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The Replay executable allows to replay the recorded data in order to use it as input to the fusion nodes. For that please keep the same “sinks“ block that was used in the live testing. The “sources“ block should be replaced by just the replay endpoint as shown above instead of the different hardware data sources. |
Compatibility with old data recordings
Starting from 19/10/2023, the odometry message type used as input to the filter nodes has changed.
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To be able to replay data recorded with older FusionHub versions, please make sure to include the |
This way the recorded CAN messages are reprocessed to produce the expected input.
Output replay
This is an alternative replay method included in the FusionHub application itself. It can be used to publish the fusion output with a desired frequency. It doesn’t run the fusion but simulates the output instead. The recorded data need to be pre-processed by keeping the desired output message type only and removing the input messages. The configuration for this replay looks like follows, note that the “sinks“ block is empty here except for “echo” if needed.
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