Metrics Reference

SUAVE automatically records mission metrics at the end of each run via the mission_metrics node (suave_metrics package). Results are written as CSV files to a configurable output directory.

Output location

By default results are saved to ~/suave/results/. This can be changed via the result_path ROS parameter or the result_path field in runner_config.yml.

Each run produces a main summary file plus up to three optional per-event files, all using the same base filename (result_filename).

Main summary file — <result_filename>.csv

One row is appended per completed run.

Column	Type	Description
mission name	string	Mission label — concatenation of mission_name and adaptation_manager parameters
datetime	string	Timestamp when results were saved (DD-Mon-YYYY-HH-MM-SS)
initial pos (x,y)	string	AUV spawn position in the Gazebo world frame
mission duration (s)	int	Elapsed time from GUIDED mode start to mission end
pipeline found	bool	Whether the pipeline was detected during the mission
time searching pipeline (s)	int	Time from mission start to pipeline detection (equals mission duration if not found)
distance inspected (m)	float	Total pipeline distance covered during inspection
mean reaction time (s)	float	Mean reaction time across all adaptation events (see below); 0.0 if no events occurred

Per-event files

These files are only created if at least one event of the corresponding type occurred. Each has columns: mission_name, datetime, reaction time (s).

<result_filename>_component_recovery_time.csv

One row per thruster failure event. Reaction time is measured from the moment a thruster is reported as failed in /diagnostics to when f_maintain_motion_node transitions back to active (indicating the managing subsystem issued the recovery reconfiguration).

<result_filename>_wv_reaction_time.csv

One row per water visibility change event. Reaction time is measured from the moment the measured water visibility causes a mismatch with the current spiral altitude to when f_generate_search_path_node adopts the correct altitude (via parameter change on /f_generate_search_path_node).

<result_filename>_battery_reaction_time.csv

One row per low battery event. Reaction time is measured from when battery level drops below the threshold (default 0.25) to when generate_recharge_path_node transitions to active.

Notes on mean_reaction_time

The mean reaction time in the summary file averages across all three event types (thruster, water visibility, battery). When comparing managing subsystems, consider inspecting the per-event files to separate performance on each disturbance type.

Mission config parameters

The following mission_metrics ROS parameters affect what is recorded:

Parameter	Default	Description
result_path	~/suave/results	Output directory
result_filename	mission_results	Base filename (without .csv)
adaptation_manager	none	Label appended to mission_name in output
mission_name	inspection	Mission label
water_visibiity_threshold	[3.25, 2.25, 1.25]	Water visibility thresholds for altitude selection
expected_altitude	[3.0, 2.0, 1.0]	Expected spiral altitudes corresponding to each threshold
battery_limit	0.25	Battery fraction below which a low-battery event is triggered