File size: 9,248 Bytes
1c6ba80
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
{
  "overall_status": "ERROR",
  "total_warnings": 10,
  "total_errors": 3,
  "episodes": {
    "episode_000000": {
      "source_bag": "/workspace/test_recording_full",
      "duration_sec": 17.522,
      "total_messages": 20688,
      "overall_status": "ERROR",
      "summary": {
        "total_warnings": 10,
        "total_errors": 3,
        "topics_analyzed": 8
      },
      "topics": {
        "/joint_states": {
          "expected_hz": 100.0,
          "actual_mean_hz": 200.14,
          "message_count": 3508,
          "interval_ms": {
            "expected": 10.0,
            "actual_mean": 5.0,
            "min": 0.0,
            "max": 70.41,
            "std": 3.77
          },
          "thresholds_ms": {
            "warning": 20.0,
            "error": 40.0
          },
          "quality": {
            "status": "ERROR",
            "warning_count": 1,
            "error_count": 1,
            "warning_ratio": 0.03,
            "error_ratio": 0.03
          },
          "gaps": [
            {
              "index": 29,
              "time_sec": 1768359514.5561,
              "gap_ms": 70.41,
              "severity": "error",
              "expected_ms": 10.0
            },
            {
              "index": 30,
              "time_sec": 1768359514.6265,
              "gap_ms": 36.15,
              "severity": "warning",
              "expected_ms": 10.0
            }
          ]
        },
        "/leader/joystick_controller_right/joint_trajectory": {
          "expected_hz": 100.0,
          "actual_mean_hz": 200.1,
          "message_count": 3507,
          "interval_ms": {
            "expected": 10.0,
            "actual_mean": 5.0,
            "min": 0.01,
            "max": 37.74,
            "std": 3.83
          },
          "thresholds_ms": {
            "warning": 20.0,
            "error": 40.0
          },
          "quality": {
            "status": "WARNING",
            "warning_count": 3,
            "error_count": 0,
            "warning_ratio": 0.09,
            "error_ratio": 0.0
          },
          "gaps": [
            {
              "index": 28,
              "time_sec": 1768359514.5562,
              "gap_ms": 37.74,
              "severity": "warning",
              "expected_ms": 10.0
            },
            {
              "index": 29,
              "time_sec": 1768359514.5939,
              "gap_ms": 33.08,
              "severity": "warning",
              "expected_ms": 10.0
            },
            {
              "index": 30,
              "time_sec": 1768359514.627,
              "gap_ms": 36.19,
              "severity": "warning",
              "expected_ms": 10.0
            }
          ]
        },
        "/leader/joystick_controller_left/joint_trajectory": {
          "expected_hz": 100.0,
          "actual_mean_hz": 200.1,
          "message_count": 3507,
          "interval_ms": {
            "expected": 10.0,
            "actual_mean": 5.0,
            "min": 0.0,
            "max": 37.81,
            "std": 3.82
          },
          "thresholds_ms": {
            "warning": 20.0,
            "error": 40.0
          },
          "quality": {
            "status": "WARNING",
            "warning_count": 3,
            "error_count": 0,
            "warning_ratio": 0.09,
            "error_ratio": 0.0
          },
          "gaps": [
            {
              "index": 28,
              "time_sec": 1768359514.5561,
              "gap_ms": 37.81,
              "severity": "warning",
              "expected_ms": 10.0
            },
            {
              "index": 29,
              "time_sec": 1768359514.5939,
              "gap_ms": 33.08,
              "severity": "warning",
              "expected_ms": 10.0
            },
            {
              "index": 30,
              "time_sec": 1768359514.627,
              "gap_ms": 36.19,
              "severity": "warning",
              "expected_ms": 10.0
            }
          ]
        },
        "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory": {
          "expected_hz": 100.0,
          "actual_mean_hz": 200.06,
          "message_count": 3506,
          "interval_ms": {
            "expected": 10.0,
            "actual_mean": 5.0,
            "min": 0.0,
            "max": 70.33,
            "std": 3.93
          },
          "thresholds_ms": {
            "warning": 20.0,
            "error": 40.0
          },
          "quality": {
            "status": "ERROR",
            "warning_count": 1,
            "error_count": 1,
            "warning_ratio": 0.03,
            "error_ratio": 0.03
          },
          "gaps": [
            {
              "index": 28,
              "time_sec": 1768359514.5562,
              "gap_ms": 70.33,
              "severity": "error",
              "expected_ms": 10.0
            },
            {
              "index": 29,
              "time_sec": 1768359514.6265,
              "gap_ms": 36.15,
              "severity": "warning",
              "expected_ms": 10.0
            }
          ]
        },
        "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory": {
          "expected_hz": 100.0,
          "actual_mean_hz": 200.06,
          "message_count": 3506,
          "interval_ms": {
            "expected": 10.0,
            "actual_mean": 5.0,
            "min": 0.0,
            "max": 64.32,
            "std": 3.87
          },
          "thresholds_ms": {
            "warning": 20.0,
            "error": 40.0
          },
          "quality": {
            "status": "ERROR",
            "warning_count": 1,
            "error_count": 1,
            "warning_ratio": 0.03,
            "error_ratio": 0.03
          },
          "gaps": [
            {
              "index": 29,
              "time_sec": 1768359514.5614,
              "gap_ms": 64.32,
              "severity": "error",
              "expected_ms": 10.0
            },
            {
              "index": 31,
              "time_sec": 1768359514.6274,
              "gap_ms": 36.17,
              "severity": "warning",
              "expected_ms": 10.0
            }
          ]
        },
        "/camera_left/camera_left/color/image_rect_raw/compressed/metadata": {
          "expected_hz": 30.0,
          "actual_mean_hz": 60.05,
          "message_count": 1052,
          "interval_ms": {
            "expected": 33.33,
            "actual_mean": 16.65,
            "min": 0.36,
            "max": 66.43,
            "std": 11.53
          },
          "thresholds_ms": {
            "warning": 66.67,
            "error": 133.33
          },
          "quality": {
            "status": "GOOD",
            "warning_count": 0,
            "error_count": 0,
            "warning_ratio": 0.0,
            "error_ratio": 0.0
          },
          "gaps": []
        },
        "/camera_right/camera_right/color/image_rect_raw/compressed/metadata": {
          "expected_hz": 30.0,
          "actual_mean_hz": 60.12,
          "message_count": 1053,
          "interval_ms": {
            "expected": 33.33,
            "actual_mean": 16.63,
            "min": 0.37,
            "max": 45.25,
            "std": 11.97
          },
          "thresholds_ms": {
            "warning": 66.67,
            "error": 133.33
          },
          "quality": {
            "status": "GOOD",
            "warning_count": 0,
            "error_count": 0,
            "warning_ratio": 0.0,
            "error_ratio": 0.0
          },
          "gaps": []
        },
        "/zed/zed_node/left/image_rect_color/compressed/metadata": {
          "expected_hz": 30.0,
          "actual_mean_hz": 59.9,
          "message_count": 1049,
          "interval_ms": {
            "expected": 33.33,
            "actual_mean": 16.69,
            "min": 0.77,
            "max": 86.61,
            "std": 13.55
          },
          "thresholds_ms": {
            "warning": 66.67,
            "error": 133.33
          },
          "quality": {
            "status": "WARNING",
            "warning_count": 1,
            "error_count": 0,
            "warning_ratio": 0.1,
            "error_ratio": 0.0
          },
          "gaps": [
            {
              "index": 7,
              "time_sec": 1768359514.5399,
              "gap_ms": 86.61,
              "severity": "warning",
              "expected_ms": 33.33
            }
          ]
        }
      },
      "staleness": {
        "observation.state": {
          "topic": "observation.state",
          "total_samples": 526,
          "staleness": {
            "warning_count": 0,
            "error_count": 0,
            "warning_ratio": 0.0,
            "error_ratio": 0.0,
            "max_ms": 59.67,
            "mean_ms": 4.33
          },
          "status": "GOOD",
          "stale_samples": []
        },
        "action": {
          "topic": "action",
          "total_samples": 526,
          "staleness": {
            "warning_count": 0,
            "error_count": 0,
            "warning_ratio": 0.0,
            "error_ratio": 0.0,
            "max_ms": 21.87,
            "mean_ms": 3.31
          },
          "status": "GOOD",
          "stale_samples": []
        }
      }
    }
  }
}