An open framework for testing navigation algorithms using different robots and different simulators.
To analyze a bag file, run
ros2 run navigation_metrics analyze_bag path/to/bag
To add metrics of your own, simply implement a function that takes a FlexibleBag as a parameter, and return the value of your metric, e.g.
from navigation_metrics.metric import nav_metric
@nav_metric
def total_collisions(data):
collision_topics = data.get_topics_by_type('collision_msgs/msg/Collisions')
total = 0
for topic in collision_topics:
for t, msg in data[topic]:
total += len(msg.collisions)
return total