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Generic MongoDB Logging for ROS
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Generic MongoDB Logging for ROS =============================== Autonomous mobile robots produce an astonishing amount of run-time data during their operation. Data is acquired from sensors and actuator feedback, processed to extract information, and further refined as the basis for decision making or parameter estimation. In today's robot systems, this data is typically volatile. It is generated, used, and disposed right away. However, some of this data might be useful later, for example to analyze faults or evaluate the robot's performance. A system is required to store this data as well as enable efficient and flexible querying mechanisms. This package contains the relevant pieces to setup this generic logging for ROS. It features a generic logger written in Python capable of logging any topic, and loggers written in C++ written for specific message types which are known to be large in size or to be transmitted at a high frequency. This is to cope with Python inherent overhead and processing limits. You might find that for certain additional topics you need to write custom fast loggers following a template of the existing loggers. If you do this for publicly available message types we'd like to hear about it and maybe include it in a later release. We are also investigating the possibility to have generic message introspection in C++ for ROS, which would remedy this problem. Additionally, this package includes tools to monitor the logging process and MongoDB and generate graphs using RRDtool. For the conceptual background please refer to the paper "A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation" by Niemueller et al. . For technical information please refer to the project's website . The ROS wiki page gives more details on how to get started on ROS .  http://www.fawkesrobotics.org/publications/2012/robodb-iros2012/  http://www.fawkesrobotics.org/projects/mongodb-log/  http://www.ros.org/wiki/mongodb_log