zyfang / sim_cas_pp

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sim_cas_pp catkin package for post processing data from sim_cas

Prerequisites:

• Get MongoDB: http://docs.mongodb.org/manual/tutorial/install-mongodb-on-ubuntu/
• Get C++ Client for MongoDB (branch 26compat): https://github.com/mongodb/mongo-cxx-driver/wiki/Download-and-Compile-the-Legacy-Driver

Configuration:

• Make sure to set the path the installation of the C++ Client for MongoDB in the CMakeLists.txt!

• A range of options is available in config.cfg:

  • mongo:
    • "port" sets the mongodb port the data will be written to
    • "db_name" and "coll_name" are the default values that will be used if they are not set in the call (see Run example)
  • LogTF: Set variables that control the logging behavior of the logger. Set the logging thresholds (changes below the threshold will not be recorded) and whether it should publish to a topic.
  • LogRaw: Set whether want to apply logging thresholds and if so, what they should be.
  • LogEvents: Identify which collisions are of which type (e.g. supporting faces vs tools) and how long events should be before they're concatenated (to get rid of "flickering").
  • LogMotionExpression: Which file to use to extract the motion constraints/expressions that should be recorded and indicate which is the controlled and which the observed (target) model.

Running the postprocessing:

1. Have running mongo server. For example: mongod --port 27018 --dbpath /home/test/mymongo/var/lib/mongodb/
2. Run post processing:

gazebo -u --verbose -s libPostProcess.so -p <path>/state.log --db mydb --collection mycol --suffix 2 --delay 2 -replaying

• --db: name of the database in which the data is stored
• --collection: name of the collections in which the data is stored (type of collection is concatenated to the name, e.g. mycol_tf)
• --suffix: number to be concatenated to collectionname and multiplier of the timeoffset. This is to accommodate storing multiple episodes in the openEASE database
• --delay: at which simtime postprocessing should start in seconds, will not start before the given time
• -replaying: set flag if postprocessing is done using logs, rather than by connecting to the live play. NOTE: when running under the command above, the replaying tag should always be included