AutowareV2X/docs/tutorials/planning-simulation/rosbag-and-analysis.md

Recording Rosbag and Tcpdump for Analysis

Record both rosbag and tcpdump

In autoware_1:

docker exec -it autoware_1 bash
cd ~/workspace/autoware_docker
ros2 bag record -o test_sender_rosbag /perception/object_recognition/objects /tf

sudo apt update
sudo apt install tcpdump
sudo tcpdump -i eth0 -w test_sender_tcpdump.pcap

In autoware_2:

docker exec -it autoware_2 bash
cd ~/workspace/autoware_docker
ros2 bag record -o test_receiver_rosbag /v2x/cpm/objects /tf

sudo apt update
sudo apt install tcpdump
sudo tcpdump -i eth0 -w test_receiver_tcpdump.pcap

Open PCAP file in Wireshark

Analyze in JupyteLab

Plot the x,y coordinates of objects in test_sender_rosbag

1. Export the necessary topics of the Rosbag to a CSV file