Hba script created for evaluation

scripts/localisation_benchmark/hba.py

@@ -0,0 +1,50 @@
+import sys
+import time
+
+import libtmux
+
+if __name__ == "__main__":
+
+    # TODO: put it in def an get path from arg.
+
+    path = '/home/oxford_spires_dataset/data/'
+    sequence = '2024-03-18-chrst-chrch-01'
+    seq_path = path + sequence
+
+    server = libtmux.Server()
+    server.cmd('new-session', '-d', '-P', '-F#{session_id}')
+    session = server.sessions[0]
+    window_1 = session.new_window(attach=False, window_name="launch fast_lio_slam")
+    pane_1 = window_1.panes.get()
+    pane_1.send_keys('cd /home/catkin_ws/')
+    pane_1.send_keys('source devel/setup.bash')
+    pane_1.send_keys('roslaunch hba {}.launch'.format(sequence))
+
+
+    # Check if the process is "iteration complete"
+    print("HBA launched!! - {}.launch".format(sequence))
+    flag = False
+    while (1):
+        pane_1.clear()
+        time.sleep(1)
+        cap_curr = pane_1.capture_pane()
+        # print(cap_curr)
+        for line in cap_curr:
+            if "Residual" in line:
+                print(line)
+            elif "pgo complete" in line:
+                print(line) 
+                flag = True
+        if flag:
+            break
+
+    time.sleep(3)
+    print("PROCESS FINISHED!!")
+    print("Output in: {}/output_slam/hba/hba_poses_robotics.csv".format(sequence))
+
+    # TODO: Copy to output folder
+
+    # TODO: Transform to TUM format
+
+
+    server.kill()