Braid Tools

• Helpful nodes for interfacing Braid with ROS.
• Basic analysis, slicing, and plotting functions.

ROS nodes

braid_ros_listener.py

Node that listens to an active Braid instance and streams the data to a ROS topic: flydra_mainbrain/super_packets. To run:

• rosrun braid_tools braid_ros_listener.py --braid-model-server-url=http://YOUR.IP.ADDRESS:8397/

braid_emulator.py

Simulates a moving trajectory and outputs in the same format as the braid_ros_listener. Helpful for testing hardware without needing real trajectory data.

braid_realtime_plotter.py

Allows you to visualize where in space tracked objects are. Helpful for trouble shooting orientations of calibrations and testing tracking. Only supports a single object (first object). Uses a yaml file to set plotting dimensions, modify to fit your arena. To run:

• rosrun braid_tools braid_realtime_plotter.py --config='~/catkin_ws/src/braid_tools/plot_config/small_tunnel.yaml'

braid_save_data_to_hdf5.py

ROS node for saving flydra_mainbrain/super_packets to an hdf5 file with buffering etc.

Analysis

From inside this directory, run python ./setup.py install to install the analysis tools.

See examples for demos.