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èŠããããŸãã { "name": "fw-vision-system-decoder-manifest", "modelManifestArn": "<your model manifest arn>", "description": "decoder manifest to demonstrate vision system data", "networkInterfaces":[ { "interfaceId": "10", "type": "VEHICLE_MIDDLEWARE", "vehicleMiddleware": { "name": "ros2", "protocolName": "ROS_2" } }, ], "signalDecoders":[ { "fullyQualifiedName": "Vehicle.Cameras.Front.Image", "type": "MESSAGE_SIGNAL", "interfaceId": "10", "messageSignal": { "topicName": "/carla/ego_vehicle/rgb_front/image_compressed:sensor_msgs/msg/CompressedImage", "structuredMessage": { "structuredMessageDefinition": [ { "fieldName": "header", "dataType": { "structuredMessageDefinition": [ { "fieldName": "stamp", "dataType": { "structuredMessageDefinition": [ { "fieldName": "sec", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "INT32" } } } }, { "fieldName": "nanosec", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "UINT32" } } } } ] } }, { "fieldName": "frame_id", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "STRING" } } } } ] } }, { "fieldName": "format", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "STRING" } } } }, { "fieldName": "data", "dataType": { "structuredMessageListDefinition": { "name": "listType", "memberType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "UINT8" } } }, "capacity": 0, "listType": "DYNAMIC_UNBOUNDED_CAPACITY" } } } ] } } }, { "fullyQualifiedName": "Vehicle.Speed", "type": "MESSAGE_SIGNAL", "interfaceId": "10", "messageSignal": { "topicName": "/carla/ego_vehicle/speedometer:std_msgs/msg/Float32", "structuredMessage": { "structuredMessageDefinition": [ { "fieldName": "data", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT32" } } } } ] } } }, { "fullyQualifiedName": "Vehicle.Airbag.CollisionIntensity", "type": "MESSAGE_SIGNAL", "interfaceId": "10", "messageSignal": { "topicName": "/carla/ego_vehicle/collision_intensity:std_msgs/msg/Float32", "structuredMessage": { "structuredMessageDefinition": [ { "fieldName": "data", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT32" } } } } ] } } }, { "fullyQualifiedName": "Vehicle.Acceleration", "type": "MESSAGE_SIGNAL", "interfaceId": "10", "messageSignal": { "topicName": "/carla/ego_vehicle/imu:sensor_msgs/msg/Imu", "structuredMessage": { "structuredMessageDefinition": [ { "fieldName": "header", "dataType": { "structuredMessageDefinition": [ { "fieldName": "stamp", "dataType": { "structuredMessageDefinition": [ { "fieldName": "sec", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "INT32" } } } }, { "fieldName": "nanosec", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "UINT32" } } } } ] } }, { "fieldName": "frame_id", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "STRING" } } } } ] } }, { "fieldName": "orientation", "dataType": { "structuredMessageDefinition": [ { "fieldName": "x", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } }, { "fieldName": "y", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } }, { "fieldName": "z", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } }, { "fieldName": "w", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } } ] } }, { "fieldName": "orientation_covariance", "dataType": { "structuredMessageListDefinition": { "name": "listType", "memberType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } }, "capacity": 9, "listType": "FIXED_CAPACITY" } } }, { "fieldName": "angular_velocity", "dataType": { "structuredMessageDefinition": [ { "fieldName": "x", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } }, { "fieldName": "y", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } }, { "fieldName": "z", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } } ] } }, { "fieldName": "angular_velocity_covariance", "dataType": { "structuredMessageListDefinition": { "name": "listType", "memberType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } }, "capacity": 9, "listType": "FIXED_CAPACITY" } } }, { "fieldName": "linear_acceleration", "dataType": { "structuredMessageDefinition": [ { "fieldName": "x", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } }, { "fieldName": "y", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } }, { "fieldName": "z", "dataType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } } } ] } }, { "fieldName": "linear_acceleration_covariance", "dataType": { "structuredMessageListDefinition": { "name": "listType", "memberType": { "primitiveMessageDefinition": { "ros2PrimitiveMessageDefinition": { "primitiveType": "FLOAT64" } } }, "capacity": 9, "listType": "FIXED_CAPACITY" } } } ] } } } ] } JSON aws iotfleetwise create-decoder-manifest --cli-input-json file://decoder-manifest.json aws iotfleetwise update-decoder-manifest âname fw-vision-system-decoder-manifest âstatus ACTIVE Bash ã¹ããã2ïŒè»äž¡ã®äœæ äžèšã®ã¢ãã«ãããã§ã¹ãããã³ãã³ãŒããããã§ã¹ãã䜿çšããŠè»äž¡ãäœæããŸããäºåã®ã¹ãããã§äœæããããããžã§ãã³ã°ããã AWS IoT ã®ã¢ããšåãååã䜿çšããŠãã ããã aws iotfleetwise create-vehicle --vehicle-name FW-VSD-ROS2- < provisioned-identifier > -vehicle --model-manifest-arn < Your model manifest ARN > --decoder-manifest-arn < Your decoder manifest ARN > Bash ã¹ããã3ïŒãã£ã³ããŒã³ã®äœæ AWS IoT FleetWise ãããªãã® S3 ãã±ããã«ã¢ã¯ã»ã¹ã§ããããã«ããããã«ãããã«ããæç€ºã«åŸã£ãŠã¢ã¯ã»ã¹ããªã·ãŒãèšå®ããŸãïŒããã¹ãŠã®ãã£ã³ããŒã³ã®ãã±ããããªã·ãŒããåç
§ïŒã æ€åºãããè¡çªã€ãã³ãã«åºã¥ããŠããŒã¿ãåéããã€ãã³ãããŒã¹ã®ãã£ã³ããŒã³ãäœæããããªã¬ãŒåã®5ç§éãšããªã¬ãŒåŸã®5ç§éã®ããŒã¿ãå«ããŸãã { "name": "fw-vision-system-collectCollision", "description": "Collect 10 seconds of data from a subset of signals if vehicle detected a collision - 5 pretrigger seconds, 5 posttrigger seconds", "signalCatalogArn": "<your signal catalog>", "targetArn": "<your target>", "signalsToCollect": [ { "name": "Vehicle.Cameras.Front.Image", "maxSampleCount": 1000, "minimumSamplingIntervalMs": 10 }, { "name": "Vehicle.Speed", "maxSampleCount": 1000, "minimumSamplingIntervalMs": 10 }, { "name": "Vehicle.Acceleration", "maxSampleCount": 1000, "minimumSamplingIntervalMs": 10 }, { "name": "Vehicle.Airbag.CollisionIntensity", "maxSampleCount": 1000, "minimumSamplingIntervalMs": 10 } ], "postTriggerCollectionDuration": 5000, "collectionScheme": { "conditionBasedCollectionScheme": { "conditionLanguageVersion": 1, "expression": "$variable.`Vehicle.Airbag.CollisionIntensity` > 1", "minimumTriggerIntervalMs": 10000, "triggerMode": "ALWAYS" } }, "dataDestinationConfigs": [ { "s3Config": { "bucketArn": "<your S3 bucket>", "dataFormat": "PARQUET", "storageCompressionFormat": "NONE", "prefix": "collisionData" } } ] } JSON aws iotfleetwise create-campaign --cli-input-json file://campaign.json Bash å¥ã®ãã£ã³ããŒã³ãäœæããŠãã¿ã€ã ã€ãã³ããšããŠ10ç§éã®ããŒã¿ãåéããŸãã { "name": "fw-vision-system-collectTimed", "description": "Collect 10 seconds of data from a subset of signals", "signalCatalogArn": "<Your signal catalog ARN>", "targetArn": "<Your vehicle ARN>", "signalsToCollect": [ { "name": "Vehicle.Cameras.Front.Image", "maxSampleCount": 500, "minimumSamplingIntervalMs": 10 }, { "name": "Vehicle.Speed", "maxSampleCount": 500, "minimumSamplingIntervalMs": 10 }, { "name": "Vehicle.Acceleration", "maxSampleCount": 500, "minimumSamplingIntervalMs": 10 }, { "name": "Vehicle.Airbag.CollisionIntensity", "maxSampleCount": 500, "minimumSamplingIntervalMs": 10 } ], "postTriggerCollectionDuration": 5000, "collectionScheme": { "timeBasedCollectionScheme": { "periodMs": 10000 } }, "dataDestinationConfigs": [ { "s3Config": { "bucketArn": "<Your S3 bucket>", "dataFormat": "PARQUET", "storageCompressionFormat": "NONE", "prefix": "timeData" } } ] } JSON aws iotfleetwise create-campaign --cli-input-json file://campaign-timed.json Bash ãã¹ãŠã®ãã£ã³ããŒã³ãæ¿èªããŠããããšã確èªããŠãã ããïŒ aws iotfleetwise update-campaign --name fw-rich-sensor-collectCollision --action APPROVE aws iotfleetwise update-campaign --name fw-rich-sensor-collectTimed --action APPROVE Bash ã¹ããã4: Amazon S3 ã§ããŒã¿ã確èªãã AWS IoT FleetWise ã¯ãããŒã¿ã Amazon S3 ã«ããŒãããã®ã«æå€§ 15 åããããŸããS3 ãã±ããã«ã¯ã次㮠3 çš®é¡ã®ãã¡ã€ã«ã衚瀺ãããŸãã1/ çããŒã¿ãŸã㯠iON ãã¡ã€ã«ã§ãAWS IoT FleetWise ããã³ãŒãããããŒã¿ã®ãã€ããªããããå«ãŸããŠããŸãããããã®ãã¡ã€ã«ã¯ããšã©ãŒãæ·±ã調æ»ããããã«äœ¿çšã§ããŸãã2/ éæ§é åããŒã¿ãã¡ã€ã«ã§ãåéãããç»å/ãããªã®ãã€ããªãå«ãŸããŠããŸãã3/ åŠçæžã¿ããŒã¿ïŒæ§é åããŒã¿ïŒãã¡ã€ã«ã§ããã³ãŒããããã¡ã¿ããŒã¿ããªããžã§ã¯ããªã¹ãããã¬ã¡ããªããŒã¿ãå«ãŸããŠããã察å¿ããéæ§é åããŒã¿ãã¡ã€ã«ãžã®ãªã³ã¯ãå«ãŸããŠããŸãã ããã«é²ããã«ã¯ã以äžã®ããšãã§ããŸãã ãã£ã³ããŒã³ IDãã€ãã³ã IDãããã³è»äž¡ ID ã䜿çšããŠãAWS Glue ã䜿ã£ãŠããŒã¿ã join ããŸãã AWS Glue Crawler ã䜿çšããŠããŒã¿ãã«ã¿ãã°åããæ€çŽ¢å¯èœã«ããŸãã Amazon Athena ã§ã¢ãããã¯ã¯ãšãªã䜿çšããŠããŒã¿ãæ¢çŽ¢ããèå³ã®ããã·ãŒã³ãç¹å®ããŸãã ããŒã¿ã¯ãèå³ã®ããã·ãŒã³ããæ¬¡ã®ããŒãžã§ã³ã®ã¢ãã«ãšè»äž¡ãœãããŠã§ã¢ãéçºããããã®èŠèŠåãã©ããªã³ã°ãåã·ãã¥ã¬ãŒã·ã§ã³ã®ããã®ããŠã³ã¹ããªãŒã ããŒã«ã«æž¡ãããšãã§ããŸããäŸãã°ã Foxglove Studio ãªã©ã®ãµãŒãããŒãã£ãœãããŠã§ã¢ã䜿çšããŠãAmazon S3 ã«ä¿åãããŠããç»åã䜿çšããŠè¡çªååŸã«äœãèµ·ãã£ãããèŠèŠåããããšãã§ããŸãã Amazon Rekognition ã¯ãè¡çªæã«ååšãã远å ã®ãªããžã§ã¯ããèªåçã«çºèŠããŠã©ãã«ä»ãããããã«äœ¿çšã§ããŸãã Amazon SageMaker Groundtruth ã¯ãã¢ãããŒã·ã§ã³ãšäººãé¢ããã¯ãŒã¯ãããŒã®ããã«äœ¿çšã§ããè¡çªåé¿ãœãããŠã§ã¢ã®æ£ç¢ºããšé¢é£æ§ãåäžãããããšãã§ããŸããä»åŸã®ããã°ã§ã¯ãã¯ãŒã¯ãããŒã®ãã®éšåã®ãªãã·ã§ã³ãæ¢ãäºå®ã§ã ãŸãšã ãã®èšäºã§ã¯ãAWS IoT FleetWise ããžã§ã³ã·ã¹ãã ããŒã¿ããé«åºŠãªè»äž¡ã»ã³ãµãŒã·ã¹ãã ããããŒã¿ãç°¡åã«åéã»æŽçããã€ãã³ãã®å
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