Useful Mongodb Queries and Updates

Legacy (ROS 1) page. The ROS 2 version does not use MongoDB or mongodb_store: maps are YAML files loaded by map_manager2.py, and navigation statistics are stored in an optional SQLite database (stats_db_path, see topo_stats.py and doc/TOPO_STATS.md). The queries below apply to ROS 1 releases (3.x and earlier).

Topological maps are stored in the topological_maps collection in the message_store database. Using Robomongo (or the mongodb tool) one can easily run mongodb queries and updates to inspect or modify the topological maps. See http://docs.mongodb.org/manual/reference/method/db.collection.update/#db.collection.update for more information about ´update´.

Robomongo

To run queries in robomongo connect to the mongodb_store database (usually running on port 62345), and then open a shell in the message_store database by right clicking on it.

Searching for Tags

db.getCollection('topological_maps').find(
    {pointset:'aaf_predep', '_meta.tag':'no_go'}
)

Changing Actions of Edges

This will find all entries of pointset aaf_predep where the action is defined as move_base. Then it will set the first matching entry in the edges array to human_aware_navigation.

Note that this always only replaces the first matching value in the array, hence this needs to be executed repeatedly until no more changes occur. Mongodb unfortunately doesn't all yet to change all at once (see https://jira.mongodb.org/browse/SERVER-1243)

db.topological_maps.update(
    {pointset:'aaf_predep', 'edges.action':'move_base'},
    {$set: {'edges.$.action':'human_aware_navigation'}},
    {multi:true}
)