Chart Helpers in the Artefacts Toolkit

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The Artefacts Toolkit Chart helpers are designed to help you with visualising data received from topics while running tests.

Import with:

from artefacts_toolkit.chart import make_chart

Functions

make_chart

Function Reference

`make_chart`

Creates an interactive HTML chart based on data from two provided topics.

make_chart(
    filepath,
    topic_x,
    topic_y,
    axis_x_name="",
    axis_y_name="",
    field_unit=None,
    output_dir="output",
    chart_name="chart",
    file_type="rosbag"
    output_format="html"
)

Parameters

Parameter	Type	Description	Default
`filepath`	`str`	Path to the data file (rosbag)	Required
`topic_x`	`Union[str, list]`	Topic name for x-axis. Use “Time” to plot against time	Required
`topic_y`	`Union[str, list]`	Topic name for y-axis. Use “Time” to plot against time	Required
`axis_x_name`	`str`	Label for x-axis. Auto-generated for single topics; recommended when using a list of topics	""
`axis_y_name`	`str`	Label for y-axis. Auto-generated for single topics; recommended when using a list of topics	""
`field_unit`	`str`	Unit of measurement for the field data (e.g., “m/s”, “rad”)	`None`
`output_dir`	`str`	Directory where the chart will be saved	`"output"`
`chart_name`	`str`	Name of the generated chart file	`"chart"`
`file_type`	`str`	Type of data file. Currently supports “rosbag”	`"rosbag"`
`output_format`	`str`	Output file type. Choose from “html” or “csv”	`"html"`

Returns

None:

When `output_format="html"`

Creates a plotly html chart <chart_name>.html at output_dir but doesn’t return any value.
Can create single, or multiple plot charts (See Example)

When `output_format="csv"`

Creates a csv file <chart_name>.csv at output_dir but doesn’t return any value. The Dashboard will automatically try to convert csv files to charts upon upload. Useful when wanting to keep file sizes down.
Please note that the dashboard can only currently automatically create single topic charts.

Note

Currently only supports creating charts from rosbags
When using “Time” as one of the topics, the function will automatically plot the other topic against that topic’s timestamp if available. If the topic does not have timestamps in its message structure, the rosbag’s time will be used.

Example

Single Topics

The following example adds the make_chart function post shutdown, i.e after the test has completed and rosbag saved.

# my_test_file.launch.py
# test code

...

@launch_testing.post_shutdown_test()
class TestProcOutputAfterShutdown(unittest.TestCase):
    def test_exit_code(self, rosbag_filepath):
        make_chart(
            rosbag_filepath,
            "/odom.pose.pose.position.x",
            "/odom.pose.pose.position.y",
            field_unit="m",
            chart_name="odometry_position",
            output_format="csv"
        )

Producing a csv file that will automatically display as a chart in the dashboard as below:

Example Chart

Topic vs Topics

make_chart(
    rosbag_filepath,
    "time",
    ["/critics_cost/ConstraintCritic.data", "/critics_cost/GoalAngleCritic.data", "/critics_cost/GoalCritic.data", "/critics_cost/CostCritic.data", "/critics_cost/PathAlignCritic.data", "/critics_cost/PathAngleCritic.data", "/critics_cost/PathFollowCritic.data", "/critics_cost/PreferForwardCritic.data"],
    axis_x_name="time",
    axis_y_name="critics",
    chart_name="Critics vs Time",
)

Will produce the following chart:

Example Chart, topic vs topics

Topics vs Topics

 make_chart(
        rosbag_filepath,
        topic_x=["/odom.pose.pose.position.x", "/gt_odom.pose.pose.position.x"],
        topic_y=["/odom.pose.pose.position.y", "/gt_odom.pose.pose.position.y"],
        axis_x_name="x (m)",
        axis_y_name="y (m)",
        chart_name="odom vs gt positions"
    )