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Launch

• Where the hell do I find complete docs for XML launch files?
  • https://design.ros2.org/articles/roslaunch_xml.html seems to be the canonical doc
    • but XSD schemata are machine-readable, not human-readable
    • also, it is missing lots of stuff (launch_ros.actions), so e.g. push_ros_namespace is not mentioned in this doc
  • https://docs.ros.org/en/rolling/How-To-Guides/Migrating-from-ROS1/Migrating-Launch-Files.html
    • this is a quite good source, but it isn't comprehensive
• use_sim_time hell (i.e. no support for global parameters)
  • https://discourse.ros.org/t/ros2-use-sim-time-leads-to-inconsistent-clocks/42030/2

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#! /usr/bin/python
# Software License Agreement (BSD License)
#
# Copyright (c) 2010, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#

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#!/usr/bin/env python

from __future__ import print_function

import argparse
import os
import rosbag
import sys

try:

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# Run "iperf3 -s" on "Computer 1" and "python3 gblox.py 10000 IP_OF_OTHER_COMPUTER_1" on "Computer 2".

# Run wireshark on Computer 2 and watch the packets arriving on port 5201.
# You will see all IP packets except the first in each UDP transmission have mangled 4 bytes
# near the beginning of their data sections. The test program shoud send repeated patterns of
# 0123456789abcdef, so it should be quite easy to spot. The 00 at position 7 and 8 is always
# there, 69 on the second blue line is also always there, while 87 seems to be randomly changing.

import socket
import sys

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# Only add this if you need to run Apache on the host
LoadModule rewrite_module /usr/lib/apache2/modules/mod_rewrite.so

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from math import ceil
from typing import Tuple, List, Optional

import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation, ImageMagickWriter
from matplotlib.collections import Collection
from matplotlib.container import Container
from matplotlib.patches import Patch

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"""
This program continuously checks whether a PTP client is well synced to its master.

SPDX-License-Identifier: BSD-3-Clause
SPDX-FileCopyrightText: Czech Technical University in Prague
"""

import argparse
import contextlib

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"""
This is a script for testing whether a switch fills the correction field in relevant PTPv2 messages.
The following combinations of message types and two-step clock should get the correction field filled:
|       TYPE       | 2-STEP |
| SYNC             | 0      |
| DELAY_RESP       | -      |
| FOLLOW_UP        | -      |
| PDELAY_RESP      | 0      |
| PDELAY_FOLLOW_UP | -      |
I.e. SYNC and PDELAY_RESP with TWO_STEP=1 can have zero correction.