bag-record¶

Introduction¶

The bag-record can be used to capture certain RSB events in a running system and store them into a log file for later analysis, further processing or replay.

See bag-play for replaying and bag-info for inspection of log files.

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:

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

After the download, the bag-record file 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[-all] commandline options are specified:

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

The output of --help[-all] includes a list of supported file formats.

Recording Events¶

Some general remarks regarding recording of RSB events using bag-record:

• The specified output file into which events should be recorded, should not already exist
  • If an empty file of the given name exists, it will be used for recording
  • If a non-empty file of the given name exists, it will be extended as long as it does not already contain any of the channels being recorded
• The recording process can be terminated gracefully by sending one of SIGINT and SIGTERM to the bag-record process

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
  • 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' 
             'spread:/nao/audio/all?name=4803'
             'spread:/nao/proprioception?name=4803'

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' 
             'spread://remote:4803/nao/audio/all'
             'spread://remote:4803/nao/proprioception'