bag-record¶

Obtaining bag-record¶

Binaries of the bag-record program can be downloaded from the "continuous integration server":ci.cor-lab.org for RSB 0.4 and 0.5 versions:

• 0.4 i686
• 0.4 x86_64
• 0.5 i686
• 0.5 x86_64

After the download, the bag-record has to be made executable in most cases. This can be done for example by executing

chmod +x bag-record

in the download directory.

Checking Versions and Displaying Help¶

Version and help information is displayed when the --version and --help commandline options are specified:

./bag-record --version
./bag-record --help

Recording Events¶

Recording from a Nao robot using a local Spread daemon¶

This example assumes

• A Spread daemon running on the local machine and listening on port 4803
• Image, Sound and Proprioception message are encoded using the Robotics Systems Types data types
  • rst:source:trunk/rst/proto/rst/ImageMessage.proto
  • rst:source:trunk/rst/proto/rst/SoundMessage.proto
  • rst:source:trunk/rst/proto/rst/ProprioceptionData.proto

./bag-record -o /tmp/nao.tide 
             'spread:/nao/vision/top?name=4803;wire-schema=.rst.ImageMessage' 
             'spread:/nao/audio/all?name=4803;wire-schema=.rst.SoundImage'
             'spread:/nao/proprioception?name=4803;wire-schema=.rst.ProprioceptionData'

Note: the wire-schema=NAME URL options are stored without further checks.

Note: the file extension ("tide" in this case) determines the used file format backend. Currently, only the TIDELog file format is supported.

Recording from a Nao robot using a remote Spread daemon¶

This example assumes

• A Spread daemon running on the machine "remote" and listening on port 4803
• Same data types as above

./bag-record -o /tmp/nao.tide 
             'spread://remote:4803/nao/vision/top?wire-schema=.rst.ImageMessage' 
             'spread://remote:4803/nao/audio/all?wire-schema=.rst.SoundMessage'
             'spread://remote:4803/nao/proprioception?wire-schema=.rst.ProprioceptionData'