def create_worker(self, idnum, topic, collname):
msg_class, real_topic, msg_eval = rostopic.get_topic_class(
topic, blocking=True)
w = None
node_path = None
if not self.no_specific and msg_class == tfMessage:
print("DETECTED transform topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_tf")
if not node_path:
print(
"FAILED to detect mongodb_log_tf, falling back to generic logger (did not build package?)"
)
elif not self.no_specific and msg_class == PointCloud:
print("DETECTED point cloud topic %s, using fast C++ logger" %
topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_pcl")
if not node_path:
print(
"FAILED to detect mongodb_log_pcl, falling back to generic logger (did not build package?)"
)
elif not self.no_specific and msg_class == CompressedImage:
print("DETECTED compressed image topic %s, using fast C++ logger" %
topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_cimg")
if not node_path:
print(
"FAILED to detect mongodb_log_cimg, falling back to generic logger (did not build package?)"
)
"""
elif msg_class == TriangleMesh:
print("DETECTED triangle mesh topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_trimesh")
if not node_path:
print("FAILED to detect mongodb_log_trimesh, falling back to generic logger (did not build package?)")
"""
if node_path:
w = SubprocessWorker(idnum, topic, collname, self.in_counter.count,
self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port,
self.mongodb_name, self.nodename_prefix,
node_path)
if not w:
print("GENERIC Python logger used for topic %s" % topic)
w = WorkerProcess(idnum, topic, collname, self.in_counter.count,
self.out_counter.count, self.drop_counter.count,
QUEUE_MAXSIZE, self.mongodb_host,
self.mongodb_port, self.mongodb_name,
self.nodename_prefix)
if self.graph_topics: self.assert_worker_rrd(collname)
return w
def create_worker(self, idnum, topic, collname):
try:
msg_class, real_topic, msg_eval = rostopic.get_topic_class(topic, blocking=False)
except Exception as e:
print('Topic %s not announced, cannot get type: %s' % (topic, e))
raise
if real_topic is None:
raise rostopic.ROSTopicException('topic type was empty, probably not announced')
w = None
node_path = None
if not self.no_specific and msg_class == tfMessage:
print("DETECTED transform topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_tf")
if not node_path:
print("FAILED to detect mongodb_log_tf, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == PointCloud:
print("DETECTED point cloud topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_pcl")
if not node_path:
print("FAILED to detect mongodb_log_pcl, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == CompressedImage:
print("DETECTED compressed image topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_cimg")
if not node_path:
print("FAILED to detect mongodb_log_cimg, falling back to generic logger (did not build package?)")
"""
elif msg_class == TriangleMesh:
print("DETECTED triangle mesh topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_trimesh")
if not node_path:
print("FAILED to detect mongodb_log_trimesh, falling back to generic logger (did not build package?)")
"""
if node_path:
w = SubprocessWorker(idnum, topic, collname,
self.in_counter.count, self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port, self.mongodb_name,
self.nodename_prefix, node_path)
if not w:
print("GENERIC Python logger used for topic %s" % topic)
w = WorkerProcess(idnum, topic, collname,
self.in_counter.count, self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port, self.mongodb_name,
self.nodename_prefix)
return w
def __init__(self, name, topic, collname, mongodb_host, mongodb_port, mongodb_name):
node_path = find_node(PACKAGE_NAME, "mongodb_log_desig")
additional_parameters = ["-d" "designator-request"]
if not node_path:
raise RuntimeError("FAILED to detect mongodb_log_desig, falling back to generic logger (did not build package?)")
super(DesignatorRequestLogger, self).__init__(name, topic, collname, mongodb_host, mongodb_port, mongodb_name,
node_path[0], additional_parameters)
def __init__(self, name, topic, collname, mongodb_host, mongodb_port, mongodb_name):
node_path = find_node(PACKAGE_NAME, "mongodb_log_img")
if not node_path:
raise RuntimeError("FAILED to detect mongodb_log_img, falling back to generic logger (did not build package?)")
super(ImageLogger, self).__init__(name, topic, collname, mongodb_host, mongodb_port, mongodb_name,
node_path[0], None)
def rec_start(cfg): # type: (BagConfig) -> Popen
try:
# Prepare the command_line, command name and output path
cmd = [find_node('rosbag', 'record')[0]]
cmd.extend([
'--output-prefix',
rec_path() + get_param('ros_rest/rec_prefix') + str(cfg.id)
])
# Specify the topics to record
cmd.extend(['--regex', cfg.regex] if cfg.regex else
['--exclude', cfg.exclude] if cfg.exclude else ['--all'])
# Set the limits for splits, duration and size
cmd.extend([
'--split', '--max-splits',
str(cfg.splits) if cfg.splits else get_param(
'ros_rest/rec_splits', 5), '--size',
str(cfg.size) if cfg.size else get_param('ros_rest/rec_size',
'50'), '--duration',
str(cfg.duration) if cfg.duration else get_param(
'ros_rest/rec_time', '10')
])
cmd.extend([
'--' + (cfg.compression if cfg.compression else get_param(
'ros_rest/rec_zip', 'lz4'))
])
# Set the name of the node to easily check it's state
cmd.extend(
['__name:=' + get_param('ros_rest/rec_node', 'rest_bag_record')])
print(cmd)
return Popen(cmd)
except Exception as e: # The command might be missing or the BagConfig might be None
logerr('ros_rest : rec_start : ' + str(e))
def create_worker(self, idnum, topic, collname):
msg_class, real_topic, msg_eval = rostopic.get_topic_class(topic, blocking=True)
w = None
node_path = None
if not self.no_specific and msg_class == tfMessage:
print("DETECTED transform topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_tf")
if not node_path:
print("FAILED to detect mongodb_log_tf, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == PointCloud:
print("DETECTED point cloud topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_pcl")
if not node_path:
print("FAILED to detect mongodb_log_pcl, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == CompressedImage:
print("DETECTED compressed image topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_cimg")
if not node_path:
print("FAILED to detect mongodb_log_cimg, falling back to generic logger (did not build package?)")
"""
elif msg_class == TriangleMesh:
print("DETECTED triangle mesh topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_trimesh")
if not node_path:
print("FAILED to detect mongodb_log_trimesh, falling back to generic logger (did not build package?)")
"""
if node_path:
w = SubprocessWorker(idnum, topic, collname,
self.in_counter.count, self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port, self.mongodb_name,
self.nodename_prefix, node_path)
if not w:
print("GENERIC Python logger used for topic %s" % topic)
w = WorkerProcess(idnum, topic, collname,
self.in_counter.count, self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port, self.mongodb_name,
self.nodename_prefix)
if self.graph_topics: self.assert_worker_rrd(collname)
return w
def __init__(self, name, topic, collname, mongodb_host, mongodb_port, mongodb_name):
node_path = find_node(PACKAGE_NAME, "mongodb_log_tf")
# Log only when the preceeding entry of that
# transformation had at least 0.100 vectorial and radial
# distance to its predecessor transformation, but at least
# every second.
additional_parameters = ["-k" "0.100" "-l" "0.100" "-g" "1"]
if not node_path:
raise RuntimeError("FAILED to detect mongodb_log_tf, falling back to generic logger (did not build package?)")
super(TFLogger, self).__init__(name, topic, collname, mongodb_host, mongodb_port, mongodb_name, node_path[0],
additional_parameters)
def create_worker(self, idnum, topic, collname):
msg_class, real_topic, msg_eval = rostopic.get_topic_class(topic, blocking=True)
w = None
node_path = None
additional_parameters = [];
if not self.no_specific and (msg_class == tfMessage) or (msg_class == TFMessage):
print("DETECTED transform topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_tf")
#additional_parameters = ["-a"]
#additional_parameters = ["-k" "0.005" "-l" "0.005" "-g" "0"]
#additional_parameters = ["-k" "0.025" "-l" "0.025" "-g" "0"]
# Log only when the preceeding entry of that
# transformation had at least 0.100 vectorial and radial
# distance to its predecessor transformation, but at least
# every second.
additional_parameters = ["-k" "0.100" "-l" "0.100" "-g" "1"]
if not node_path:
print("FAILED to detect mongodb_log_tf, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == PointCloud:
print("DETECTED point cloud topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_pcl")
if not node_path:
print("FAILED to detect mongodb_log_pcl, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == Image:
print("DETECTED compressed image topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_img")
if not node_path:
print("FAILED to detect mongodb_log_img, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == CompressedImage:
print("DETECTED compressed image topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_cimg")
if not node_path:
print("FAILED to detect mongodb_log_cimg, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == DesignatorRequest:
print("DETECTED designator request topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_desig")
additional_parameters = ["-d" "designator-request"]
if not node_path:
print("FAILED to detect mongodb_log_desig, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == DesignatorResponse:
print("DETECTED designator response topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_desig")
additional_parameters = ["-d" "designator-response"]
if not node_path:
print("FAILED to detect mongodb_log_desig, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == Designator:
print("DETECTED designator topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_desig")
additional_parameters = ["-d" "designator"]
if not node_path:
print("FAILED to detect mongodb_log_desig, falling back to generic logger (did not build package?)")
"""
elif msg_class == TriangleMesh:
print("DETECTED triangle mesh topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_trimesh")
if not node_path:
print("FAILED to detect mongodb_log_trimesh, falling back to generic logger (did not build package?)")
"""
if node_path:
w = SubprocessWorker(idnum, topic, collname,
self.in_counter.count, self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port, self.mongodb_name,
self.nodename_prefix, node_path[0], additional_parameters)
if not w:
print("GENERIC Python logger used for topic %s" % topic)
w = WorkerProcess(idnum, topic, collname,
self.in_counter.count, self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port, self.mongodb_name,
self.nodename_prefix)
if self.graph_topics: self.assert_worker_rrd(collname)
return w
def create_worker(self, idnum, topic, collname):
msg_class, real_topic, msg_eval = rostopic.get_topic_class(topic, blocking=True)
w = None
node_path = None
additional_parameters = [];
if not self.no_specific and (msg_class == tfMessage) or (msg_class == TFMessage):
print("DETECTED transform topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_tf")
#additional_parameters = ["-a"]
#additional_parameters = ["-k" "0.005" "-l" "0.005" "-g" "0"]
#additional_parameters = ["-k" "0.025" "-l" "0.025" "-g" "0"]
# Log only when the preceeding entry of that
# transformation had at least 0.100 vectorial and radial
# distance to its predecessor transformation, but at least
# every second.
additional_parameters = ["-k" "0.100" "-l" "0.100" "-g" "1"]
if not node_path:
print("FAILED to detect mongodb_log_tf, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == PointCloud:
print("DETECTED point cloud topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_pcl")
if not node_path:
print("FAILED to detect mongodb_log_pcl, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == Image:
print("DETECTED compressed image topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_img")
if not node_path:
print("FAILED to detect mongodb_log_img, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == CompressedImage:
print("DETECTED compressed image topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_cimg")
if not node_path:
print("FAILED to detect mongodb_log_cimg, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == DesignatorRequest:
print("DETECTED designator request topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_desig")
additional_parameters = ["-d" "designator-request"]
if not node_path:
print("FAILED to detect mongodb_log_desig, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == DesignatorResponse:
print("DETECTED designator response topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_desig")
additional_parameters = ["-d" "designator-response"]
if not node_path:
print("FAILED to detect mongodb_log_desig, falling back to generic logger (did not build package?)")
elif not self.no_specific and msg_class == Designator:
print("DETECTED designator topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_desig")
additional_parameters = ["-d" "designator"]
if not node_path:
print("FAILED to detect mongodb_log_desig, falling back to generic logger (did not build package?)")
"""
elif msg_class == TriangleMesh:
print("DETECTED triangle mesh topic %s, using fast C++ logger" % topic)
node_path = find_node(PACKAGE_NAME, "mongodb_log_trimesh")
if not node_path:
print("FAILED to detect mongodb_log_trimesh, falling back to generic logger (did not build package?)")
"""
if node_path:
w = SubprocessWorker(idnum, topic, collname,
self.in_counter.count, self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port, self.mongodb_name,
self.nodename_prefix, node_path[0], additional_parameters)
if not w:
print("GENERIC Python logger used for topic %s" % topic)
w = WorkerProcess(idnum, topic, collname,
self.in_counter.count, self.out_counter.count,
self.drop_counter.count, QUEUE_MAXSIZE,
self.mongodb_host, self.mongodb_port, self.mongodb_name,
self.nodename_prefix)
if self.graph_topics: self.assert_worker_rrd(collname)
return w
