Hi,
I am working with python and ros and I am trying to retrieve the log of the flight from the code. I want to find a way to be reliable both for SITL and real drones.
I am using the mavros topics.
/mavros/log_transfer/raw/log_data
/mavros/log_transfer/raw/log_entry
and the services
/mavros/log_transfer/raw/log_request_data
/mavros/log_transfer/raw/log_request_end
/mavros/log_transfer/raw/log_request_list
However, I am not able to retrieve the log correctly.
As it is now, I ask the system the list of logs using /mavros/log_transfer/raw/log_request_list
then when the topic /mavros/log_transfer/raw/log_entry is updated I try to retrieve the data using a loop on the last log.
The code looks something like this:
def get_last_log(self):
if self.log_req_list_srv(0,0): #0xffff for the last available'
rospy.wait_for_message('mavros/log_transfer/raw/log_entry',
LogEntry,
10)
rospy.logerr(f"Log Available: {self.log_entry}, {self.log_entry.num_logs}")
log_name ="my_log.ulg"
f = open(log_name, "wb")
if self.log_entry.num_logs>0:
rospy.loginfo("Retriving last log")
step = 4096
for j in range(0,self.log_entry.size,step):
request_log_data_successfully = self.log_req_data_srv(self.log_entry.last_log_num,j,step)
rospy.wait_for_message('mavros/log_transfer/raw/log_data',
LogData,
10)
f.write(self.log_data.data)
rospy.logerr(f"Log Data: {j} {request_log_data_successfully}, {self.log_data.data}")
else:
rospy.logerr(f"No logs available.add()")
else:
rospy.logerr(f"Unable to list logs")
self.log_req_end_srv()
f.close()
rospy.logerr(f"Finished to retrieve log, saved in {log_name}")
However, the log is much smaller than the original one, and when I try to read the log or use it with some other log analyzer the file is corrupted.
So my question is, how can I retrieve the correct last log using mavros and python?
Any help is very appreciated,
Thank you in advance.