mongodb_store

This package wraps up MongoDB database server in ROS, allowing it to be used to store configuration parameters.

Two nodes are provided:

• mongodb_server.py
• config_manager.py

These node depends on MongoDB and the Python client libraries (>=2.3). Install by:

sudo apt-get install python-pymongo mongodb

If this does not give the required version, you can use:

sudo pip install pymongo

Running the mongodb_server

The start the datacentre:

rosparam set mongodb_port 62345
rosparam set mongodb_host bob # note that if using multiple machines, 'localhost' is no good

rosrun mongodb_store mongodb_server.py

By default, the mongod database will be stored in /opt/strands/mongodb_store. This can be overridden by setting the private parameter ~database_path for the node. If it is the first time that the database is used, be sure to first run

```mkdir /opt/strands/mongodb_store

If you prefer to use different mongodb instance, set the mongodb_* parameters accordingly.

Or if you'd like to use existing mongod (e.g. mongod launched as Linux service)

rosparam set mongodb_use_daemon true rosparam set mongodb_port 62345 rosparam set mongodb_host localhost

roslaunch mongodb_store mongodb_store.launch use_daemon:=true

Config Manager Overview
-----------------------

The config manager provides a centralised way to store robot application parameters, with optional site-specific overrides. All configurations are stored inside the mongodb_store mongodb, within a database named "configs". 

Two levels of parameters are considered:

1) Global default parameters. 
These should be "working defaults" - so all essential parameters at least have a default value. For example, if a robot application requires some calibration data then default values should be provided.
Default parameters can be shared among sites and stored inside a shared ROS package. When the config manager is started, all .yaml files stored in a 'defaults' folder will be examined. Any new default parameters will automatically be inserted into the "defaults" collection within the configs database. The defaults folder should be supplied as a private parameter: `~defaults_path` either set to a system path or in the form `pkg://ros_package_name/inside/package`.

2) Local parameters.
These parameters override the same named  global default parameters, allowing site-specific parameter setting. They are stored within the database inside the "local" collection.

At start up, the config manager places all parameters onto the ros parameter server to allow interoperability with existing software. Parameters can also be queried using the /config_manager/get_param service, or by directly connection to and querying the mongo database server.

Likewise, local parameter overrides can be set using the /config_manager/set_param service or by directly editing the "local" collection in the configs database.


Running config manager
----------------------

To start the config manager, make sure that you have the mongo db running then:

rosrun mongodb_store config_manager.py _defaults_path:=pkg://my_package/defaults

This will load all parameters onto the ros parameter server, which can be checked with:

rosparam list

Reading parameters
------------------

There are three methods to access parameter values:
1) Use the copy on the ros parameter server:

rosparam get /my/parameter

and likewise with the rospy and roscpp libraries.
2) Use the config_manager service:

rosservice call /config_manager/get_param “param_name: ‘/my/parameter’”

3) Using the database server directly


Setting parameters
------------------
Default parameters are set by placing them in the yaml files in the defaults directory in mongodb_store. This way, default parameters are added to the github repo and shared between all users.

The local parameter overrides can be set in 2 ways:
1) Using the config_manager service:

rosservice call /config_manager/set_param “param: ‘{"path":"/chris","value":43}’”

Note the syntax of the parameter: it is a json representation of a dictionary with path and value keys.

2) Using the config_manager service:

rosservice call /config_manager/save_param name_of_the_parameter_to_be_saved

Note: This will save the current value of the parameter into the locals database

3) Using the database server directly


Launch files
============
Both mongodb and config_manager can be started together using the datacentre.launch file:

HOSTNAME=yourhost roslaunch mongodb_store mongodb_store.launch db_path:=/path/to/db db_port:=62345

The HOSTNAME env variable is required; db_path will default to /opt/strands/mongodb_store and db_port will default to 62345. 


Replication
===========

If the constructor arcgument to the message store node `replicate_on_write` is set to true, replication of the message store parts of the datacentre is done manually to allow different content to appear on different hosts. A list of hosts and ports where replications should be made can be set via the `mongodb_store_extras` parameter:


```yaml
mongodb_store_extras: [["localhost", 62344], ["localhost", 62333]]

Inserts and updates are performed acorss the main and replicant datacentres.

If mongodb_store_extras is set (regardless of replicate_on_write), queries are performed on the main first, and if nothing found, the replicants are tried.

You can launch additional datacentres as follows, e.g.

rosrun mongodb_store mongodb_server.py _master:=false _database_path:=/opt/strands/strands_mongodb_62344 _host:=localhost _port:=62344
rosrun mongodb_store mongodb_server.py _master:=false _database_path:=/opt/strands/strands_mongodb_62333 _host:=localhost _port:=62333

You can test if this works by adding some things to the message store, deleting them from the master using RoboMongo (not the message store as the deletes are replicated), then running queries.

Action Server for Replication

The MoveEntries action and the corresponding action server:

rosrun mongodb_store replicator_node.py 

(which is included in datacentre.launch)

allows you to bulk copy or move entries from message store collections to the mongod instances defined under mongodb_store_extras. The client accepts a list of collection names and uses the meta["inserted_at"] field of the message store entries to replicate or move all entries that were inserted before a particular time. If no time is provided then the default is 24 hours ago. There is an example client that does this for a list of collections specified on the command line. This moves entries inserted 24 hours ago or earlier.

rosrun mongodb_store replicator_client.py message_store robblog scheduling_problems

NOTE THAT this all makes update operations a bit uncertain, so please do not use this type of replication on collections you plan to use update on.

Changelog for package mongodb_store

0.6.0 (2022-09-20)

• Avoid deadlock on server shutdown (#279)
• Fix Python 3 bugs in mongodb_store (#272, #274, #275)
• handling of host binding (#270)
• update package.xml to format=3 (#269)
• fix connection_string arg default value (#266)
• fixed bug in where the replicator node did not recognize the db_host (#261)
• Added .launch to the roslaunch command that was written in the readme file (#262)
• fixed a formatting issue
• fixed bug in where the replicator node did not recognize the db_host
• remembering namespace in rosparam
• Provide options to prevent unnecessary nodes launching
• added ability for message store to use a full connection string
• Removed --smallfiles arg no longer supported by MongoDB (#257)
• Contributors: Adrian Dole, Gal Gorjup, Kei Okada, Marc Hanheide, Nick Hawes, Shingo Kitagawa, Vittoria Santoro

0.5.2 (2019-11-11)

• added python-future to package.xml, which got lost in previous commit for some reasons ...
• corrected typo
• removed flags for most of files for simplicity, also included future.utils, may introduce undesireable dependency though
• resolved python2 backward compatibility issues not thouroughly checked though Added python version checks, where needed. Changes not adjusted to version:
  • print always with brackets

  - excepti XXX, e ==> except XXX as e as there is no problem with python2 to best of my knowledge

• adjusted python funtions for python3
• add dependency to package xml
• back to system mongo
• Contributors: Ferenc Balint-Benczedi, Nick Hawes, Shingo Kitagawa, Volker Gabler, vgab

0.5.1 (2019-06-28)

• added python-future to package.xml
• removed flags for most of files for simplicity, also included future.utils, may introduce undesireable dependency though
• resolved python2 backward compatibility issues not thouroughly checked though Added python version checks, where needed. Changes not adjusted to version:
  • print always with brackets

  - excepti XXX, e ==> except XXX as e as there is no problem with python2 to best of my knowledge

• adjusted python funtions for python3
• Contributors: Shingo Kitagawa, Volker Gabler

0.5.0 (2018-12-20)

• Merge pull request #231 from bbferka/melodic-devel Melodic devel
• add dependency to package xml
• make it run
• back to system mongo
• Contributors: Ferenc Balint-Benczedi, Nick Hawes

0.4.5 (2019-06-28)

• Allow to bind mongod to host The existing solution bind the mongod server to all interfaces. This exposes the server to the outside. This could be a potensial security issue if someone has access to your network. This change allows you to only bind the server to the host specified by the [mongodb_host]{.title-ref} parameter. The solution was created with a flag defaulting to false to prevent this from being a breaking change. Specifying the argument [bind_to_host]{.title-ref} will add a bind argument to the executable: ` [..., "--bind_ip", self._mongo_host][ Info: The `bind_ip]{.title-ref} argument [supports hostnames, ipaddresses and socket paths](https://docs.mongodb.com/manual/reference/program/mongod/#cmdoption-mongod-bind-ip) so using [localhost]{.title-ref} or [127.0.0.1]{.title-ref} is valid for binding to localhost only. To bind to all interfaces use [0.0.0.0]{.title-ref}.
• adds service to reset all local overrides. Exposes a new service [/config_manager/reset_params std_srvs/Trigger]{.title-ref} that will reset all local overrides their default value. This provides a ROS compatible way of getting back to the default values.
• Contributors: Jørgen Borgesen, Nick Hawes, Marc Hanheide

0.4.3 (2019-04-04)

• Merge pull request #243 from furushchev/get-publisher add method to get num subscribers for insertion
• Merge pull request #242 from furushchev/shutdown shutdown publisher on destruction
• Merge pull request #241 from furushchev/add-published-at append _meta.published_at for stamped messages
• Merge pull request #240 from furushchev/fix-replicate display more info on replication
• add method to get num subscribers for insertion
• shutdown publisher on destruction
• append _meta.published_at for stamped messages
• display more info on replication
• Merge pull request #234 from jorgenfb/fix/prevent-null-values Make sure None / null values reaches the parameter server
• Make sure None / null values reaches the parameter server
• Contributors: Jørgen Borgesen, Nick Hawes, Yuki Furuta

0.4.2 (2018-06-04)

• instead of lsb-release read /etc/os-version from CMake to find OS version
• Contributors: Ferenc Balint-Benczedi

0.4.1 (2018-05-29)

• check if env. var. exists if not decide based on OS version
• Contributors: Ferenc Balint-Benczedi

0.4.0 (2018-05-23)

• if compiler supports it use C++11
• Contributors: Ferenc Balint-Benczedi

0.3.8 (2018-05-02)

• Merge pull request #220 from furushchev/replication-with-query Replication with query
• mongodb_store: support filter by query on moving entries
• Merge pull request #218 from furushchev/test-replicator Test replication functionality
• mongodb_store: avoid to use rosrun in test code
• mongodb_store: test replication
• mongodb_server: minor bugfix
• Merge pull request #213 from furushchev/fix/encode-utf8 mongodb_store: encode utf-8 on filling rosmsg
• Merge remote-tracking branch 'origin/kinetic-devel' into fix/encode-utf8
• Import connection failure
• Merge pull request #214 from furushchev/option-query-extra mongodb_store: message_store_node.py: deprecate using extra servers
• Merge remote-tracking branch 'origin/kinetic-devel' into option-query-extra Conflicts: mongodb_store/scripts/message_store_node.py
• Merge pull request #215 from furushchev/remove-dup-projection mongodb_store: Remove duplicated codes for projection
• mongodb_store: use launch for test
• mongodb_store: remove duplicated codes for querying with projection
• mongodb_store: message_store_node.py: deprecate using extra servers
• mongodb_store: encode utf-8 on filling rosmsg
• Merge pull request #212 from furushchev/fix-query-extra fix error on querying extra servers
• fix error on querying extra servers
• Contributors: Furushchev, Nick Hawes, Yuki Furuta

0.3.7 (2017-12-14)

• Merge pull request #207 from furushchev/fix-mongocxx Use system mongocxx client if possible
• Merge pull request #205 from furushchev/pymongo3 Support Pymongo 3
• libmongocxx_ros: try to use system mongocxx lib if possible
• Merge pull request #206 from Pikrass/update-rosparam Store the updated value to rosparam when calling set_param
• Store the updated value to rosparam when calling set_param
• mongodb_store.util: use rospy.log functions instead of print
• config_manager.py: fix error on exit
• support pymongo 3.X
• Contributors: Bastien Scher, Nick Hawes, Yuki Furuta

0.3.6 (2017-09-14)

0.3.5 (2017-09-03)

• Merge pull request #203 from strands-project/marc-hanheide-patch-3 added [topic_tools`as `CATKIN_DEPEND]{.title-ref}
• topic_tools as run_depend
• added [topic_tools`as `CATKIN_DEPEND]{.title-ref}
• Contributors: Marc Hanheide

0.3.4 (2017-09-03)

0.3.3 (2017-09-02)

• Merge pull request #200 from strands-project/shapeshifter mongodb_store: support shapeshifter
• Fixed missing space.
• mongodb_store: support shapeshifter
• Merge pull request #195 from mbeneto/kinetic-devel Added keep_trash parameter
• Added keep_trash parameter This parameter enables the user to select to store the items deleted into the trash (default) or not.
• Contributors: Furushchev, Nick Hawes, mbeneto

0.3.2 (2017-08-31)

0.3.1 (2017-08-24)

• remove mongoclient libs from CMakeLists
• Contributors: Bruno Lacerda

0.3.0 (2017-08-24)

0.2.2 (2017-06-28)

0.2.1 (2017-06-28)

0.2.0 (2017-06-28)

• dependencies fixing
• some attempts to build libmongocxx internally
• indigo-0.1.30
• updated Changelogs
• [package.xml] Add link to devel repository Without this, from [the package's wiki page](http://wiki.ros.org/mongodb_store) there's no way to tell where the repo is.
• fixing error with launching mongodb_store
• indigo-0.1.29
• updated Changelogs
• Support local datacentre timeout The timeout for the datacentre was hardcoded to 10 seconds. However, in some environments, for example in a cloud setup, this may not be enough. Make this configurable and just default to the previous 10 seconds.
• Merge pull request #188 from hkaraoguz/projectionerrorfix Projectionerrorfix
• Fixed updateClient assignment on copy.
• The projection tests are changed
• Revert back to original mongodb cmd
• [mongodb_store/stests/message_store_cpp_test.cpp] fix test for non-wait insert
• Fixed projection error happening when exclude and include field directives are mixed
• [mongodb_store] add test for non-wait insert
• [mongodb_store] add non-wait insert functionality
• indigo-0.1.28
• updated Changelogs
• Mongo C++ header location not exposed. Implemented fix from \@ronwalf closes #176
• Fixed missing return value
• Fixing the compatibility issues of messagestore cpp client with old SOMA versions
• Fixed issue with projection query including fields instead of excluding
• indigo-0.1.27
• updated Changelogs
• [mongodb_store/scripts/mongodb_server.py] connect with localhost when shutdown server
• Fixed if statement
• geotype of ROI has been added
• The geospatial indexing of SOMA ROI objects is added
• Contributors: Ferdian Jovan, Hakan, Isaac I.Y. Saito, Justin Huang, Marc Hanheide, Nick Hawes, Tim Niemueller, Yuki Furuta

0.1.30 (2017-06-23)

• [package.xml] Add link to devel repository Without this, from [the package's wiki page](http://wiki.ros.org/mongodb_store) there's no way to tell where the repo is.
• fixing error with launching mongodb_store
• Contributors: Ferdian Jovan, Hakan, Isaac I.Y. Saito, Justin Huang

0.1.29 (2017-06-19)

• Support local datacentre timeout The timeout for the datacentre was hardcoded to 10 seconds. However, in some environments, for example in a cloud setup, this may not be enough. Make this configurable and just default to the previous 10 seconds.
• Fixed updateClient assignment on copy.
• The projection tests are changed
• Revert back to original mongodb cmd
• [mongodb_store/stests/message_store_cpp_test.cpp] fix test for non-wait insert
• Fixed projection error happening when exclude and include field directives are mixed
• [mongodb_store] add test for non-wait insert
• [mongodb_store] add non-wait insert functionality
• Mongo C++ header location not exposed. Implemented fix from \@ronwalf closes #176
• Fixed missing return value
• Fixing the compatibility issues of messagestore cpp client with old SOMA versions
• Fixed issue with projection query including fields instead of excluding
• [mongodb_store/scripts/mongodb_server.py] connect with localhost when shutdown server
• Fixed if statement
• geotype of ROI has been added
• The geospatial indexing of SOMA ROI objects is added
• Contributors: Hakan, Justin Huang, Nick Hawes, Tim Niemueller, Yuki Furuta

0.1.28 (2016-11-09)

• Mongo C++ header location now exposed.
• Fixed missing return value
• Fixing the compatibility issues of messagestore cpp client with old SOMA versions
• Fixed issue with projection query including fields instead of excluding
• [mongodb_store/scripts/mongodb_server.py] connect with localhost when shutdown server
• geotype of ROI has been added
• The geospatial indexing of SOMA ROI objects is added
• Contributors: Hakan, Nick Hawes, Yuki Furuta

0.1.27 (2016-11-01)

• Fixed if statement
• geotype of ROI has been added
• The geospatial indexing of SOMA ROI objects is added
• Contributors: Hakan

0.1.26 (2016-10-14)

• Fixed a bug during soma msg_type check.
• Unit tests have been added for projection.
• Created a new service for querying with projections
• Added checks for new soma object message type. Performed code cleanup
• Projection field to the queries is added
• indigo-0.1.25
• Updating changelogs
• checking object type and adding soma2 fields based on that has been added
• indigo-0.1.24
• updated Changelogs
• Contributors: Hakan, Nick Hawes, hkaraoguz

0.1.25 (2016-04-28)

• checking object type and adding soma2 fields based on that has been added
• Contributors: hkaraoguz

0.1.24 (2016-04-19)

0.1.23 (2016-04-19)

• Using remote mongodb without ros option has been added
• Sort query functionality have been added to cpp interface
• Removal of unnecessary code.
• Update message update method for using timestamp info
• Remove unnecessary print statements
• Fix comments and remove unnecessary print statements
• Modifications in object insertion
• using ROS_HOSTNAME instead of HOSTNAME fixes #160
• GeoSpatial indexing is added for SOMA2 objects and rois
• indigo-0.1.22
• updated Changelogs
• Modifications for geospatial indexing
• Contributors: Marc Hanheide, Nick Hawes, hkaraoguz

0.1.22 (2016-02-23)

• Update README.md [datacentre.launch]{.title-ref} has not existed for a long while, I think it should be [mongodb_store.launch]{.title-ref} instead?
• Contributors: Nils Bore

0.1.20 (2015-11-11)

• Added some extra robustness to mongodb_play. This means latch does not need to be defined as in #123.
• Added corrected wait pattern to replicator node start-up
• making mongod using smaller files consuming less space. The journals are massive, to the point they can't be created on jenkins.
• Contributors: Marc Hanheide, Nick Hawes

0.1.19 (2015-10-28)

0.1.18 (2015-10-28)

• Split mongodb_store launch file into two. This now provides mongodb_store_inc.launch which assumes that a machine tag has been previously set, and is provided by the machine arg. The original mongodb_store.launch file defines a machine tag then calls the _inc.launch file. This design minimises duplication as far as possible, but is still a bit inelegant. The reason we couldn't do everything with a single file, as discussed in #148, is we can't test whether an argument has been set in roslaunch so we don't know when to define a machine tag ourselves. The additional boolean flag to dictate this definition was not a nice solution either. This supercedes #148
• Trying to find why cpp test fails. It appears to be a local issue with library paths not getting passed properly. SOme mention of this is here https://github.com/mikepurvis/ros-install-osx/issues/12
• [mongodb_store] add limit argument for query
• [replicator_node.py] add cancel handler for replication
• [mongodb_store/message_store.py] suppress infinite error output when shutdown without finding mongodb service
• Fix: remove auto-generated databases in /tmp after a test has been completed that may e.g. fill up the harddisk of a Jenkins server
• minor help edit
• logging messages commented
• aded support for start and end times of playback
• Contributors: Moritz Tenorth, Nick Hawes, Vojtech Novak, Yuki Furuta

0.1.17 (2015-09-01)

0.1.16 (2015-08-04)

• use False as default value of param 'mongodb_use_daemon'
• add option to use already launched mongod
• Fix exception catch.
• Silence wait_for_service. This adds some more helpful output if the messages store services can't be found, but produces no output if they are found within 5 seconds.
• Contributors: Chris Burbridge, Yuki Furuta

0.1.15 (2015-05-10)

• Add dump path as parameter.
• Contributors: Rares

0.1.14 (2015-04-27)

0.1.13 (2015-04-22)

0.1.12 (2015-02-09)

0.1.11 (2015-02-09)

• add switch option to use machine tag
• Contributors: Furushchev

0.1.10 (2014-11-23)

• Replication now has db configurable. This fixes #54.
• Added queue_size for indigo
• Contributors: Nick Hawes

0.1.9 (2014-11-18)

0.1.8 (2014-11-11)

• use underscore_separation instead of camelCase
• add launch as replSet option
• Fix #52
• Contributors: Furushchev, lucasb-eyer

0.1.7 (2014-11-09)

• final and tested version of loader
• latest version of machine tags in launch file
• Contributors: Jaime Pulido Fentanes

0.1.6 (2014-11-06)

• Launch file to right place this time. It seems like the syntax is doing different things in different CMake files though.
• fixing launch file order
• Merge branch 'hydro-devel' of https://github.com/strands-project/mongodb_store into hydro-devel Conflicts: mongodb_store/launch/mongodb_store.launch
• replacing env for optenv
• Fixed spacing and author info
• Changing launch file to adjust to new machine tag type
• Changing launch file to adjust to new machine tag type
• Contributors: Jailander, Jaime Pulido, Jaime Pulido Fentanes, Nick Hawes

0.1.5 (2014-11-05)

• Changing the installed location of launch file.
• Added test_mode to launch file.
• Contributors: Nick Hawes

0.1.4 (2014-10-29)

• Removed debugging message.
• Fixed inclusion of OpenSSL libraries. Note the OpenSSL_LIBRARIES != OPENSSL_LIBRARIES
• Edited find mongo script.
• support backward code compatibility; add test code
• add example to sort query
• add sort option on query
• Contributors: Furushchev, Nick Hawes

0.1.3 (2014-10-21)

• added mongodb-dev as run depend to force inclusion in Debian dependencies
• Contributors: Marc Hanheide

0.1.2 (2014-10-20)

• removed if statement on MONGO_EXPORT
• Using warehouse_ros approach to including MongoDB. Added FindMongoDB for this.
• Looks like linking is necessary
• Removing modern c++ for safety.
• Trying to only expose mongo lib for apple.
• Added geometry_msgs back in
• Contributors: Marc Hanheide, Nick Hawes

0.1.1 (2014-10-17)

• Merge pull request #99 from hawesie/hydro-devel Added geometry_msgs back in to fix #98
• Added geometry_msgs back in to fix #98
• Contributors: Nick Hawes

0.1.0 (2014-10-16)

• Removing author emails as seems to be done on for other packages.
• Added option to specify database.
• Updated URL and description.
• Fixed pacakge name in test launch file.
• Added boost to dependencies. Refactoring of package earlier plus this fixes #95 (hopefully)
• Added cpp changelog to overall package.
• Moved mongodb_store_cpp_client files into mongodb_store package.
• This adds latched recording and playback to the log and playback nodes. This is the final part of the functionality to close #5
• Looking in to date issue.
• Adding meta information into C++ logging.
• Building up type processing knowledge.
• Adding meta information to C++-logged documents.
• Handlings strings which cannot be treated as UTF-8 as binary.
• Debugging ulimit issue.
• First full working version. Topics are played back but this is all at the mercy of rospy.sleep
• All processes with sim time.
• Sim time is now awaited correctly.
• Added basic processes for topic publishing.
• Playback node now publishes simulated time.
• Contributors: Nick Hawes

0.0.5 (2014-10-09)

• Added install target for launch file.
• Fix maintainer in package.xml
• Update package.xml
• Fixed typo.
• Added absolute paths to libraries to ensure that dependent projects get correct linking.
• Contributors: Chris Burbridge, Marc Hanheide, Nick Hawes

0.0.4 (2014-09-13)

• added mongod
• Add son_manipulator import
• Added test mode to mongodb_server.py This generates a random port to listen on and creates a corresponding dbpath under /tmp. The port is tested to see if it's free before it's used. This closes #77 and #75.
  • added libssl and libcrypto for ubuntu distros where this is needed due to the static nature of the libmongoclient.a
• Added author email and license.
• Contributors: Chris Burbridge, Marc Hanheide, Nick Hawes

0.0.3 (2014-08-18)

• Renamed rosparams [datacentre_]{.title-ref} to [mongodb_]{.title-ref}. Fixes #69
• More renaming to mongodb_store
• Renamed launch file.
• Renamed ros_datacentre to mongodb_store for to fix #69.
• Contributors: Nick Hawes

0.0.2 (2014-08-07)

• Fixed complilation under Ubuntu.
  • removed use of toTimeT()
  • add_definitions(-std=c++0x) to allow new C++ features
• Fix #65. Check entry exists before accessing value.
• Dynamically choose MongoDB API Use Connection if using an older mongopy, otherwise use MongoClient.
• Remove dependency on bson > 2.3 Use old hook/default interface to avoid having to install bson 2.3 from pip.
• Remove dependency on pymongo > 2.3 In older versions of pymongo, Connection serves the same purpose as MongoClient. Updated scripts to use Connection instead of MongoClient. This allows the package to work with the existing rosdep definitions for python-pymongo (shich use the .deb version).
• Fix #63. Update pass through son manipulators.
• Fix #60. Add SONManipulator for xmlrpclib binary data.
• datacentre documentation for python
• docstrings in util module
• message store docstrings
• ready for update to use google docstrings
• adding processing of source documentation
• sphinx configuration and index
• sphinx framework for documentation
• Waiting for datacentre.
• Merge pull request #49 from hawesie/hydro-devel Added replication for message store
• Changed collections type to StringList to allow for datacentre comms to task schduler.
• Change action definition to use duration into the past.
• Switched default time to 24 hours ago rather than now, to allow easier use in scheduler.
• Finishing off replicator node.
  • Added to launch file
  • Added to README
  • made client time 24 hours
• Added some minor sanity checks.
• Working and tested dump and restore with time bounds.
• Added dump and restore.
• Fixed empty list error.
• Adding Machine tag to datacentre.launch
• Tested replication and it passes first attempts.
• Adding first pass stuff for replication.
• Deletion now actually deletes...
• Added cpp example of logging multiple messages together.
• Added example of way to log related events to message store.
• Added examples of id-based operations.
• Added update_id method for updating stored object using ObjectID.
• Added updated time and caller too.
• Added inserter id and time to meta.
• Made wait more obvious
• Working binary with pointclouds.
• Added cpp example of logging multiple messages together.
• Added example of way to log related events to message store.
• Added examples of id-based operations.
• Added update_id method for updating stored object using ObjectID.
• Added updated time and caller too.
• Added inserter id and time to meta.
• Made wait more obvious
• Working binary with pointclouds.
• Fixed problem with unicode strings in headers.
• updated pkg name ros_mongodb_datacentre to mongodb_store
• Adding delete function to MessageStoreProxy and using it in unittest.
• Adds a service to delete message by ID
• Adding an initial rostest for the message store proxy.
• Returning id correctly from service call.
• Made id query return single element.
• Added ObjectID into meta on query return
• Now returning from query srv
• Added ability to query message store by ObjectId (python only for now). Also added some little bits of logging.
• Adding delete function to MessageStoreProxy and using it in unittest.
• Adds a service to delete message by ID
• Adding an initial rostest for the message store proxy.
• Merge pull request #28 from hawesie/hydro-devel Changes for strands_executive
• Returning id correctly from service call.
• Made id query return single element.
• [message_store] fixing query service
• Added ObjectID into meta on query return
• Now returning from query srv
• Added ability to query message store by ObjectId (python only for now). Also added some little bits of logging.
• [message-store] Dealing with lists in stored messages. Bug #25
• fixed update bug where meta info not updated got dropped from the db
• Made sure name is set correctly with using update named.
• All C++ message_store using BSON and meta returns are in json. This means that any legal JSON can now be used for a meta description of an object.
• Proof of concept working with C++ BSON library.
• Adding C++ interface for update. Fixed compile issues for srv api change.
• Working update method on the python side. Will not work in C++ yet.
• Message store queries now return meta as well as message. This is only in the python client for now, but is simple to add to C++. This could be inefficient, so in the future potentially add non-meta options.
• Moved default datacentre path back to /opt/strands
• Switched strands_datacentre to mongodb_store in here.
• Set default database and collection to be message_store. We decided to set these in some way I can't quite recall...
• Added message store to launch file. Also made HOSTNAME optional.
• C++ queries are working in a basic form.
• C++ query works
• Now using json.dumps and loads to do better queries from python. C++ is still a pain though.
• Query now returns the messages asked for
• Query structure in place
• Meta stuff working on the way in. Starting to think about querying.
• Added meta in agreed format.
• Wrapping python functionality into a class.
• Working across languages with return value now.
• Works in both languages now!
• Working from the C++ end, but this invalidates the Python again.
• Basic insert chain will work in python. Now on to C++.
• Basic idea works python to python
• Service code runs (not working though)
• Adding an insert service and the start of a message store to provide it.
• Changed db path to be more general.
• Updated launch file.
• Moved strands_datacentre to mongodb_store
• Exporting message_store library from package.
• Merge branch 'hydro-devel' of https://github.com/hawesie/mongodb_store into hydro-devel Conflicts: mongodb_store_cpp_client/CMakeLists.txt mongodb_store_cpp_client/include/mongodb_store/message_store.h
• Cleaned up differences between two commits.
• Added updateID to cpp client.
• Added cpp example of logging multiple messages together.
• Changed order of MessageStoreProxy constructor arguments. This was done to allow more natural changing of parameters in a sensible order. It's more likely you want to change collection name first, so that is the first parameter, leaving remainder as default.
• Added point cloud test, but not including in compilation.
• Working binary with pointclouds.
• Added updateID to cpp client.
• Added cpp example of logging multiple messages together.
• Changed order of MessageStoreProxy constructor arguments. This was done to allow more natural changing of parameters in a sensible order. It's more likely you want to change collection name first, so that is the first parameter, leaving remainder as default.
• Added point cloud test, but not including in compilation.
• Working binary with pointclouds.
• Renamed the library to message_store and moved some files around
• Added a mongodb_store_cpp_client library to avoid multiple definitions of some symbols
• Fixed multiple definition error in C++
• Added rostest launch file.
• Renamed to match convention.
• Added test class for cpp interface.
• Query methods now only return true when something was found.
• Added delete to example script.
• Added constant for empty bson obj.
• Added queryID to C++ side. Insert operations now return IDs. This closes #29. Minor formatting.
• Changed to get the deserialisation length from the vector length. This removes the bug where variable length types were incorrectly deserialised. Thanks to \@nilsbore for reporting the bug.
• Changed to get the deserialisation length from the vector length. This removes the bug where variable length types were incorrectly deserialised. Thanks to \@nilsbore for reporting the bug.
• swapping order of target link libraries to fix compiling error
• Made sure name is set correctly with using update named.
• Changed order of parameters for updateNamed to allow people to ignore BSON for as long as possible.
• All C++ message_store using BSON and meta returns are in json. This means that any legal JSON can now be used for a meta description of an object.
• Proof of concept working with C++ BSON library.
• Added and tested update interface to C++ side.
• Adding C++ interface for update. Fixed compile issues for srv api change.
• Set default database and collection to be message_store. We decided to set these in some way I can't quite recall...
• C++ queries are working in a basic form.
• C++ query works
• Query now returns the messages asked for
• Meta stuff working on the way in. Starting to think about querying.
• Renamed file to match python side
• Default values provided
• Moving some functionality to header file for client utils.
• Working from the C++ end, but this invalidates the Python again.
• Contributors: Alex Bencz, Bruno Lacerda, Chris Burbridge, Jaime Pulido Fentanes, Nick Hawes, Thomas Fäulhammer, Rares Ambrus