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--- software:datalogger [2013/05/31 10:32] – created bokal
+++ software:datalogger [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
-=== Data logging with mongodb ===
+===== Data logging with mongodb =====
 There is a tool for loggin data into mongodb for later processing. The data is fetched from selected topics or all topics when running a ROS process. The logging tool is from the package **mongodb_log**.
-== Installing mongodb_log ==
+==== Installing the logger ====
-Using a properly set up ros environment;
+Using a properly set up ros environment (rosws set command working), get the patched sources using instructions below;
+* Install **roslua** as shown below
+  rosws set roslua --git https://github.com/timn/roslua.git
+  rosws update roslua
+  # source bashrc/zshrc
+  roscd roslua
+  # install the ubuntu dependencies specified on the rosdep.yaml file in the roslua package
+  rosmake roslua
+* Install **mongodb** package from ROS as shown below
+  rosws set warehouse-hg --hg http://kforge.ros.org/warehousewg/warehouse-hg
+  rosws update warehouse-hg
+  # source bashrc/zshrc
+  # install dependencies (scons and v8) as given below
+  sudo apt-get install scons
+  sudo apt-get install libv8-dev
+  rosmake mongodb
+* Install the mongodb logger package;
+  rosws set mongodb_log --git https://github.com/makokal/ros-mongodb_log.git
+  rosws update
+  # source bashrc/zshrc
+  # Install the logger system dependencies (given for ubuntu)
+  sudo apt-get install python-pymongo python-pyrrd mongodb
+  rosmake mongodb_log
+==== Logging with mongodb_log ====
+Run the logger node
+  rosrun mongodb_log mongodb_log -a # record all topics or specify required ones
+  # use the tool mongodb_rdd to check
+==== Querying the log database ====
+The data from the database can be retrieved using any of the mongo clients APIs. For cram, the cl-mongo client is recommended but there are clients for any popular language around like Python, C++ etc. For mython, the pymongo client has already been wrapped in ROS here [[http://ros.org/wiki/pymongo|http://ros.org/wiki/pymongo]] and we have wrapped the common lisp version as well. It can be installed using;
+  rosws set ros_cl_mongo --git https://github.com/makokal/ros_cl_mongo
+  rosws update ros_cl_mongo
+  # source bashrc
+  rosmake ros_cl_mongo # may take some time
+The use it from the standard emacs REPL environment as follows;
+  rosrun roslisp_repl repl
+  # Now load the ros-cl-mongo package and interact with the database using it
+Further usage instructions on cl-mongo are available at [[https://github.com/fons/cl-mongo|https://github.com/fons/cl-mongo]]
+==== Locating the Database ====
+The database is by default located in ''/var/lib/mongodb/'' where you are able to notice the databases named ``roslog.1`` etc. The mongo client knows about this path so starting mongo from any resonable location will still access this databases. Of course this path can be changed using the ''--dbpath'' flag on mongo to change where to read or write. In summary the database features of importance are;
+  * Hostname : localhost (by default)
+  * Port: 27017 (default)
+  * Locatation: ''/var/lib/mongodb/''
+==== Examples of usage ====
+We have compiled simple example of logging with this tool and querying the data using either lisp or python. The examples are in the links below:
+* [[:logging_tutlesim|Logging turtlesim data]]