ROS Adaptable Parameter Server

This package provides a ROS system that allows for automatic tuning of registered nodes. The tuning server runs as a separate node, and exposes a service-based API for client nodes to register through. This allows for a separation of components (much of the benefit of ROS), so that the tuning algorithms can be updated, downloaded, or recompiled without rebuilding all client nodes.

Getting Started

This package is intended to be cloned directly into the src directory of a catkin workspace (or a subdirectory within), or worked on standalone using the python build scripts.

Prerequisites

To use the provided python build scripts:

# Only if you want to use ./build.py or ./graph.py
sudo apt-get install python3-tk
python3 -m pip install --user seaborn psutil

Installing / Building into catkin workspace

cd /path/to/my/workspace
git clone 'https://github.com/LTU-AutoEV/Adaptable-Parameter-Server.git' src/adap_parameter
catkin_make

Installing / Building standalone (for adap_parameter development)

git clone --recursive 'https://github.com/LTU-AutoEV/Adaptable-Parameter-Server.git'
cd Adaptable-Parameter-Server
./buily.py # build repo, check to make sure compile scripts work

Provided Examples

Tuning the threshold of OpenCV's binary threshold the achieve a 50% cut.

# Using build scripts (see below!)
./build.py -r test_thresh
# OR in a parent workspace
roslaunch adap_parameter test_thresh

Tuning the threshold of OpenCV's canny edge detection to achieve a good

"edge density."

# Using build scripts (see below!)
./build.py -r test_canny
# OR in a parent workspace
roslaunch adap_parameter test_canny

Development Tools

Running these scripts will break this package if it is inside a parrent workspace. To fix, delete the ./build_ws directory.

build.py

This repository includes a python build script, build.py, that will compile this package inside a subdirectory workspace. It is meant to be used when developing this package to simplify the work flow.

This will create the subdirectory ./build_ws with a syslink to ./package, then call catkin_make inside this directory. If the -r, --run argument is given, it will automatically run roslaunch on the file in ./package/launch/. It will automatically append the .launch suffix if it is not already supplied.

usage: build.py [-h] [-r RUN]

optional arguments:
  -h, --help         show this help message and exit
  -r RUN, --run RUN  Automatically start a .launch file

Examples:

./build.py -r test_thresh
./build.py -r test_canny
./build.py -r test_v4l

graph.py

As as extension of build.py, this repo includes a script that will automatically graph information from the included client nodes. These nodes print information in CSV format to stdout, whis is then graphed with Seaborn once they exit. If a node does not exit automatically, pressing ^C will stop it short and graph the output.

This script will automatically run a ros executable found in ./build_ws/devel/lib/adap_parameter/. See ./package/CMakeLists.txt for their generation.

usage: graph.py [-h] -r RUN

optional arguments:
  -h, --help         show this help message and exit
  -r RUN, --run RUN  Automatically start a client

Examples:

./graph.py -r client_synth_single
./graph.py -r client_synth_multiple
./graph.py -r client_synth_poly
./graph.py -r client_synth_codependent

Synthetic Tests

Other Docs

Requirements Specification

Technical Tidbits

Create a Client