/
tb3_simulation_influxdb.yaml
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/
tb3_simulation_influxdb.yaml
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destination_server:
ros__parameters:
flb:
flush: 1
flb_grace: 1
log_level: "info"
storage_path: "/var/log/flb-storage/"
storage_sync: "full"
storage_checksum: "off"
storage_backlog_mem_limit: "1M"
scheduler_cap: 200
scheduler_base: 5
http_server: true
http_listen: "0.0.0.0"
http_port: 2020
in_storage_type: "filesystem"
in_storage_pause_on_chunks_overlimit: "off"
destination_plugins: ["flb_influxdb"]
flb_influxdb:
plugin: "dc_destinations/FlbInfluxDB"
inputs: [
# System
"/dc/measurement/cpu",
"/dc/measurement/memory",
"/dc/measurement/os",
"/dc/measurement/uptime",
# Robot
"/dc/measurement/camera",
"/dc/measurement/cmd_vel",
"/dc/measurement/distance_traveled",
"/dc/measurement/position",
"/dc/measurement/speed",
# Environment
"/dc/measurement/map",
# Infrastructure
"/dc/measurement/influxdb_health",
]
host: "127.0.0.1"
port: 8086
user: dc
database: dc
time_format: "iso8601"
time_key: "date"
measurement_server:
ros__parameters:
measurement_plugins: [
# System
"cpu",
"os",
"memory",
"uptime",
# Robot
"camera",
"cmd_vel",
"distance_traveled",
"position",
"speed",
# Environment
"map",
# Infrastructure
"influxdb_health",
]
custom_str_params_list: ["robot_name", "id"]
custom_str_params:
robot_name:
name: robot_name
value: "Turtlebot"
# Requires systemd package
id:
name: id
value_from_file: /etc/machine-id
run_id:
enabled: true
counter: true
counter_path: "$HOME/run_id"
uuid: false
save_local_base_path: "$HOME/dc_data/"
all_base_path: "=robot_name/%Y/%m/%d/%H"
condition_plugins: ["min_distance_traveled", "max_distance_traveled"]
# Conditions
min_distance_traveled:
plugin: "dc_conditions/DoubleSuperior"
key: "distance_traveled"
value: 0.01
include_value: true
nested: true
flatten: true
max_distance_traveled:
plugin: "dc_conditions/DoubleInferior"
key: "distance_traveled"
value: 2.0
include_value: true
nested: true
flatten: true
# System data
cpu:
plugin: "dc_measurements/Cpu"
topic_output: "/dc/measurement/cpu"
polling_interval: 5000
tags: ["flb_influxdb"]
include_measurement_name: true
init_collect: true
max_processes: 5
cpu_min: 5.0
nested: true
flatten: true
memory:
plugin: "dc_measurements/Memory"
topic_output: "/dc/measurement/memory"
polling_interval: 5000
node_name: "dc_measurement_memory"
tags: ["flb_influxdb"]
include_measurement_name: true
init_collect: true
nested: true
flatten: true
os:
plugin: "dc_measurements/OS"
topic_output: "/dc/measurement/os"
tags: ["flb_influxdb"]
include_measurement_name: true
init_collect: true
init_max_measurements: 1
nested: true
flatten: true
uptime:
plugin: "dc_measurements/Uptime"
topic_output: "/dc/measurement/uptime"
polling_interval: 5000
debug: true
tags: ["flb_influxdb"]
init_collect: true
include_measurement_name: true
nested: true
flatten: true
# Robot data
distance_traveled:
plugin: "dc_measurements/DistanceTraveled"
topic_output: "/dc/measurement/distance_traveled"
if_all_conditions: ["min_distance_traveled", "max_distance_traveled"]
tags: ["flb_influxdb"]
global_frame: "map"
robot_base_frame: "base_link"
transform_timeout: 0.1
polling_interval: 5000
init_max_measurements: -1
condition_max_measurements: 0
include_measurement_name: true
init_collect: false
nested: true
flatten: true
cmd_vel:
plugin: "dc_measurements/CmdVel"
tags: ["flb_influxdb"]
polling_interval: 500
topic_output: "/dc/measurement/cmd_vel"
include_measurement_name: true
nested: true
flatten: true
position:
plugin: "dc_measurements/Position"
topic_output: "/dc/measurement/position"
tags: ["flb_influxdb"]
init_collect: true
global_frame: "map"
robot_base_frame: "base_link"
transform_timeout: 0.1
include_measurement_name: true
nested: true
flatten: true
stops:
plugin: "dc_measurements/Stops"
tags: ["flb_influxdb"]
odom_topic: "/odom"
topic_output: "/dc/measurement/stops"
include_measurement_name: true
nested: true
flatten: true
speed:
plugin: "dc_measurements/Speed"
tags: ["flb_influxdb"]
odom_topic: "/odom"
polling_interval: 500
topic_output: "/dc/measurement/speed"
include_measurement_name: true
nested: true
flatten: true
camera:
plugin: "dc_measurements/Camera"
topic_output: "/dc/measurement/camera"
init_collect: false
init_max_measurements: 0
polling_interval: 3000
node_name: "dc_measurement_camera"
cam_topic: "/intel_realsense_r200_depth/image_raw"
cam_name: "Intel Realsense"
draw_det_barcodes: false
save_raw_img: false
save_raw_base64: true
save_rotated_img: false
save_detections_img: false
rotation_angle: 0
remote_prefixes: [""]
remote_keys: ["minio"]
tags: ["flb_influxdb", "flb_minio"]
include_measurement_name: true
include_measurement_plugin: true
nested: true
flatten: true
# Environment data
map:
plugin: "dc_measurements/Map"
save_path: "map/%Y-%m-%dT%H-%M-%S"
save_base64: true
topic_output: "/dc/measurement/map"
save_map_timeout: 4.0
init_collect: false
init_max_measurements: 1
tags: ["flb_influxdb"]
include_measurement_name: true
quiet: true
nested: true
flatten: true
# Infrastructure
influxdb_health:
plugin: "dc_measurements/TCPHealth"
topic_output: "/dc/measurement/influxdb_health"
polling_interval: 5000
tags: ["flb_influxdb"]
host: "127.0.0.1"
port: 8086
name: "InfluxDB"
include_measurement_plugin: true
nested: true
flatten: true