update get_trial_score for new /vrx/task/info message

run_trial.bash

@@ -66,6 +66,7 @@ fi
 
 # Constants for containers
 SERVER_CONTAINER_NAME=vrx-server-system
+SERVER_USER=developer
 ROS_DISTRO=humble
 SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
 LOG_DIR=/vrx/logs
@@ -188,10 +189,10 @@ echo "---------------------------------"
 
 # Copy the ROS log files from the server's container.
 echo "Copying ROS log files from server container..."
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/.ros/log/latest $HOST_LOG_DIR/ros-server-latest
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/.gazebo/ $HOST_LOG_DIR/gazebo-server
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/vrx_rostopics.bag $HOST_LOG_DIR/
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/verbose_output.txt $HOST_LOG_DIR/
+#docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/.ros/log/latest $HOST_LOG_DIR/ros-server-latest
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/.gz/ $HOST_LOG_DIR/gz-server
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/vrx_rostopics.bag $HOST_LOG_DIR/
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/verbose_output.txt $HOST_LOG_DIR/
 
 echo -e "${GREEN}OK${NOCOLOR}\n"
 

utils/get_trial_score.py

@@ -1,11 +1,13 @@
-# get_trial_score.py: A Python script that gets the last message of a trial's rosbag file, 
+# get_trial_score.py: A Python script that gets the last message of a trial's ros2bag file, 
 #                     then records the final trial score in a text file
 #
 # eg. python get_trial_score.py <team_name> <task_name> <trial_number>
 
 import os
-import rosbag
+import rosbag2_py
 import sys
+from rclpy.serialization import deserialize_message
+from rosidl_runtime_py.utilities import get_message
 
 # Get arguments
 team_name = sys.argv[1]
@@ -17,25 +19,38 @@
 trial_directory = dir_path + '/../generated/logs/' + team_name + '/' + task_name + '/' + trial_number
 
 # Open ros bag
-bag_name = trial_directory + '/vrx_rostopics.bag'
-bag = rosbag.Bag(bag_name)
+bag_path = trial_directory + '/vrx_rostopics.bag/vrx_rostopics.bag_0.db3'
+storage_options = rosbag2_py.StorageOptions(uri=bag_path, storage_id='sqlite3')
+converter_options = rosbag2_py.ConverterOptions(input_serialization_format='cdr', 
+                                                output_serialization_format='cdr')
+
+reader = rosbag2_py.SequentialReader()
+reader.open(storage_options, converter_options)
+
+topic_types = reader.get_all_topics_and_types()
+
+type_map = {topic_types[i].name: topic_types[i].type for i in range(len(topic_types))}
+
+storage_filter = rosbag2_py.StorageFilter(topics=['/vrx/task/info'])
+reader.set_filter(storage_filter)
 
 # Get last message
 last_topic = None
-last_msg = None
+last_msg_data = None
 last_t = None
 
-for topic, msg, t in bag.read_messages(topics=['/vrx/task/info']):
-    last_topic = topic
-    last_msg = msg
-    last_t = t
+while reader.has_next():
+    (last_topic, last_msg_data, last_t) = reader.read_next() 
 
+msg_type = get_message(type_map[last_topic])
+last_msg = deserialize_message(last_msg_data, msg_type)
+score = None
+for field in last_msg.params:
+  if field.name == "score":
+    score = field.value.double_value
 # Write trial score to file
 trial_score_name = trial_directory + "/trial_score.txt"
-f = open(trial_score_name, 'w+')
-f.write("{}".format(last_msg.score))
+with open(trial_score_name, 'w+') as f:
+  f.write("{}".format(score))
 
 print("Successfully recorded trial score in {}".format(trial_score_name))
-f.close()
-bag.close()
-