Data logging

Detailed Description

Logging sensor data to files and playing it back

Two player drivers support data logging and playback: readlog and writelog. See the docs for those drivers for details on usage.

Player log files have a simple text format. Messages are new-line separated, and any line beginning with a '#' is ignored. Every message line starts with common meta-data:

time host robot interface index type subtype

The fields are:

  • time (double): Timestamp, in seconds, associated with the message
  • host (uint): The 'host' part of the device's Player address
  • robot (uint): The 'robot' part of the device's Player address
  • interface (string): The 'interf' part of the device's Player address (written as a string)
  • index (string): The 'index' part of the device's Player address
  • type (uint): The type of the message
  • subtype (uint): The subtype of the message

Following this common meta-data is the message payload, the format of which will depend on the interface, type, and subtype. See the "Modules" section below for links to interface-specific message formats.

By convention, configuration response messages such as geometry information are put at the beginning of the logfile. The writelog driver will try to get geometry and log it at the beginning of the file, and the readlog driver will read in configuration response messages from the file until a data message is encountered.

Topics

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 Ranger format
 
 
 Localize format
 
 
 Position2d format
 
 
 PTZ format
 
 
 Opaque format
 
 
 Sonar format
 
 
 WiFi format
 
 
 WSN format
 
 
 CoopObject format
 
 
 IMU format
 
 
 Pointcloud3d format
 
 
 Actarray format
 
 
 AIO format
 
 
 DIO format
 
 
 RFID format
 
 
 IR format
 
 
 Bumper format
 
 
 Blobfinder format
 
 
 Camera format
 
 
 Fiducial format
 
 
 GPS format
 
 
 Joystick format
 
 
 Position3d format
 
 
 Power format