• Overview
• Reviewing Autonomous Tasks Using Telemetry Data and Image Captures

This guide goes over retrieving data on autonomous tasks.

See the LCR Telemetry Guide for instructions on how to access time-series stats from the robots. Stats are always captures at 1Hz, with more metrics included when the robot is active. Publish happens every 15 seconds when active or every 5 minutes when idle.

The robot runtime always captures the active color camera image along with telemetry, when there is motion. For additional sensor capture, the recording policy in AGT UI (under Task Settings) must be modified to "color and depth".

Captured data stays locally on the robot unless action is taken by a user to download, using the robot UI.

Image files can be copied over the local Wifi networked or the LTE network. Over Wifi there are no data charges, over LTE the cost is ~$2/hr assuming:

• 1Hz depth and color image captures (~200 MB/hr)
• $10/Gb for LTE data

1. Navigate to the telemetry dashboard (touch/click on the bars on lower left)
2. Touch/click the "Inspect Telemetry" button and specify the time range
3. Touch/click the "Inspect Telemetry" button to close the dialog
4. Touch/click on the "Download Captures" button. Download might take a few minutes if the robot has been active multiple hours per day and the time range is across multiple days

See image sequence:

• The files can be directly copied to a PC using the scp command on linux.
• Recordings for AGT are stored on the robot in /var/local/xenon/8000/captures/navigation-topological-path-planners-default/
• Recordings of active color images plus telemetry, any time robot is in motion are stored in /var/local/xenon/8000/captures/actuators-navigators-default/
• AGT recordings are organized in subfolders as /<PLAN_NAME>/<WP>/<WPxx:WP> e.g., /puppet/W1/W2:W1 for the plan "puppet" and waypoint "W1", using path W2 to W1

To copy files off of an LCR:

1. Connect to the robot Wifi (preferred) or the LTE VPN.
2. SSH into the robot and confirm which plan and waypoint folder you want to copy
3. Make a folder on your own computer to store the images
4. On your PC copy the files: e.g., sudo scp pi@<ROBOT_IP>:/var/local/xenon/8000/captures/navigation-topological-path-planners-default/puppet/W1 ./

WARNING If doing this over LTE large data costs can occur (~$2 per hour of recordings loaded)

1. Go to https://<ROBOT_IP> :8000/navigation/graphs/<PLAN_NAME> and enable recordings
2. Click on a waypoint and the recordings when the robot was heading to that waypoint will be displayed.
3. You can right-click on the color/depth images and open in a new tab to see them in full size.
4. Clicking on an image will open the .JSON data capture associated with that image.

1. Log into the Fleet UI and load the telemetry page for the robot
2. Choose the active plan from the dropdown menu
3. Click on the Telemetry button to display the telemetry options dialog
4. Drag a folder of the given waypoint name into the options dialog (e.g. drag the W1 folder from the file viewer onto the dialog)
5. The images will appear at the bottom of the screen.
6. You can right-click on the color/depth images and open in a new tab to see them in full size.
7. Clicking on an image will open the .JSON data capture associated with that image.

Video Example Here: https://photos.app.goo.gl/snpJczRDXqoHpcgJA