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Add hooks, overhaul logging, improve rostopic recording #4

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Add hooks, overhaul logging, improve rostopic recording #4

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@abhaybd abhaybd commented May 22, 2024

  • Adds several hooks to the demo interface (pre/post hooks, mode change hook)
  • Adds info dict for centralized state
  • Centralizes rostopic recording into info dict (handles synchronization)
  • Overhauls logging to record directly to a pickle file, and add corresponding parse_log script for dumping the data (supports images)

@abhaybd abhaybd requested a review from Kelym May 22, 2024 00:24
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Kelym reviewed Jun 6, 2024
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Happy to merge asap to wrap up our time at UW.
I leave a few comments:
(1) need to add comments for readability
(2) remove mode_change_hook as its function is not necessary atm
(3) rename a few functions for clarification

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@abhaybd @Kelym