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J. Moringen, 08/24/2011 10:54 PM
mention streaming components for Nao
bag-record
¶
Obtaining bag-record
¶
Binaries of the bag-record
program can be downloaded from the continuous integration server for versions 0.4 and 0.5 of the Robotics Service Bus:
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
The output of
--help
includes a list of supported file formats.
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 published (for example by running the streaming components for Nao) on the RSB channels
/nao/vision/top
/nao/audio/all
/nao/proprioception
- Image, Sound and Proprioception message are encoded using the Robotics Systems Types data types
./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'