Log files generated by GEAR

When enabled, log files are written to the ~/.ariac/log directory. The following files are generated.

1. Trial performance log file

The trial performance log file is written to ~/.ariac/log/performance.log. This file will be reviewed to evaluate your performance in the trial.

2. Simulation state log file

The simulation state log file is written to ~/.ariac/log/gazebo/state.log. This log stores all of the simulation data during the trial. It is useful for re-playing a simulation for inspection/debugging purposes and may be used to confirm your trial performance log file.

Enabling log file generation

The trial performance log file is always generated. The simulation state log file is only generated if the --state-logging=true option is passed to gear.py.

NOTE: in gazebo8.3.0, enabling state logging will significantly impact the realtime factor of the simulation. This will be fixed in the next version of Gazebo.

If you see the following output when logging is enabled, it is safe to ignore it:

Error [parser_urdf.cc:3474] Unable to call parseURDF on robot model
Error [parser.cc:342] parse as old deprecated model file failed.

Copying log files

Log files are over-written with every run or playback of the ARIAC software, so if you want to keep them, be sure to make a backup before running more trials. As the performance log is a symbolic link to another file, be sure to use the cp --dereference option when copying the ~/.ariac/log directory, e.g.:

cp --recursive --dereference ~/.ariac/log ~/ariac_log_files

Playback of state log files

NOTE: There are issues with ARIAC simulation state log playback with gazebo8 versions >=8.2. This will be fixed in the next version of Gazebo. See https://bitbucket.org/osrf/ariac/issues/78/ for updates.

The most recent state log file can be played back using the following invocation:

roslaunch osrf_gear gear_playback.launch

Or, you can replay a specific log file with the following (be sure to use an absolute path):

roslaunch osrf_gear gear_playback.launch state_log_path:=`pwd`/specific_log_file.log

Log files are not necessarily playable when transferred to another computer; they must have ARIAC installed in the same location.

Don't worry if you see the following warning, it's safe to ignore it:

[Wrn] [msgs.cc:1793] Conversion of sensor type[logical_camera] not suppported.

If you see the following error:

[Err] [Master.cc:96] EXCEPTION: Unable to start server[bind: Address already in use]. There is probably another Gazebo process running.

then you may find pkill -f gzserver useful for killing gazebo servers that have not closed properly.