Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

append _meta.published_at for stamped messages #241

Merged
merged 1 commit into from Apr 4, 2019
Merged

append _meta.published_at for stamped messages #241

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
19 changes: 18 additions & 1 deletion mongodb_store/scripts/message_store_node.py
View file
Open in desktop
Expand Up @@ -5,6 +5,7 @@
Provides a service to store ROS message objects in a mongodb database in JSON.
"""

import genpy
import rospy
import mongodb_store_msgs.srv as dc_srv
import mongodb_store.util as dc_util
Expand All @@ -15,9 +16,12 @@
from mongodb_store_msgs.msg import StringPair, StringPairList, Insert
from bson.objectid import ObjectId
from datetime import *
from tf2_msgs.msg import TFMessage


MongoClient = dc_util.import_MongoClient()


class MessageStore(object):
def __init__(self, replicate_on_write=False):

Expand Down Expand Up @@ -116,8 +120,21 @@ def insert_ros_srv(self, req):


# try:
meta['inserted_at'] = datetime.utcfromtimestamp(rospy.get_rostime().to_sec())
stamp = rospy.get_rostime()
meta['inserted_at'] = datetime.utcfromtimestamp(stamp.to_sec())
meta['inserted_by'] = req._connection_header['callerid']
if hasattr(obj, "header") and hasattr(obj.header, "stamp") and\
isinstance(obj.header.stamp, genpy.Time):
stamp = obj.header.stamp
elif isinstance(obj, TFMessage):
if obj.transforms:
transforms = sorted(obj.transforms,
key=lambda m: m.header.stamp, reverse=True)
stamp = transforms[0].header.stamp

meta['published_at'] = datetime.utcfromtimestamp(stamp.to_sec())
meta['timestamp'] = stamp.to_nsec()

obj_id = dc_util.store_message(collection, obj, meta)


Expand Down