Online-Integration first draft

• Goal: create a ros_addetector.py, primarily for utilizing with ROS1

ROS Intro:

• set up development env according to #54 (closed)
• clone the code from here, very similar to what we need
• trigger the detector, publish Bool on the '/start_anomaly' topic
• read FrankaData running the detector, using rosbag play

Requirements for ros_addetector.py:

• modify the subscriber to the relevant topics (jt, force),
• subscribe to a topic ('/start_anomaly') as trigger for the detector,
• create windows of FrankaData, with the help of Kevins suggestions here
• load a pretrained model in init,
• modify msg_callback to apply the model and build reconstruction loss for actual window,
• modify publisher for reconstructed forces and the current loss as anomaly score
• optional (after demo): include a recording / data_acquisition mode, for easy implementation with 'new' data.

Resources:

• Exemplary code here,
• ros_datahandler.

Completed?

• test the new ros_addetector with the rosbags Demo? -> Running demo (in the lab) on wednesday 23.10!