reporter.py now starts time of run on takeoff.

Due to differences in simulation hardware, reporter.py now starts the clock after the drone's takeoff.
This change should only reduce the logged time by the reporter and will not increase recorded times.

flightgoggles_reporter/src/reporter.py

@@ -12,6 +12,7 @@
 import yaml
 import signal
 from std_msgs.msg import Empty
+from sensor_msgs.msg import Imu
 
 class Gate():
  ## Constructor for class gate
@@ -70,13 +71,14 @@ def isEvent(self,point, tol):
  return False
 
 
+
 class ReporterNode():
  ## Constructor for the ReporterNode
  def __init__(self):
 
  nextEventId = 0
  eventTol = 1.0
-
+ self.startTime = -1
  rate = 150.
 
  # Log the event data for output
@@ -102,7 +104,6 @@ def __init__(self):
  if (timeout == -1):
  rospy.logerr("Timeout not specified!")
  rospy.signal_shutdown("Challenge parameter [timeout] could not be read")
- rospy.Timer(rospy.Duration(timeout), self.timerCallback)
 
  rospy.Subscriber("/uav/collision", Empty, self.collisionCallback)
 
@@ -123,7 +124,12 @@ def __init__(self):
  rospy.signal_shutdown("Location not specified in correct format")
  gates.append(Gate(loc, inflation))
 
- time_start = rospy.Time.now().to_sec()
+ imuSub = rospy.Subscriber("/uav/sensors/imu", Imu, self.imuCallback)
+ while (self.startTime == -1):
+ pass
+ imuSub.unregister()
+ time_start = self.startTime
+ rospy.Timer(rospy.Duration(timeout), self.timerCallback)
  while not rospy.is_shutdown():
  # Get the transformation of the drone in the world
  try:
@@ -150,6 +156,9 @@ def __init__(self):
 
  rospy.sleep(1./rate)
 
+ def imuCallback(self,data):
+ self.startTime=data.header.stamp.to_sec()
+
  ## @brief timerCallback callback for elapsed timer to enable the reporter to timeout
  # @param self the object pointer
  # @param event timer event