CHAPTER3.md

3. Store and get data simultaneously in real-time

Run the following commands to store data in MongoDB and get the data.

Static terrain data is not included because it does not need to be acquired in real-time.

Launch

# MongoDB manager
ros2 launch tms_db_manager tms_db_manager.launch.py

# Odometry
ros2 launch tms_sp_machine tms_sp_machine_odom_launch.py input/odom:=/demo2/odom machine_name:=demo_machine

# Ground 2D map
ros2 launch tms_sd_ground tms_sd_ground_launch.py input/occupancy_grid:=/demo2/map_2d ground_name:=demo_ground

# Terrain
ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/dynamic/pointcloud2:=/demo2/terrain/dynamic

Rviz2

rviz2 -d ./src/ros2_tms_for_construction/demo/demo2/demo2.rviz

Launch tms_ur_construction

Run the following commands to get data from MongoDB.

# Get static terrain
ros2 launch tms_ur_construction tms_ur_construction_terrain_static_launch.py filename:=demo.pcd voxel_size:=0.0

# Service Client and Publisher nodes for static terrain data
ros2 run tms_ur_test tms_ur_construction_terrain_static_test

# Get odometry, ground 2D map and terrain data
ros2 launch tms_ur_construction tms_ur_construction_launch.py machine_name:=demo_machine latest:=true

Play rosbag

ros2 bag play -l ./src/ros2_tms_for_construction/demo/demo2/rosbag2_2

Rviz will show odometry, ground 2D map and dynamic terrain data like a example of 2. Get stored data, excluding static terrain.

After the end of rosbag, please check whether the data is stored to fs.chunks, fs.files, machine and sensor collection in your MongoDB.

GUI tool of MongoDB like a MongoDB Compass is easy to check them.

Here is an example. It may be a little different than yours, but as long as it is roughly the same, you should be fine.