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feat: configurable window for profiler peak focus #51

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feat: configurable window for profiler peak focus #51

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4 changes: 4 additions & 0 deletions configs/example.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,10 @@ arm_ifcb:
resolution: 0.02 # m
data_topic: "ctd/aml/port4/phycoerythrin"
data_field: "value"
# Profile will only consider peaks that are at least this deep
peak_min_depth: 0.0 # optional, m
# Profile will only consider peaks that are at most this deep
peak_max_depth: 10.0 # optional, m

motor: #optional
address: "192.168.13.3"
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11 changes: 11 additions & 0 deletions src/phyto_arm/src/profiler_node.py
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Expand Up @@ -135,6 +135,17 @@ def on_action_stop(pub, action_msg):
S.release()
return

# Get min and max depth params
min_depth = rospy.get_param('~peak_min_depth')
max_depth = rospy.get_param('~peak_max_depth')

# Filter out data points outside the specified depth range
if min_depth is not None and max_depth is not None:
len_before = data.shape[0]
data = data[(data[:,0] >= min_depth) & (data[:,0] <= max_depth)]
rospy.logwarn(f'Profile depths filtered: {min_depth} to {max_depth} m. \
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Only concern I have is that this is a warning. I'm guessing because line 130 is a warning, but that was more to do with having erroneous depth readings of DEPTH_PRESSURE_NO_DATA. I think loginfo or just remove the log altogether, since I'm not convinced it's useful?

{data.shape[0]}/{len_before} points remain')

# Create a function that linearly interpolates between points
f = scipy.interpolate.interp1d(data[:,0], data[:,1])

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