# Data Collection

Approved Drivers

Drivers of the vehicle need to be preapproved by the ECE department prior to operating the vehicle. Do not seek out approval yourself, ask a lead.

Passengers do not need to be preapproved. As a passenger, make sure your driver is preapproved.

Follow the steps here to initialize the server for battery power.

Drive Log

Make sure to fill out the drive log before you operate the vehicle.

Connnect to the server via SSH over the ethernet cable in the front passenger seat and initialize the docker:
```
# ssh connection to the vehicle
ssh autodrive@192.168.1.1

# start the docker
cd docker/
./run.sh
```
You should then see a modified prompt for the docker: [DOCKER]

Start a tmux session inside the docker container. The default keybinds are configured. For quick reference:

Keybinds
CTRL-B + " : Split window horizontally
CTRL-B + % : Split window vertical
CTRL-B + C : Create a new window
CTRL-B + N : Move to next window
CTRL-B + index : Move to window at index, ex: CTRL-B + 0 will move to the first created window

Use roslaunch to launch the system for data collection in one window/pane:
```
roslaunch bolt_launch data_collection.launch
```
Using the topic analyzer TUI from a separate tmux window/pane:
1. Load the data collection configuration file
2. Ensure that all topics listed are publishing at the target rate (besides CAN topics and Piksi, those are published when outside/moving)
3. If you see a topic struggling, or want to verify the topic data, focus that topic
If you have ensured the integrity of topics, move the car outside.
Start up the data collection script in a separate tmux window/pane:
```
 ./tools/data_collection.sh bag_name
```
- bag_name should be descriptive relative to whats happening with the weather. Examples:
  1. campus_snow for snowy weather
  2. campus_rain for rainy weather
  3. campus_sunny for sunny weather
Drive the planned route.

Route for Data Collection — Data Collection Route

Park the vehicle in the marked area, and DO NOT TURN OFF THE CAR.

Turning off the Car

If you turn off the vehicle prior to turning off the dev server, the batteries will drain.

Plug the vehicle into lab ethernet, and rsync the bags with our campus storage:

ssh -L 9922:davinci.egr.msu.edu:22 {username}@compute01.egr.msu.edu
rsync --progress -av -e "ssh -p 9922" /mnt/internal-datasets/{bag_name}*.bag \
  {username}@localhost:/egr/research-canvas/raw_datasets/campus/