The Autonomy Metrics Logger is a ROS2 node that tracks various robot events and computes the Mean Distance Between Incidents (MDBI). This node monitors topics such as GPS, odometry, battery status, and emergency stop status to log incidents and key metrics into a MongoDB database.

• MDBI Calculation: Computes the Mean Distance Between Incidents based on traveled distance and logged incidents.
• Autonomous Mode Tracking: Records the time spent and distance covered in autonomous mode.
• Event Logging: Logs critical events like emergency stops, manual overrides, and coordinator tasks.
• Database Integration: Uses MongoDB to store event logs, distances, and operational details of the robot.
• Heartbeat Signal: Publishes a heartbeat message every 5 seconds to indicate the node is alive.
• Git Repositories Logging: Captures and stores Git information of the active repositories for traceability.

1. Set Environment Variables:

   Configure the robot session by setting the following environment variables:

   export ROBOT_NAME=<your-robot-name>
   export FARM_NAME=<your-farm-name>
   export FIELD_NAME=<your-field-name>
   export APPLICATION=<your-application>
   export SCENARIO_NAME=<your-scenario-name>

2. Run the Node:

   ros2 launch autonomy_metrics autonomy_metrics.launch.py

The node uses the following ROS parameters, which can be customized:

• mongodb_host (default: localhost): MongoDB server host.
• mongodb_port (default: 27017): MongoDB server port.
• aoc_scenario_path (default: ""): Path to the AOC scenario repository.
• aoc_navigation_path (default: ""): Path to the AOC navigation repository.
• min_distance_threshold (default: 0.2): Minimum distance threshold for recording traveled distance (in meters).
• gps_topic (default: /gps_base/fix)
• odometry_topic (default: /diff_drive_controller/odom)
• battery_status_topic (default: /diff_drive_controller/battery_status)
• estop_status_topic (default: /diff_drive_controller/estop_status)
• hunter_status_topic (default: /hunter_status)
• actioned_by_coordinator_topic (default: /topological_navigation/execute_policy_mode/goal)

• GPS Data (/gps_base/fix): Receives and logs GPS data of the robot.
• Odometry Data (/diff_drive_controller/odom): Monitors odometry data to calculate traveled distance.
• Battery Status (/diff_drive_controller/battery_status): Logs battery level information.
• Emergency Stop Status (/diff_drive_controller/estop_status): Monitors and logs emergency stop events.
• Hunter Status (/hunter_status): Tracks the robot's current status, including operation mode and battery voltage.
• Coordinator Task (/topological_navigation/execute_policy_mode/goal): Logs tasks received from the coordinator.

• Heartbeat (mdbi_logger/heartbeat): Publishes a signal every 5 seconds to indicate node activity.

Licensed under the Apache License, Version 2.0. See the LICENSE file for more details.