tms_db_manager

tms_db_manager

ROS2-TMS database manager.

Usecase

Reader

After the below command, service nodes are executed that get requested data in ROS2-TMS database and respond to them.

ros2 launch tms_db_manager tms_db_reader.launch.py db_host:=localhost db_port:=27017

Services

Name	Type	Description
tms_db_reader	tms_msg_db::srv::TmsdbGetData	get data stored in ROS2-TMS database

Actions

Name	Type	Description
tms_db_reader_gridfs	tms_msg_db::action::TmsdbGridFS	get GridFS data stored in ROS2-TMS database

Writer

After the below command, subscriber nodes are executed that store received data in ROS2-TMS database.

ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true

Inputs

Name	Type	Description
/tms_db_data	tms_msg_db::msg::Tmsdb	Tmsdb including other msg data
/tms_db_gridfs_data	tms_msg_db::msg::TmsdbGridFS	file info

Reader and Writer

Store data in ROS2-TMS database and get data from the database.

ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true

Parameters

Name	Type	Default Value	Description
db_host	string	localhost	host name of MongoDB
db_port	int	27017	port number of MongoDB
init_db	bool	False	whether to initialize the database