ROSBAG SNAPSHOT: documentation

ros · May 29, 2018 · de67d28 · de67d28
1 parent eeb4377
commit de67d28
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Showing 5 changed files with 16 additions and 19 deletions.
diff --git a/test/test_rosbag/test/snapshot.test b/test/test_rosbag/test/snapshot.test
@@ -1,18 +1,18 @@
 <launch>
   <node name="snapshot" pkg="rosbag" type="snapshot" args="">
     <rosparam>
-        default_duration_limit: 1
-        default_memory_limit: 0.1
+        default_duration_limit: 1  # Maximum time difference between newest and oldest message, seconds, overrides -d flag
+        default_memory_limit: 0.1  # Maximum memory used by messages in each topic's buffer, MB, override -s flag
         topics:
-            - test1              # Inherit defaults
-            - test2:            # Override duration
+            - test1                # Inherit defaults
+            - test2:               # Override duration limit, inherit memory limit
                 duration: 2
-            - test3:            # Override both
-                duration: -1
-                memory: 0.002
+            - test3:               # Override both limits
+                duration: -1       # Negative means no duration limit
+                memory: 0.00
     </rosparam>
   </node>
-  <!-- A bunch of fixed frequency publihers, each 64bits to make size calculations easy -->
+  <!-- A bunch of fixed frequency publishers, each 64bits to make size calculations easy -->
   <node name="test1pub" pkg="rostopic" type="rostopic" args="pub /test1 std_msgs/Time '{data:{ secs: 0, nsecs: 0}}' -r2"/>
   <node name="test2pub" pkg="rostopic" type="rostopic" args="pub /test2 std_msgs/Int64 'data: 1337' -r12"/>
   <node name="test3pub" pkg="rostopic" type="rostopic" args="pub /test3 std_msgs/Float64 'data: 42.00' -r25" />

diff --git a/tools/rosbag/include/rosbag/snapshoter.h b/tools/rosbag/include/rosbag/snapshoter.h
@@ -165,7 +165,7 @@ class ROSBAG_DECL MessageQueue
 
 /* Snapshoter node. Maintains a circular buffer of the most recent messages from configured topics
  * while enforcing limits on memory and duration. The node can be triggered to write some or all
- * of these buffers to a bag file via an action goal. Useful in live testing scenerios where interesting
+ * of these buffers to a bag file via a service call. Useful in live testing scenerios where interesting
  * data may be produced before a user has the oppurtunity to "rosbag record" the data.
  */
 class ROSBAG_DECL Snapshoter

diff --git a/tools/rosbag/src/snapshot.cpp b/tools/rosbag/src/snapshot.cpp
@@ -64,7 +64,7 @@ bool parseOptions(po::variables_map& vm, int argc, char** argv)
   desc.add_options()
     ("help,h", "produce help message")
     ("trigger-write,t", "Write buffer of selected topcis to a bag file")
-    ("pause,p", "Stop buffering new messages until resumed of write is triggered")
+    ("pause,p", "Stop buffering new messages until resumed or write is triggered")
     ("resume,r", "Resume buffering new messages, writing over older messages as needed")
     ("size,s", po::value<double>()->default_value(-1), "Maximum memory per topic to use in buffering in MB. Default: no limit")
     ("duration,d", po::value<double>()->default_value(30.0), "Maximum difference between newest and oldest buffered message per topic in seconds. Default: 30")
@@ -132,14 +132,7 @@ bool parseVariablesMapClient(SnapshoterClientOptions& opts, po::variables_map co
 
 /* Read configured topics and limits from ROS params
  * TODO: use exceptions instead of asserts to follow style conventions
- * This param should be set in the following (YAML represented) structure
- *   <rosparam>
- *       topics:                   # List of topics
- *           - /topic1             # Topic which will adopt default memory and duration limits
- *           - topic2:             # Topic with overriden memory and duration limit
- *               memory: 5000      # 5000 Byte limit on buffered data from this topic
- *               duration: 30      # 30 second duration limit between newest and oldest message from this topic
- *   </rosparam>
+ * See snapshot.test in test_rosbag for an example
  */
 void appendParamOptions(ros::NodeHandle& nh, SnapshoterOptions& opts)
 {

diff --git a/tools/rosbag_msgs/msg/SnapshotStatus.msg b/tools/rosbag_msgs/msg/SnapshotStatus.msg
@@ -1,3 +1,5 @@
+# Describes the current status of a running 'rosbag snapshot' node
+
 # Information about the buffer of subscribed topics
 # The period, stamp, node_pub, and dropped_msgs fields are left empty
 rosgraph_msgs/TopicStatistics[] topics

diff --git a/tools/rosbag_msgs/srv/TriggerSnapshot.srv b/tools/rosbag_msgs/srv/TriggerSnapshot.srv
@@ -6,7 +6,9 @@ string filename   # Name of bag file to save snapshot to.
 string[] topics   # List of topics to include in snapshot. 
                   # If empty, all buffered topics will be written
 time start_time   # Earliest timestamp for a message to be included in written bag
-time stop_time    # Latest timestamp for a message to be incldued in written bag
+                  # If time(0), start at the ealiest message in each topic's buffer
+time stop_time    # Latest timestamp for a message to be includued in written bag
+                  # If time(0), stop at the most recent message in each topic's buffer
 
 ---