tms_db - irvs/ros_tms GitHub Wiki
ROS-TMS Database (mongodb)
MongoDB version
- DB version = mongodb 2.4.9
- Tool version = pymongo 2.6.3
install pymongo2.6.3
sudo apt-get install python-pip
python -m pip install pymongo==2.6.3
tms_db_manager package
roslaunch tms_db_manager tms_db_manager.launch
rosrun tms_db_manager tms_db_writer.py
rosrun tms_db_manager tms_db_reader.py
rosrun tms_db_manager tms_db_publisher.py
If you want to run tms_db_backuper.py:
roslaunch tms_db_manager tms_db_manager.launch backup:=true
Dump
roscd tms_db_manager/json/
rm -r dump/
mongodump --host localhost --port 27017 --out dump/
Store
roscd tms_db_manager/json/
mongorestore --host localhost --port 27017 dump/
Export
roscd tms_db_manager/json/
mongoexport --db rostmsdb --collection default --out default.json
mongoexport --db rostmsdb --collection now --out now.json
Import
roscd tms_db_manager/json/
mongoimport --db rostmsdb --collection default --file default.json
mongoimport --db rostmsdb --collection now --file now.json
DB backup
roscd tms_db_manager/json/
./backup.sh
DB sort
roscd tms_db_manager/json/
./sort.py
web browser
GUI Tool
tmsdbStamped.msg
Header header
tms_msg_db/Tmsdb[] tmsdb
tmsdb.msg
string time
string type
int32 id
string name
float64 x
float64 y
float64 z
float64 rr
float64 rp
float64 ry
float64 offset_x
float64 offset_y
float64 offset_z
string joint
float64 weight
string rfid
string etcdata
int32 place
string extfile
int32 sensor
float64 probability
int32 state
string task
string note
string tag
string announce
TmsdbGetData.srv
tms_msg_db/Tmsdb tmsdb
---
tms_msg_db/Tmsdb[] tmsdb
The contents of each item of tmsdb
| column name | content | datatype |
|---|---|---|
| time | Time (ms unit) | string |
| type | Target type | string |
| id | Target ID | int32 |
| name | Target name | string |
| x | Target position of ｘ | float64 |
| y | Target position of ｙ | float64 |
| z | Target position of ｚ | float64 |
| rr | Roll (x axis) | float64 |
| rp | Pitch (y axis) | float64 |
| ry | Yaw (z axis) | float64 |
| offset_x | Offset X from the center point | float64 |
| offset_y | Offset y from the center point | float64 |
| offset_z | Offset z from the center point | float64 |
| joint | Angle of each joint | string |
| weight | Weight | float64 |
| rfid | Number of RF tag | string |
| etcdata | Other values, temperature, etc. | string |
| place | Location | int32 |
| extfile | External file, FTP Addr such as pcd and image file | string |
| sensor | Sensor ID | int32 |
| probability | Probability （0.0～1.0） | float64 |
| state | State | int32 |
| task | Task | string |
| note | note | string |
| tag | tag | string |
| announce | announce | string |
- joint (smartpal5) : lumba_low, lumba_high, jR[0]...[6], gripper_right, jL[0]...[6], gripper_left
Basic unit of ROS-TMS
| Unit | ROS | ROS-TMS |
|---|---|---|
| length | meter | mm |
| mass | kilogram | gram |
| time | second | micro sec |
| current | ampere | ampere |
| angle | radian | degree |
| frequency | hertz | hertz |
| force | newton | newton |
| power | watt | watt |
| voltage | volt | volt |
| temperature | celsius | celsius |
| time | GMT | GMT +9H |
Coordinates of ROS-TMS
| coordinate | explanation | color |
|---|---|---|
| x | Forward | R |
| y | Left | G |
| z | Up | B |
Object 25
images/object_in_environment.png
移動候補点の定義：【id table】
:+1: robot/furnitureのetc_dataに,以下の形で定義 (複数のロボットに対して定義するときは,「;」で繋ぐ)
robot_name;x(mm),y(mm),yaw(deg)
タスクの定義：【id table(8001~8999)】
例(get_object): 9001$oid 9002$oid + 9003$uid +
User Requestから来る最大の引数データ
oid:object_id, uid:user_id, rid:robot_id, pid:place_id