tms_db

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

http://localhost:27017/

GUI Tool

http://robomongo.org/

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

• ref. http://www.ros.org/reps/rep-0103.html

Coordinates of ROS-TMS

coordinate	explanation	color
x	Forward	R
y	Left	G
z	Up	B

Object 25

移動候補点の定義：【id table】

👍 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