 个月前 |
| dataset_tools: clean rerun environment setup
Move the user-site guard out of rerun_viewer and into the launch environment so
the sidecar no longer mutates sys.path during normal startup.
Remove the remaining virtualenv import fallback, keep launch coverage for
PYTHONNOUSERSITE, and rely on the build workflow to generate venv-backed
entrypoints with the correct interpreter.
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
| 1 个月前 |
