add missing items to feedback node and add latency node to all kitwar…

…e demos
PTG-Kitware · Oct 14, 2024 · 1916942 · 1916942
1 parent eb235ca
commit 1916942
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Showing 6 changed files with 30 additions and 1 deletion.
diff --git a/tmux/demos/medical/Kitware-M2.yml b/tmux/demos/medical/Kitware-M2.yml
@@ -62,6 +62,10 @@ windows:
             -r __ns:=${ROS_NAMESPACE}
             -p image_topic:=PVFramesBGR
             -p output_topic:=PVFramesBGR_ts
+        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
+            -r __ns:=${ROS_NAMESPACE} -p image_ts_topic:=PVFramesBGR_ts
+            -p det_topic:=ObjectDetections2d -p pose_topic:=PatientPose
+            -p activity_topic:=activity_topic -p latency_topic:=latency
 
 #  - sensor_input_stream:
 #      layout: even-vertical
@@ -169,3 +173,4 @@ windows:
       -p interp_user_intent_topic:=UserIntentPredicted
       -p system_text_response_topic:=SystemTextResponse
       -p system_notification_topic:=ARUISystemNotifications
+      -p task_error_topic:=ARUISystemNotifications
diff --git a/tmux/demos/medical/Kitware-M3.yml b/tmux/demos/medical/Kitware-M3.yml
@@ -62,6 +62,10 @@ windows:
             -r __ns:=${ROS_NAMESPACE}
             -p image_topic:=PVFramesBGR
             -p output_topic:=PVFramesBGR_ts
+        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
+            -r __ns:=${ROS_NAMESPACE} -p image_ts_topic:=PVFramesBGR_ts
+            -p det_topic:=ObjectDetections2d -p pose_topic:=PatientPose
+            -p activity_topic:=activity_topic -p latency_topic:=latency
 
 #  - sensor_input_stream:
 #      layout: even-vertical
@@ -169,3 +173,4 @@ windows:
       -p interp_user_intent_topic:=UserIntentPredicted
       -p system_text_response_topic:=SystemTextResponse
       -p system_notification_topic:=ARUISystemNotifications
+      -p task_error_topic:=ARUISystemNotifications
diff --git a/tmux/demos/medical/Kitware-M5.yml b/tmux/demos/medical/Kitware-M5.yml
@@ -63,6 +63,10 @@ windows:
             -r __ns:=${ROS_NAMESPACE}
             -p image_topic:=PVFramesBGR
             -p output_topic:=PVFramesBGR_ts
+        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
+            -r __ns:=${ROS_NAMESPACE} -p image_ts_topic:=PVFramesBGR_ts
+            -p det_topic:=ObjectDetections2d -p pose_topic:=PatientPose
+            -p activity_topic:=activity_topic -p latency_topic:=latency
 
 #  - sensor_input_stream:
 #      layout: even-vertical
@@ -170,3 +174,4 @@ windows:
       -p interp_user_intent_topic:=UserIntentPredicted
       -p system_text_response_topic:=SystemTextResponse
       -p system_notification_topic:=ARUISystemNotifications
+      -p task_error_topic:=ARUISystemNotifications
diff --git a/tmux/demos/medical/Kitware-R18-Zed2i-qa.yml b/tmux/demos/medical/Kitware-R18-Zed2i-qa.yml
@@ -82,7 +82,11 @@ windows:
         - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
             -r __ns:=${ROS_NAMESPACE}
             -p ROS_IP:=0.0.0.0
-
+        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
+            -r __ns:=${ROS_NAMESPACE} -p image_ts_topic:=PVFramesBGR_ts
+            -p det_topic:=ObjectDetections2d -p pose_topic:=PatientPose
+            -p activity_topic:=activity_topic -p latency_topic:=latency
+
   - sensor_zed:
       layout: even-vertical
       panes:

diff --git a/tmux/demos/medical/Kitware-R18-Zed2i.yml b/tmux/demos/medical/Kitware-R18-Zed2i.yml
@@ -76,6 +76,10 @@ windows:
             -r __ns:=${ROS_NAMESPACE}
             -p image_topic:="${ZED_IMAGE_TOPIC}"
             -p output_topic:="${ZED_IMAGE_TS_TOPIC}"
+        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
+            -r __ns:=${ROS_NAMESPACE} -p image_ts_topic:=PVFramesBGR_ts
+            -p det_topic:=ObjectDetections2d -p pose_topic:=PatientPose
+            -p activity_topic:=activity_topic -p latency_topic:=latency
 
   - pose_estimation: ros2 run angel_system_nodes pose_estimator --ros-args
       -r __ns:=${ROS_NAMESPACE}
@@ -164,3 +168,4 @@ windows:
       -p interp_user_intent_topic:=UserIntentPredicted
       -p system_text_response_topic:=SystemTextResponse
       -p system_notification_topic:=ARUISystemNotifications
+      -p task_error_topic:=ARUISystemNotifications
diff --git a/tmux/demos/medical/Kitware-R18-qa.yml b/tmux/demos/medical/Kitware-R18-qa.yml
@@ -75,6 +75,11 @@ windows:
         - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
             -r __ns:=${ROS_NAMESPACE}
             -p ROS_IP:=0.0.0.0
+        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
+            -r __ns:=${ROS_NAMESPACE} -p image_ts_topic:=PVFramesBGR_ts
+            -p det_topic:=ObjectDetections2d -p pose_topic:=PatientPose
+            -p activity_topic:=activity_topic -p latency_topic:=latency
+
   - vocal:
       layout: even-vertical
       panes: