Data logging
[Tutorials]
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.
Modules | |
| laser format | |
| laser log format | |
| position2d format | |
| position2d log format | |
| sonar format | |
| sonar log format | |