Artificial Intelligence Wiki

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.

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

Run the logger node

rosrun mongodb_log mongodb_log -a # record all topics or specify required ones
# use the tool mongodb_rdd to check

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

The database is by default located in /usr/var/