tms_db

ROS-TMS Database (mongodb)

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
rosrun tms_db_manager tms_db_backuper.py

If you want to use mysql:

roslaunch tms_db_manager tms_db_manager.launch is_mongodb:=false

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

web browser

http://localhost:27017/

GUI Tool

http://robomongo.org/

ROS-TMS Database Tables

table name	type	explanation
id	none	Basic information
history_data	none	History data
backup_data	none	Long-term storage data
data_person	Object 1000 : person	Data (person)
data_robot	Object 2000 : robot	Data (robot)
data_sensor	Object 3000 : sensor	Data (sensor)
data_structure	Location 4000 : structure	Data (structure)
data_space	Location 5000 : space	Data (space)
data_furniture	Location 6000 : furniture	Data (furniture)
data_object	Location 7000 : object	Data (object)
data_task	Task 8000 : task	Data (task)
data_subtask	Task 9000 : subtask	Data (subtask)
data_state	Task 10000 : state	Data (state of environment)

How to make the ROS-TMS database table

CREATE TABLE `data` (
  `time` datetime(6) NOT NULL,
  `type` varchar(30) DEFAULT NULL,
  `id` int(11) DEFAULT NULL,
  `name` varchar(30) DEFAULT NULL,
  `x` double DEFAULT NULL,
  `y` double DEFAULT NULL,
  `z` double DEFAULT NULL,
  `rr` double DEFAULT NULL,
  `rp` double DEFAULT NULL,
  `ry` double DEFAULT NULL,
  `offset_x` double DEFAULT NULL,
  `offset_y` double DEFAULT NULL,
  `offset_z` double DEFAULT NULL,
  `joint` varchar(500) DEFAULT NULL,
  `weight` double DEFAULT NULL,
  `rfid` varchar(30) DEFAULT NULL,
  `etcdata` varchar(500) DEFAULT NULL,
  `place` int(11) DEFAULT NULL,
  `extfile` varchar(500) DEFAULT NULL,
  `sensor` int(11) DEFAULT NULL,
  `probability` double DEFAULT NULL,
  `state` int(11) DEFAULT NULL,
  `task` varchar(500) DEFAULT NULL,
  `note` varchar(500) DEFAULT NULL,
  `tag` varchar(500) DEFAULT NULL,
  PRIMARY KEY (`time`)
) ENGINE=InnoDB DEFAULT CHARSET=utf8;

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

Update the content of ID Table

UPDATE `rostmsdb`.`id` SET `time`='0', `x`='0', `y`='0', `z`='0', `rr`='0', `rp`='0', `ry`='0', `offset_x`='0', `offset_y`='0', `offset_z`='0', `joint`='', `weight`='0', `rfid`='', `etcdata`='', `place`='0', `extfile`='', `sensor`='0', `probability`='0.0', `state`='0', `task`='', `note`='', `tag`='' WHERE `id`='1000';
SELECT * FROM rostmsdb.id;

PrimaryKey setting of each table

id,   PRIMARY KEY (`id`)
history_data, PRIMARY KEY (`time`)
backup_data, PRIMARY KEY (`time`)
data_xxx, PRIMARY KEY (`time`)

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

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

• 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

Center position of model in ROS-TMS

• Center coordinates of the model: Middle of model

Setting of ROSTMS Database

setting of FTP

sudo apt-get install vsftpd 
sudo nano /etc/vsftpd.conf 

anonymous_enable=NO local_enable=YES wirte_enable=YES local_umask=022

sudo adduser rtsftp 

ftp 192.168.4.170 id: rtsftp pw: tmsftp

setting of mysql

sudo apt-get install mysql-server-5.6 mysql-client-5.6

sudo nano /etc/mysql/my.cnf 

#skip-external-locking #bind-address = 127.0.0.1

mysql -u root -p 
mysql> create database rostmsdb; 
mysql> show databases; 
mysql> GRANT ALL PRIVILEGES ON *.* TO root@"%" identified by 'tmsdb'; 
mysql> flush privileges; 

backup

mysqldump -h 192.168.4.170 -u root -p rostmsdb > rostmsdb.sql 
mysqldump -h 192.168.4.170 -u root -p rostmsdb id > rostmsdb_id.sql 

• password : tmsdb

restore

mysql -h 192.168.4.170 -u root -p rostmsdb < rostmsdb.sql 
mysql -h 192.168.4.170 -u root -p rostmsdb < rostmsdb_id.sql 

connect

mysql -h 192.168.4.170 -u root -p

install mysql workbench (client pc)

sudo apt-get install mysql-client mysql-client-5.5 mysql-workbench

• bug of mysql-workbench (2014.04)
• https://bugs.launchpad.net/ubuntu/+source/mysql-workbench/+bug/1287424

Also, we can connect the DB using web browser

http://192.168.4.170/phpmyadmin/

• id : tmsdb
• password : tmsdb

mysql 5.6 reference manual

http://dev.mysql.com/doc/refman/5.6/en/index.html

model_list.txt (tms_rp_rostms_plugin)

ros_tms/tms_rp/tms_models/model_list.txt

Object 25