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Usage

is a user application executed from command line.

Starting Recording Application

Docker Image

The recommended method to run the is to instantiate a Docker container of the image. Here <docker> are the instructions to download the compressed Docker image and load it locally.

To run the from a Docker container execute the following command:

docker run -it \
    --net=host \
    --ipc=host \
    -v /<dds_recorder_ws>/DDS_RECORDER_CONFIGURATION.yaml:/root/DDS_RECORDER_CONFIGURATION.yaml \
    ubuntu-ddsrecorder:v<X.X.X> ddsrecorder

Installation from sources

depends on fastrtps, fastcdr and ddspipe libraries. In order to correctly execute the recorder, make sure that fastrtps, fastcdr and ddspipe are properly sourced.

source <path-to-fastdds-installation>/install/setup.bash
source <path-to-ddspipe-installation>/install/setup.bash
source <path-to-ddsrecordreplay-installation>/install/setup.bash

Note

If Fast DDS, DDS Pipe and DDS Record & Replay have been installed in the system, these libraries would be sourced by default.

To start with a default configuration, enter:

ddsrecorder

Closing Recording Application

SIGINT

To close , press Ctrl+C. will perform a clean shutdown.

SIGTERM

Write command kill <pid> in a different terminal, where <pid> is the id of the process running the . Use ps or top programs to check the process ids.

TIMEOUT

Setting a maximum amount of seconds that the application will work using argument --timeout will close the application once the time has expired.

Recording Service Command-Line Parameters

The application supports several input arguments:

Command Description Option Possible Values Default Value
Help It shows the usage information of the application. -h --help
Version It shows the current version of the and the hash of the last commit of the compiled code. -v --version
Configuration File Configuration file path. -c --config-path ./DDS_RECORDER_CONFIGURATION.yaml
Reload Timer The configuration file will be automatically reloaded according to the specified time period. -r --reload-time Unsigned Integer 0
Timeout Set a maximum time while the application will be running. 0 means that the application will run forever (until kill via signal). -t --timeout Unsigned Integer 0
Debug Enables the logs so the execution can be followed by internal debugging information. Sets Log Verbosity to info and Log Filter to DDSRECORDER. -d --debug
Log Verbosity Set the verbosity level so only log messages with equal or higher importance level are shown. --log-verbosity info warning error warning
Log Filter Set a regex string as filter. --log-filter String "DDSRECORDER"