ROS Index
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rosbag_cloud_recorders package from rosbag_uploader repofile_uploader_msgs rosbag_uploader_ros1_integration_tests recorder_msgs rosbag_cloud_recorders s3_common s3_file_uploader |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.1 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aws-robotics/rosbag-uploader-ros1.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-06-15 |
| Dev Status | UNMAINTAINED |
| CI status |
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| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- AWS RoboMaker
Authors
- AWS RoboMaker
Rosbag Cloud Recorders
This package contains nodes that facilitate the recording of rosbag files.
The rolling_recorder node provides an action interface for uploading the past x minutes of rosbag files.
The duration_recorder node provides an action interface to record rosbags for a specified duration.
Once that duration is complete the rosbag files are uploaded to S3.
For more information on actions see the actionlib documentation.
Examples for using the action servers can be found below.
The action servers can only take one request at a time.
If the node is currently working on a request it will reject any new requests.
AWS Credentials
You will need to create an AWS Account and configure the credentials to be able to communicate with AWS services. You may find AWS Configuration and Credential Files helpful.
This node will require the following AWS account IAM role permissions:
-
s3:PutObjectfor the bucket specified in the config file.
Usage
Resource Setup
- Create a bucket in Amazon S3.
Running the nodes
- Build the
rosbag_cloud_recorderspackage as described in the top level README. - Configure AWS credentials.
-
Launch the
duration_recorderands3_file_uploadernodes withroslaunch rosbag_cloud_recorders duration_recorder_sample.launch s3_bucket:=<BUCKET_NAME> -
OR Launch the
rolling_recorderands3_file_uploadernodes withroslaunch rosbag_cloud_recorders rolling_recorder_sample.launch s3_bucket:=<BUCKET_NAME>
More details on launch parameters below.
Example Action Client
A simple example of an action client to interact with this node is provided.
After sourcing the ROS workspace, the example client can be run with python examples/recorder_client.py <node_type>, where <node_type> can be rolling_recorder or duration_recorder.
duration_recorder node
Launch and Configuration File Parameters
| Name | Type | Description | Default Value |
|---|---|---|---|
min_free_disk_space |
int | The minimum amount of free disk space in MiB (the current action goal will be aborted when the free disk space falls below this amount) | 1024 |
write_directory |
string | The local directory where rosbags will be recorded (please make sure it is a writeable directory) | ~/.ros/dr_rosbag_uploader/ |
upload_timeout |
int | The time in seconds to wait for upload to complete | 3600 |
delete_bags_after_upload |
bool | Whether or not the bag files should be deleted after they have been successfully uploaded | false |
Actions
Action Name: ~/DurationRecorder
Goal
| Key | Type | Description |
| — | —- | ———– |
| destination | string | The S3 Key prefix of the rosbag files to be uploaded |
| duration | duration | The duration of time to record the rosbag for |
| topics_to_record | string[] | List of topics to record (If empty, all topics will be recorded) |
Result
| Key | Type | Description |
| — | —- | ———– |
| result | uint8 | The return code associated with the goal |
| message | string | A message describing the reason for the result |
Note goals also have a message field that will contain more details on the result of the action
Feedback
| Key | Type | Description |
| — | —- | ———– |
| started | time | The time at which this feedback was published; the time of entering the current stage |
| stage | uint8 | The stage of operation of the rolling_recorder action server |
rolling_recorder node
Launch and Configuration File Parameters
| Name | Type | Description | Default Value |
|---|---|---|---|
bag_rollover_time |
int | The length of time in seconds to be recorded per bag file | 30 |
max_record_time |
int | The length of time recordings should be kept in rosbags, which will be uploaded when requested (older rosbags will have been deleted and not be uploaded) | 300 |
min_free_disk_space |
int | The minimum amount of free disk space in MiB (the node will error out when the free disk space falls below this amount) | 1024 |
topics_to_record (configuration file parameter only) |
string[] | List of topics that should be recorded to rosbags | empty (all active topics will be recorded) |
write_directory |
string | The local directory where rosbags will be recorded (please make sure it is a writeable directory) | ~/.ros/rr_rosbag_uploader/ |
upload_timeout |
int | The time in seconds to wait for upload to complete | 3600 |
Actions
Action Name: ~/RollingRecorder
Goal
| Key | Type | Description |
| — | —- | ———– |
| destination | string | The S3 Key prefix of the rosbag files to be uploaded |
Result
| Key | Type | Description |
| — | —- | ———– |
| result | uint8 | The return code associated with the goal |
| message | string | A message describing the reason for the result |
Note goals also have a message field that will contain more details on the result of the action
Feedback
| Key | Type | Description |
| — | —- | ———– |
| started | time | The time at which this feedback was published; the time of entering the current stage |
| stage | uint8 | The stage of operation of the rolling_recorder action server |
Changelog for package rosbag_cloud_recorders
1.0.1 (2020-07-01)
- Address build error on ROS buildfarm (#135) try to fix buildfarm build error and iterate on bloom release
- Contributors: Miaofei Mei
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| roslint | |
| catkin | |
| rostest | |
| actionlib | |
| actionlib_msgs | |
| aws_common | |
| aws_ros1_common | |
| file_uploader_msgs | |
| recorder_msgs | |
| rosbag_storage | |
| roscpp | |
| topic_tools | |
| xmlrpcpp |
System Dependencies
| Name |
|---|
| gtest |
| google-mock |
| boost |
Dependant Packages
Launch files
- launch/rolling_recorder_sample.launch
-
- bag_rollover_time [default: 30]
- max_record_time [default: 300]
- write_directory [default: ~/.ros/rr_rosbag_uploader/]
- upload_timeout [default: 3600]
- s3_bucket
- launch/rolling_recorder.launch
-
- node_config_file [default: $(find rosbag_cloud_recorders)/config/rolling_recorder_sample_configuration.yaml]
- bag_rollover_time [default: 30]
- max_record_time [default: 300]
- write_directory [default: ~/.ros/rr_rosbag_uploader/]
- upload_timeout [default: 3600]
- launch/duration_recorder_sample.launch
-
- write_directory [default: ~/.ros/dr_rosbag_uploader/]
- upload_timeout [default: 3600]
- delete_bags_after_upload [default: false]
- s3_bucket
- launch/duration_recorder.launch
-
- node_config_file [default: $(find rosbag_cloud_recorders)/config/duration_recorder_sample_configuration.yaml]
- write_directory [default: ~/.ros/dr_rosbag_uploader/]
- upload_timeout [default: 3600]
- delete_bags_after_upload [default: false]