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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
Using a properly set up ros environment, 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 ros_mongodb_log --git https://github.com/makokal/ros-mongodb_log.git rosws update # source bashrc/zshrc rosmake ros_mongodb_log
Logging with mongodb_log
Run the logger node
rosrun ros_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 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