feat: add eagleye_result_logger for CSV regression logging

[rsasaki0109]

Summary

• /eagleye/fix (NavSatFix) と /eagleye/eagleye/pose (PoseStamped) をタイムスタンプ付き CSV に保存する新パッケージ eagleye_result_logger を追加
• リファクタリング前後の推定結果比較（リグレッションテスト）に使用

出力ファイル

ファイル	トピック	カラム
fix_YYYYMMDD_HHMMSS.csv	/eagleye/fix	timestamp_s, latitude, longitude, altitude, status
pose_YYYYMMDD_HHMMSS.csv	/eagleye/eagleye/pose	timestamp_s, x, y, z, qx, qy, qz, qw

使い方

# eagleye と同時に起動
ros2 launch eagleye_result_logger result_logger.launch.xml output_dir:=/tmp/results

# トピック名変更も可能
ros2 launch eagleye_result_logger result_logger.launch.xml \
  output_dir:=/tmp/results \
  fix_topic:=/eagleye/fix \
  pose_topic:=/eagleye/eagleye/pose

[windsurf-bot]

Other comments (20)

• eagleye_rt/src/heading_node.cpp (31-31) Missing YAML include. The code uses YAML::LoadFile but doesn't include the yaml-cpp header.
• eagleye_rt/src/slip_angle_node.cpp (128-132) The code is missing a subscription to the `velocity_status` topic, but `velocity_status_` is used in the `imuCallback` method when `use_can_less_mode_` is true. This could lead to undefined behavior since `velocity_status_` would never be updated.
• eagleye_rt/src/velocity_scale_factor_node.cpp (287-287) The csv_file is created but there's no check if the file was successfully opened before writing to it. This could lead to silent failures when trying to save data.

      std::ofstream csv_file(velocity_scale_factor_save_str_);
      if (!csv_file) {
        RCLCPP_ERROR(this->get_logger(), "Failed to open file for writing: %s", velocity_scale_factor_save_str_.c_str());
        return;
      }
  

• eagleye_rt/src/rolling_node.cpp (92-92) Consider initializing all member variables properly. While `rolling_status_` is initialized with empty braces, other message objects like `rolling_` are not explicitly initialized, which could lead to undefined behavior if any fields are accessed before being set.
• eagleye_rt/src/yaw_rate_offset_node.cpp (171-171) The `use_can_less_mode_` member variable is initialized to false but never set to true anywhere in the code. If this mode is supposed to be configurable, consider adding a parameter to set it.
• eagleye_rt/src/rtk_dead_reckoning_node.cpp (134-134) The `rtk_dead_reckoning_status_` is initialized with an empty initializer list `= {}`. Consider explicitly initializing all fields or using a constructor to ensure all status fields are properly initialized.
• eagleye_rt/src/rtk_dead_reckoning_node.cpp (177-179) Consider adding error logging in the catch block for TransformException to help with debugging. The original code had a commented RCLCPP_ERROR line that could be restored.
• eagleye_rt/src/yaw_rate_offset_stop_node.cpp (88-88) The `yaw_rate_offset_stop_status_` is initialized with empty braces, but it's not clear if all fields will be properly initialized this way. Consider explicitly initializing any fields that need specific initial values.
• eagleye_rt/src/heading_interpolate_node.cpp (131-131) The heading_interpolate_status_ member is initialized with empty braces, but this might not properly initialize all fields. Consider explicitly initializing it in the constructor instead to ensure all fields are properly set.
• eagleye_rt/src/heading_node.cpp (189-189) Consider initializing HeadingStatus with proper default values instead of empty braces, as some members might need specific initial values.
• eagleye_rt/src/yaw_rate_offset_stop_node.cpp (63-64) There's a mismatch between the log message and the variable name. The log message says 'estimated_minimum_interval' but the variable is named 'estimated_interval'.
• eagleye_rt/src/angular_velocity_offset_stop_node.cpp (82-83) The `angular_velocity_offset_stop_status_` struct is initialized with empty braces, but `angular_velocity_offset_stop_parameter_` is not initialized. Consider initializing it as well to avoid potential undefined behavior.
• eagleye_rt/src/yaw_rate_offset_node.cpp (87-87) The error message formatting in the YAML exception catch block is incorrect. The ANSI color code is incomplete - it's missing the color number after the semicolon.

            std::cerr << "\033[1;31myaw_rate_offset_1st Node YAML Error: " << e.msg << "\033[0m"
  

• eagleye_rt/src/yaw_rate_offset_node.cpp (129-129) The error message formatting in the second YAML exception catch block is also incorrect.

            std::cerr << "\033[1;31myaw_rate_offset_2nd Node YAML Error: " << e.msg << "\033[0m"
  

• eagleye_util/result_logger/eagleye_result_logger/result_logger_node.py (38-38) The `sys` module is imported but not used in the code. Consider removing this unused import.
• eagleye_util/result_logger/eagleye_result_logger/result_logger_node.py (31-33) The docstring mentions output files as `fix.csv` and `pose.csv`, but the actual implementation uses timestamped filenames like `fix_YYYYMMDD_HHMMSS.csv`. Please update the docstring to match the actual implementation.
• eagleye_rt/src/height_node.cpp (129-129) Consider explicitly initializing all fields in the HeightStatus struct rather than using empty braces initialization. This ensures all fields have defined values.
• eagleye_rt/src/velocity_estimator_node.cpp (82-82) For consistency with the other callback methods, consider using the same multi-line format for this method.

    void ggaCallback(const nmea_msgs::msg::Gpgga::ConstSharedPtr msg)
    {
      gga_msg_ = *msg;
    }
  

• eagleye_rt/src/correction_imu.cpp (103-103) The condition check for acc_x_scale_factor_.status.enabled_status is missing the explicit `== true` comparison that is used for acc_x_offset_.status.enabled_status. For consistency and to avoid potential issues with non-boolean values, consider adding the explicit comparison.

      if (acc_x_offset_.status.enabled_status == true && acc_x_scale_factor_.status.enabled_status == true)
  

• eagleye_rt/src/rtk_heading_node.cpp (167-167) Consider fully initializing the heading_status_ structure with appropriate default values rather than using an empty initializer list. This ensures all fields are properly initialized.

1 file skipped due to size limits:

• eagleye_rt/src/monitor_node.cpp

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[windsurf-bot]

Similar to the issue below, there's no check if the file was successfully opened before proceeding.

Suggested change

	std::ofstream csv_file(velocity_scale_factor_save_str_);
	std::ofstream csv_file(velocity_scale_factor_save_str_);
	if (!csv_file) {
	RCLCPP_ERROR(this->get_logger(), "Failed to open file for writing: %s", velocity_scale_factor_save_str_.c_str());
	}

[windsurf-bot]

The velocity_ member variable is declared but never assigned a value. There's no subscription or callback for the velocity topic that was present in the original code. This could lead to undefined behavior when velocity_ is used in the imuCallback method.

[windsurf-bot]

The velocity_status_ member variable is declared but never assigned a value. There's no subscription or callback for the velocity status topic that was present in the original code. This could cause issues when velocity_status_ is used in the imuCallback method, particularly when use_can_less_mode_ is true.