[RECORD] time signal logs from pub/sub front-end

[dehann]

Timing diagram for robotic front-end based on pub-sub (LCM in this case):

• Red trace is solver status @enum SolverStateMachine SSMReady SSMConsumingSolvables SSMSolving
• cyan trace is msg handler status: @enum HandlerStateMachine HSMReady HSMHandling HSMOverlapHandling HSMBlocking
• magenta is last pose mod STRIDE (10)
• green is real time slack (accumulated time falling behind intended task, and playback speed 20% in this case)

From this example: https://github.com/JuliaRobotics/Caesar.jl/blob/0c81ce6c8701982bd1fd6ae7a9ea684140413363/examples/marine/auv/Sandshark/LCM_SLAM_client.jl#L1

[dehann]

hi @pvazteixeira , wanted to show you this. This a near monolithic solution for a front-end -- but the code is well modularized (i hope) so we can spin up microservices model from this quite easily.