Collecting Sensor Data with SWARM Developer System - Command Line

Step 1 - Create A Settings File

To get started, you can utilize the DefaultSimulationSettings.json file located in the settings folder of the client repository. Feel free to copy this file and rename it or modify this one directly.

Step 2 - Add needed Sensors

Add any supported sensor to the Sensors section for each agent. The SWARM Developer System will automatically collect data from any supported sensor that is available. Please see the example below for adding an IMU to the an agent. Please see the Sensors documentation for more information about each parameter.

{
            ...
                "Sensors": {
                    "IMU": {
                        "Imu1": {
                            "Enabled": true,
                            "Method": "Colosseum",
                            "PublishingRate": 50.0
                            "Record": true
                        }
                    },
                    ...
                }
}
                

Step 3 - Setup the Sensor Data Collector Node

You will want to add a SensorDataCollector to the SoftwareModules of the Agent or Agent's you are running. An example is provided below:

{
    ...
        "SoftwareModules": {
            "SensorDataCollector": {
                "Parameters": {
                    "OutputType": "csv"
                },
                "Publishes": [],
                "Subscribes": []
            },
            ...
        }
}
        

Please view the Documentation for the SensorDataCollector for module options.

The SensorDataCollector module is a Node in the computation graph for the SWARM Developer System, which reads in the provided sensor settings and collects data based upon the publishing rate for each sensor. Data for each sensor is provided in a separate data file, with multiple data formats supported (currently only csv is supported but more are on the way.)