Merge pull request #14 from LCAV/experiments_white-noise-static

Experiments white noise static

experiments/2020_09_17_white-noise-static/README.md

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+<!-- create this document in each new experiments folder, calling it README.md -->
+# EXPERIMENT NAME
+
+__Time__: Thursday 17.09.2020, ca. 15.00-18.00
+
+__Recorded by__: Frederike Dümbgen (ROS), Adrien Hoffet (Soundcard)
+
+__Place__: Audio room INR018, EPFL
+
+## Description
+
+###  Hardware
+<!--
+Checklist: 
+- Speaker type
+- Microphone type
+- Reference angle for DOA
+- Distance speaker-mic etc. 
+-->
+
+- Small speaker, center of bottom output mounted at 1.47 meters. 
+- Drone with audio deck, height of microphones at 1.47 meters. 
+- One measurement microphone at 1.73 meters, above the center of the drone, for control purposes.
+- Source at 0 degrees corresponds to 180 degrees in the drone's frame. 
+- Drone turned counter-clockwise by 20 and 45 degrees for different experiments.
+- Distance speaker to center of drone: 1.9 meters. 
+
+
+### Software
+<!--
+Checklist: 
+- Sampling rate
+- Motor thrust value 
+- Audio files used
+- Scripts used
+- Other parameters used
+-->
+
+- Software versions used: version0.2 for crazyflie-audio, crazyflie-firmware, audioROS
+- Sampling rate: 32000 kHz
+- Motor thrust value: 43000, set using parameter motorPowerSet.m1-m4
+- Used [crazyflie-audio/reaper/crazyflie_audio_measurements.RPP](https://github.com/LCAV/crazyflie-audio/blob/f7f3aa7760a42ed62dea02ee270952595b46cdaa/reaper/crazyflie_audio_measurements.RPP) file for speaker and measurement mic (commit: f7f3aa7760).
+
+### Protocol
+<!--
+Checklist: 
+- Sound level calibration
+- Order of scripts run
+- Start/end times of recordings, synchronization
+-->
+
+- Sound level calibration: measured at the measurement microphone location, during the experiments at 45 degrees.
+  - Maximum source: 80 dB
+  - Propeller noise: 73.5 dB
+- Measurement microphone recorded during 45 degrees experiments. 
+- Order of scripts:
+  - `ros2 run crazyflie_crtp gateway`: start getting audio data
+  - `ros2 param set ...`: set `filter_snr_enable` etc., set motor speeds
+  - `*_bkp`: had to run this experiment again because forgot to record on soundcard side.
+  - `*_crash`: had to run this experiment again because drone stopped sending data half-way.
+  - run at the same time: `ros2 bag record -o ...`  and play (+record) the sound through the soundcard 
+  - stop bag file recording as soon as the sound reaches its end.
+
+### Data
+<!-- Explain folder naming etc.  -->
+
+- `export/`: Measurement microphone recordings.
+- `<motors flag>_<snr filter flag>_<propeller filter flag>_<source flag>`: Audio deck recordings, e.g. `motors_nosnr_noprops_nosource`: propellers on, `filter_snr_enable` set to 0, `filter_props_enable` set to 0, no source playing.
+- `photos`: Photos of the experiment setup.
+
+### Observations
+<!--
+Anything unusual that happened during the experiments, such as
+- Background noise
+- Connection problems, low data rates, etc. 
+- Hardware (battery failures, broken parts, etc)
+-->
+
+- Needed to change batteries 3 times. 
+- Needed to restart the drone a few times because it stopped sending any valid audio data. 

experiments/2020_09_17_white-noise-static/motors_nonosnr_props_source_20/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_nonosnr_props_source_20/motors_nonosnr_props_source_20_0.db3
+  duration:
+    nanoseconds: 36477265672
+  starting_time:
+    nanoseconds_since_epoch: 1600355061766242700
+  message_count: 258
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 258

experiments/2020_09_17_white-noise-static/motors_nosnr_noprops_nosource/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_nosnr_noprops_nosource/motors_nosnr_noprops_nosource_0.db3
+  duration:
+    nanoseconds: 37002525685
+  starting_time:
+    nanoseconds_since_epoch: 1600353917851188065
+  message_count: 180
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 180

experiments/2020_09_17_white-noise-static/motors_nosnr_noprops_source/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_snr_noprops_source/motors_snr_noprops_source_0.db3
+  duration:
+    nanoseconds: 35159385140
+  starting_time:
+    nanoseconds_since_epoch: 1600353226810441373
+  message_count: 223
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 223

experiments/2020_09_17_white-noise-static/motors_nosnr_noprops_source_20/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_nosnr_noprops_source_20/motors_nosnr_noprops_source_20_0.db3
+  duration:
+    nanoseconds: 35723698190
+  starting_time:
+    nanoseconds_since_epoch: 1600354781657743567
+  message_count: 216
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 216

experiments/2020_09_17_white-noise-static/motors_nosnr_noprops_source_45/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_nosnr_noprops_source_45/motors_nosnr_noprops_source_45_0.db3
+  duration:
+    nanoseconds: 35381351396
+  starting_time:
+    nanoseconds_since_epoch: 1600356449113685952
+  message_count: 172
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 172

experiments/2020_09_17_white-noise-static/motors_nosnr_props_source_45/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_nosnr_props_source_45/motors_nosnr_props_source_45_0.db3
+  duration:
+    nanoseconds: 35852075879
+  starting_time:
+    nanoseconds_since_epoch: 1600356605916537822
+  message_count: 238
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 238

experiments/2020_09_17_white-noise-static/motors_snr_noprops_source/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_snr_noprops_source/motors_snr_noprops_source_0.db3
+  duration:
+    nanoseconds: 36782337817
+  starting_time:
+    nanoseconds_since_epoch: 1600353564400653178
+  message_count: 232
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 232

experiments/2020_09_17_white-noise-static/motors_snr_noprops_source_20/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_snr_noprops_source_20/motors_snr_noprops_source_20_0.db3
+  duration:
+    nanoseconds: 35231138672
+  starting_time:
+    nanoseconds_since_epoch: 1600355443738216240
+  message_count: 198
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 198

experiments/2020_09_17_white-noise-static/motors_snr_noprops_source_20_crash/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_snr_noprops_source_20/motors_snr_noprops_source_20_0.db3
+  duration:
+    nanoseconds: 28516887555
+  starting_time:
+    nanoseconds_since_epoch: 1600355214731626029
+  message_count: 179
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 179

experiments/2020_09_17_white-noise-static/motors_snr_noprops_source_45/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_snr_noprops_source_45/motors_snr_noprops_source_45_0.db3
+  duration:
+    nanoseconds: 36007972496
+  starting_time:
+    nanoseconds_since_epoch: 1600356694455455056
+  message_count: 210
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 210

experiments/2020_09_17_white-noise-static/motors_snr_props_source/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_snr_props_source/motors_snr_props_source_0.db3
+  duration:
+    nanoseconds: 36231520769
+  starting_time:
+    nanoseconds_since_epoch: 1600353693851824270
+  message_count: 225
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 225

experiments/2020_09_17_white-noise-static/motors_snr_props_source_20/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_snr_props_source_20/motors_snr_props_source_20_0.db3
+  duration:
+    nanoseconds: 35774104810
+  starting_time:
+    nanoseconds_since_epoch: 1600355573350771152
+  message_count: 209
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 209

experiments/2020_09_17_white-noise-static/motors_snr_props_source_45/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - motors_snr_props_source_45/motors_snr_props_source_45_0.db3
+  duration:
+    nanoseconds: 35988325421
+  starting_time:
+    nanoseconds_since_epoch: 1600356799864266037
+  message_count: 219
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 219

experiments/2020_09_17_white-noise-static/nomotors_nosnr_noprops_source/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - nomotors_nosnr_noprops_source/nomotors_nosnr_noprops_source_0.db3
+  duration:
+    nanoseconds: 36598784313
+  starting_time:
+    nanoseconds_since_epoch: 1600353008929676515
+  message_count: 250
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 250

experiments/2020_09_17_white-noise-static/nomotors_nosnr_noprops_source_20/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - nomotors_nosnr_noprops_source_20/nomotors_nosnr_noprops_source_20_0.db3
+  duration:
+    nanoseconds: 35458771661
+  starting_time:
+    nanoseconds_since_epoch: 1600354371108241605
+  message_count: 191
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 191

experiments/2020_09_17_white-noise-static/nomotors_nosnr_noprops_source_45/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - nomotors_nosnr_noprops_source_45/nomotors_nosnr_noprops_source_45_0.db3
+  duration:
+    nanoseconds: 33755884745
+  starting_time:
+    nanoseconds_since_epoch: 1600356259171666431
+  message_count: 193
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 193

experiments/2020_09_17_white-noise-static/nomotors_nosnr_noprops_source_45_bkp/metadata.yaml

@@ -0,0 +1,16 @@
+rosbag2_bagfile_information:
+  version: 2
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - nomotors_nosnr_noprops_source_45/nomotors_nosnr_noprops_source_45_0.db3
+  duration:
+    nanoseconds: 35306097259
+  starting_time:
+    nanoseconds_since_epoch: 1600356064487444839
+  message_count: 239
+  topics_with_message_count:
+    - topic_metadata:
+        name: /audio/signals_f
+        type: audio_interfaces/msg/SignalsFreq
+        serialization_format: cdr
+      message_count: 239