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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