From 0c7006e1bb892502aff09744e03e62f72fa73fdf Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Thu, 10 Nov 2022 14:45:27 +0900
Subject: [PATCH 01/13] [jsk_robot_startup] Support manual setting of the name
 of database and collection

---
 .../src/lightweight_logger_nodelet.cpp        | 21 ++++++++++++++++---
 1 file changed, 18 insertions(+), 3 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
index c357e44273..cf6929b476 100644
--- a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
+++ b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
@@ -49,8 +49,23 @@ namespace jsk_robot_startup
       jsk_topic_tools::StealthRelay::onInit();
 
       // settings for database
-      nh_->param<std::string>("/robot/database", db_name_, "jsk_robot_lifelog");
-      nh_->param<std::string>("/robot/name", col_name_, std::string());
+      if (ros::param::has("~database"))
+      {
+        pnh_->param<std::string>("~database", db_name_, "jsk_robot_lifelog");
+      }
+      else
+      {
+        pnh_->param<std::string>("/robot/database", db_name_, "jsk_robot_lifelog");
+      }
+      if (ros::param::has("~collection"))
+      {
+        pnh_->param<std::string>("~collection", col_name_, std::string());
+      }
+      else
+      {
+        pnh_->param<std::string>("/robot/name", col_name_, std::string());
+      }
+
       if (col_name_.empty())
       {
         NODELET_FATAL_STREAM("Please specify param 'robot/name' (e.g. pr1012, olive)");
@@ -123,7 +138,7 @@ namespace jsk_robot_startup
 
       // The message store object is initialized here, since the object waits for connection
       // until the connection to the server is established.
-      msg_store_.reset(new mongodb_store::MessageStoreProxy(*nh_, col_name_, db_name_));
+      msg_store_.reset(new mongodb_store::MessageStoreProxy(*pnh_, col_name_, db_name_));
       initialized_ = true;
 
       // After message store object is initialized, this thread is re-used for

From 589f845033779e5c7a7a00badd798ad2e408aee3 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Thu, 10 Nov 2022 14:46:11 +0900
Subject: [PATCH 02/13] [jsk_robot_startup] Add database and collection rospram

---
 .../src/jsk_robot_startup/lifelog/action_logger.py          | 5 ++++-
 .../src/jsk_robot_startup/lifelog/base_trajectory_logger.py | 6 +++++-
 .../src/jsk_robot_startup/lifelog/mongo_record.py           | 6 +++++-
 .../jsk_robot_startup/lifelog/object_detection_logger.py    | 6 +++++-
 .../src/jsk_robot_startup/lifelog/tf_logger.py              | 5 ++++-
 5 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py
index d42e5d89f4..8fe84131a3 100644
--- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py
+++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py
@@ -22,7 +22,10 @@ class ActionLogger(LoggerBase):
     subscribers = {} # topicname:subscriber
 
     def __init__(self):
-        LoggerBase.__init__(self)
+        db_name = rospy.get_param('~database', 'jsk_robot_lifelog')
+        col_name = rospy.get_param('~collection', None)
+
+        super(ActionLogger, self).__init__(db_name=db_name, col_name=col_name)
 
         self.queue_size = rospy.get_param("~queue_size", 30)
         self.action_regex = re.compile(".*Action(Result|Goal|Feedback)$")
diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py
index 664f8fac94..c870cab227 100644
--- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py
+++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py
@@ -31,7 +31,11 @@ def diff_pose(p1, p2):
 
 class BaseTrajectoryLogger(LoggerBase):
     def __init__(self):
-        LoggerBase.__init__(self)
+        db_name = rospy.get_param('~database', 'jsk_robot_lifelog')
+        col_name = rospy.get_param('~collection', None)
+
+        super(BaseTrajectoryLogger, self).__init__(db_name=db_name, col_name=col_name)
+
         self.update_rate = rospy.get_param("~update_rate", 1.0)
         self.use_amcl = rospy.get_param("~use_amcl", True)
         self.persistent = rospy.get_param("~persistent", True)
diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py
index 71803288c1..eed8897950 100644
--- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py
+++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py
@@ -20,6 +20,7 @@ def __init__(self, argv=None):
             self.queue_size = rospy.get_param("~queue_size", 1)
             self.update_rate = rospy.get_param("~update_rate", 1.0)
             subst_param = rospy.get_param("~subst_param", False)
+            database = rospy.get_param("~database", 'jsk_robot_lifelog')
             collection = rospy.get_param("~collection", None)
         else:
             args = self.parse_args(argv)
@@ -28,6 +29,7 @@ def __init__(self, argv=None):
             self.queue_size = args.queue_size
             self.update_rate = args.update_rate
             subst_param = args.subst_param
+            database = args.database
             collection = args.collection
         self.subscribers = {}
 
@@ -42,7 +44,7 @@ def __init__(self, argv=None):
                 topics.append(str().join(splitted))
             self.topics = topics
 
-        LoggerBase.__init__(self, col_name=collection)
+        LoggerBase.__init__(self, db_name=database, col_name=collection)
 
     def parse_args(self, argv):
         p = argparse.ArgumentParser()
@@ -57,6 +59,8 @@ def parse_args(self, argv):
                        help="Enable substring param (e,g, '$(param robot/name)/list')")
         p.add_argument("-r", "--update-rate", type=float, default=1.0,
                        help="Update rate for checking topics")
+        p.add_argument("-d", "--database", type=str, default=None,
+                       help="Database name to record data")
         p.add_argument("-c", "--collection", type=str, default=None,
                        help="Collection name to record data")
         return p.parse_args(argv)
diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py
index 4b607dade1..f8623ba2cd 100644
--- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py
+++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py
@@ -16,7 +16,11 @@
 
 class ObjectDetectionLogger(LoggerBase):
     def __init__(self):
-        LoggerBase.__init__(self)
+        db_name = rospy.get_param('~database', 'jsk_robot_lifelog')
+        col_name = rospy.get_param('~collection', None)
+
+        super(ObjectDetectionLogger, self).__init__(db_name=db_name, col_name=col_name)
+        
         self.update_rate = rospy.get_param("~update_rate", 1.0)
         self.map_frame = rospy.get_param('~map_frame', 'map')
         self.robot_frame = rospy.get_param('~robot_frame', 'base_footprint')
diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py
index 38192b7737..42f0fdbe5e 100644
--- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py
+++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py
@@ -13,7 +13,10 @@
 
 class TFLogger(LoggerBase):
     def __init__(self):
-        LoggerBase.__init__(self)
+        db_name = rospy.get_param('~database', 'jsk_robot_lifelog')
+        col_name = rospy.get_param('~collection', None)
+
+        super(TFLogger, self).__init__(db_name=db_name, col_name=col_name)
 
         self.tf_buffer = tf2_ros.Buffer()
         self.tf_listener = tf2_ros.TransformListener(self.tf_buffer)

From 88c29b6abec093945dc0b392e044b6256a1344ce Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Thu, 10 Nov 2022 14:47:01 +0900
Subject: [PATCH 03/13] [jsk_robot_startup] Support multi-client of
 mongo_record

---
 .../lifelog/common_logger.launch              | 34 +++++++++++++++++--
 1 file changed, 31 insertions(+), 3 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
index 4d53b2e6e4..2a3b7bb58c 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
@@ -1,4 +1,8 @@
 <launch>
+  <!-- mongo setting -->
+  <arg name="database" default="jsk_robot_lifelog" />
+  <arg name="collection" default="null" />
+
   <!-- options -->
   <arg name="save_rgb" default="true" />
   <arg name="save_depth" default="true" />
@@ -33,8 +37,9 @@
   <machine if="$(arg localhost)" name="localhost" address="localhost" />
 
   <!-- nodelet -->
+  <arg name="ns" default="lifelog" />
   <arg name="launch_manager" default="true" />
-  <arg     if="$(arg launch_manager)" name="manager" default="mongodb_record_nodelet_manager" />
+  <arg     if="$(arg launch_manager)" name="manager" default="mongodb_$(arg ns)_nodelet_manager" />
   <arg unless="$(arg launch_manager)" name="manager" />
 
   <!-- others -->
@@ -53,7 +58,7 @@
         pkg="nodelet" type="nodelet" args="manager" machine="$(arg machine)"
         output="screen" respawn="$(arg respawn)" launch-prefix="$(arg launch-prefix)"/>
 
-  <group ns="lifelog">
+  <group ns="$(arg ns)">
     <!-- image throttle -->
     <group if="$(arg save_rgb)">
       <group if="$(arg save_depth)">
@@ -132,6 +137,8 @@
             respawn="$(arg respawn)">
         <remap from="~input" to="rgb/$(arg rgb_topic)$(arg rgb_suffix)" />
         <rosparam subst_value="true">
+          database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic)
           vital_check: $(arg vital_check)
@@ -144,6 +151,8 @@
             respawn="$(arg respawn)">
         <remap from="~input" to="rgb/$(arg camera_info_topic)" />
         <rosparam subst_value="true">
+          database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic)
           vital_check: $(arg vital_check)
@@ -158,6 +167,8 @@
             respawn="$(arg respawn)">
         <remap from="~input" to="depth/$(arg depth_topic)$(arg depth_suffix)" />
         <rosparam subst_value="true">
+          database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic)
           vital_check: $(arg vital_check)
@@ -170,6 +181,8 @@
             respawn="$(arg respawn)">
         <remap from="~input" to="depth/$(arg camera_info_topic)" />
         <rosparam subst_value="true">
+          database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic)
           vital_check: $(arg vital_check)
@@ -184,6 +197,8 @@
           respawn="$(arg respawn)"
           if="$(arg save_tf)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         update_rate: $(arg log_rate)
       </rosparam>
     </node>
@@ -205,6 +220,8 @@
             respawn="$(arg respawn)">
         <remap from="~input" to="joint_states_throttle/output" />
         <rosparam subst_value="true">
+          database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg joint_states_topic)
           vital_check: $(arg vital_check)
@@ -243,6 +260,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         update_rate: $(arg log_rate)
         map_frame: $(arg map_frame_id)
         robot_frame: $(arg base_frame_id)
@@ -256,6 +275,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         map_frame: $(arg map_frame_id)
         robot_frame: $(arg base_frame_id)
       </rosparam>
@@ -266,7 +287,12 @@
           name="action_logger"
           pkg="jsk_robot_startup" type="action_logger.py"
           machine="$(arg machine)"
-          respawn="$(arg respawn)" />
+          respawn="$(arg respawn)">
+      <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
+      </rosparam>
+    </node>
 
     <!-- app manager -->
     <node if="$(arg save_app)"
@@ -275,6 +301,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         subst_param: true
         topics:
         - /${param /robot/name}/app_list

From 3cb0bc465c1311a42216b9344d7974603a4b865d Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Thu, 10 Nov 2022 15:02:23 +0900
Subject: [PATCH 04/13] [jsk_robot_startup] Fix private namespae in
 lightweight_logger

---
 .../jsk_robot_startup/src/lightweight_logger_nodelet.cpp      | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
index cf6929b476..7ee9ab569d 100644
--- a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
+++ b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
@@ -51,7 +51,7 @@ namespace jsk_robot_startup
       // settings for database
       if (ros::param::has("~database"))
       {
-        pnh_->param<std::string>("~database", db_name_, "jsk_robot_lifelog");
+        pnh_->param<std::string>("database", db_name_, "jsk_robot_lifelog");
       }
       else
       {
@@ -59,7 +59,7 @@ namespace jsk_robot_startup
       }
       if (ros::param::has("~collection"))
       {
-        pnh_->param<std::string>("~collection", col_name_, std::string());
+        pnh_->param<std::string>("collection", col_name_, std::string());
       }
       else
       {

From 23f1ad762775f164cb58830f5ce591c6374eca6b Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Fri, 11 Nov 2022 13:38:13 +0900
Subject: [PATCH 05/13] [jsk_robot_startup] Add database and collection param
 to missing node

---
 .../jsk_robot_startup/lifelog/common_logger.launch          | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
index 2a3b7bb58c..0e7dab664f 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
@@ -211,6 +211,8 @@
             respawn="$(arg respawn)">
         <remap from="~input" to="/$(arg joint_states_topic)" />
         <rosparam subst_value="true">
+          database: $(arg database)
+          collection: $(arg collection)
           periodic_rate: $(arg log_rate)
         </rosparam>
       </node>
@@ -235,6 +237,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         topics:
         - /server_name/smach/container_init
         - /server_name/smach/container_status
@@ -248,6 +252,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         topics:
         - /Tablet/voice
       </rosparam>

From a46552d702559c135b4211c25e1f94479d00cad7 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Fri, 11 Nov 2022 14:40:34 +0900
Subject: [PATCH 06/13] [jsk_robot_startup] Fix to support null collection
 argument

---
 .../lifelog/common_logger.launch              | 52 ++++++++++++++-----
 1 file changed, 39 insertions(+), 13 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
index 0e7dab664f..0d39de041d 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
@@ -1,7 +1,7 @@
 <launch>
   <!-- mongo setting -->
   <arg name="database" default="jsk_robot_lifelog" />
-  <arg name="collection" default="null" />
+  <arg name="collection" default="" />
 
   <!-- options -->
   <arg name="save_rgb" default="true" />
@@ -138,11 +138,13 @@
         <remap from="~input" to="rgb/$(arg rgb_topic)$(arg rgb_suffix)" />
         <rosparam subst_value="true">
           database: $(arg database)
-          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic)
           vital_check: $(arg vital_check)
         </rosparam>
+        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+          collection: $(arg collection)
+        </rosparam>
       </node>
       <node name="rgb_camera_info_logger"
             pkg="nodelet" type="nodelet"
@@ -152,11 +154,13 @@
         <remap from="~input" to="rgb/$(arg camera_info_topic)" />
         <rosparam subst_value="true">
           database: $(arg database)
-          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic)
           vital_check: $(arg vital_check)
         </rosparam>
+        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+          collection: $(arg collection)
+        </rosparam>
       </node>
     </group>
     <group if="$(arg save_depth)">
@@ -168,11 +172,13 @@
         <remap from="~input" to="depth/$(arg depth_topic)$(arg depth_suffix)" />
         <rosparam subst_value="true">
           database: $(arg database)
-          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic)
           vital_check: $(arg vital_check)
         </rosparam>
+        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+          collection: $(arg collection)
+        </rosparam>
       </node>
       <node name="depth_camera_info_logger"
             pkg="nodelet" type="nodelet"
@@ -182,11 +188,13 @@
         <remap from="~input" to="depth/$(arg camera_info_topic)" />
         <rosparam subst_value="true">
           database: $(arg database)
-          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic)
           vital_check: $(arg vital_check)
         </rosparam>
+        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+          collection: $(arg collection)
+        </rosparam>
       </node>
     </group>
 
@@ -198,9 +206,11 @@
           if="$(arg save_tf)">
       <rosparam subst_value="true">
         database: $(arg database)
-        collection: $(arg collection)
         update_rate: $(arg log_rate)
       </rosparam>
+      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+        collection: $(arg collection)
+      </rosparam>
     </node>
 
     <!-- joint states -->
@@ -212,9 +222,11 @@
         <remap from="~input" to="/$(arg joint_states_topic)" />
         <rosparam subst_value="true">
           database: $(arg database)
-          collection: $(arg collection)
           periodic_rate: $(arg log_rate)
         </rosparam>
+        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+          collection: $(arg collection)
+        </rosparam>
       </node>
       <node name="joint_states_logger"
             pkg="jsk_robot_startup" type="lightweight_logger"
@@ -223,11 +235,13 @@
         <remap from="~input" to="joint_states_throttle/output" />
         <rosparam subst_value="true">
           database: $(arg database)
-          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg joint_states_topic)
           vital_check: $(arg vital_check)
         </rosparam>
+        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+          collection: $(arg collection)
+        </rosparam>
       </node>
     </group>
 
@@ -238,12 +252,14 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
-        collection: $(arg collection)
         topics:
         - /server_name/smach/container_init
         - /server_name/smach/container_status
         - /server_name/smach/container_structure
       </rosparam>
+      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+        collection: $(arg collection)
+      </rosparam>
     </node>
 
     <node if="$(arg save_speech)"
@@ -253,10 +269,12 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
-        collection: $(arg collection)
         topics:
         - /Tablet/voice
       </rosparam>
+      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+        collection: $(arg collection)
+      </rosparam>
     </node>
 
     <!-- base trajecotry logger -->
@@ -267,11 +285,13 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
-        collection: $(arg collection)
         update_rate: $(arg log_rate)
         map_frame: $(arg map_frame_id)
         robot_frame: $(arg base_frame_id)
       </rosparam>
+      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+        collection: $(arg collection)
+      </rosparam>
     </node>
 
     <!-- object detection logger -->
@@ -282,10 +302,12 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
-        collection: $(arg collection)
         map_frame: $(arg map_frame_id)
         robot_frame: $(arg base_frame_id)
       </rosparam>
+      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+        collection: $(arg collection)
+      </rosparam>
     </node>
 
     <!-- action logger -->
@@ -296,6 +318,8 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
+      </rosparam>
+      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
         collection: $(arg collection)
       </rosparam>
     </node>
@@ -308,11 +332,13 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
-        collection: $(arg collection)
         subst_param: true
         topics:
         - /${param /robot/name}/app_list
       </rosparam>
+      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
+        collection: $(arg collection)
+      </rosparam>
     </node>
 
   </group> <!-- lifelog ns -->

From ff74d1e8bf4c00230dc3ab86da7ab0cd024db8e0 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 30 Nov 2022 14:18:28 +0900
Subject: [PATCH 07/13] [jsk_robot_startup] Fix private name space resolution

---
 .../jsk_robot_startup/src/lightweight_logger_nodelet.cpp      | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
index 7ee9ab569d..2d497f925f 100644
--- a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
+++ b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
@@ -49,7 +49,7 @@ namespace jsk_robot_startup
       jsk_topic_tools::StealthRelay::onInit();
 
       // settings for database
-      if (ros::param::has("~database"))
+      if (ros::param::has(pnh_->resolveName("database")))
       {
         pnh_->param<std::string>("database", db_name_, "jsk_robot_lifelog");
       }
@@ -57,7 +57,7 @@ namespace jsk_robot_startup
       {
         pnh_->param<std::string>("/robot/database", db_name_, "jsk_robot_lifelog");
       }
-      if (ros::param::has("~collection"))
+      if (ros::param::has(pnh_->resolveName("collection")))
       {
         pnh_->param<std::string>("collection", col_name_, std::string());
       }

From b10a3aa1281090cf490bcd2bd180d5859a8df4fe Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 20 Dec 2022 16:33:59 +0900
Subject: [PATCH 08/13] [jsk_robot_startup] Support USE_DEFAULT_VALUE
 collection in lightweight_logger

---
 .../jsk_robot_startup/src/lightweight_logger_nodelet.cpp  | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
index 2d497f925f..650f9d1603 100644
--- a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
+++ b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp
@@ -57,11 +57,9 @@ namespace jsk_robot_startup
       {
         pnh_->param<std::string>("/robot/database", db_name_, "jsk_robot_lifelog");
       }
-      if (ros::param::has(pnh_->resolveName("collection")))
-      {
-        pnh_->param<std::string>("collection", col_name_, std::string());
-      }
-      else
+
+      pnh_->param<std::string>("collection", col_name_, std::string());
+      if (col_name_.empty() || col_name_=="USE_DEFAULT_VALUE")
       {
         pnh_->param<std::string>("/robot/name", col_name_, std::string());
       }

From 18051b76cbb60cf7c9dcdae1c350f6a5a2eb27e2 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 20 Dec 2022 16:34:18 +0900
Subject: [PATCH 09/13] [jsk_robot_startup] Support USE_DEFAULT_VALUE
 collection in logger_base

---
 .../src/jsk_robot_startup/lifelog/logger_base.py                | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/logger_base.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/logger_base.py
index 5e211ff9c7..fecde703e8 100644
--- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/logger_base.py
+++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/logger_base.py
@@ -11,7 +11,7 @@ def __init__(self, db_name='jsk_robot_lifelog', col_name=None, ensure_index=True
         super(LoggerBase, self).__init__()
         self.db_name = rospy.get_param('/robot/database','jsk_robot_lifelog')
         try:
-            if col_name is None:
+            if col_name in [None, 'USE_DEFAULT_VALUE']:
                 self.col_name = rospy.get_param('/robot/name')
             else:
                 self.col_name = col_name

From b717d044a56cffdfb127fd71e6151d3a580f2772 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 20 Dec 2022 16:34:55 +0900
Subject: [PATCH 10/13] [jsk_robot_startup] USE_DEFAULT_VALUE to avoid using
 eval

---
 .../lifelog/common_logger.launch              | 52 +++++--------------
 1 file changed, 13 insertions(+), 39 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
index 0d39de041d..cc1c32b10e 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
@@ -1,7 +1,7 @@
 <launch>
   <!-- mongo setting -->
   <arg name="database" default="jsk_robot_lifelog" />
-  <arg name="collection" default="" />
+  <arg name="collection" default="USE_DEFAULT_VALUE" />
 
   <!-- options -->
   <arg name="save_rgb" default="true" />
@@ -138,13 +138,11 @@
         <remap from="~input" to="rgb/$(arg rgb_topic)$(arg rgb_suffix)" />
         <rosparam subst_value="true">
           database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic)
           vital_check: $(arg vital_check)
         </rosparam>
-        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-          collection: $(arg collection)
-        </rosparam>
       </node>
       <node name="rgb_camera_info_logger"
             pkg="nodelet" type="nodelet"
@@ -154,13 +152,11 @@
         <remap from="~input" to="rgb/$(arg camera_info_topic)" />
         <rosparam subst_value="true">
           database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic)
           vital_check: $(arg vital_check)
         </rosparam>
-        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-          collection: $(arg collection)
-        </rosparam>
       </node>
     </group>
     <group if="$(arg save_depth)">
@@ -172,13 +168,11 @@
         <remap from="~input" to="depth/$(arg depth_topic)$(arg depth_suffix)" />
         <rosparam subst_value="true">
           database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic)
           vital_check: $(arg vital_check)
         </rosparam>
-        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-          collection: $(arg collection)
-        </rosparam>
       </node>
       <node name="depth_camera_info_logger"
             pkg="nodelet" type="nodelet"
@@ -188,13 +182,11 @@
         <remap from="~input" to="depth/$(arg camera_info_topic)" />
         <rosparam subst_value="true">
           database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic)
           vital_check: $(arg vital_check)
         </rosparam>
-        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-          collection: $(arg collection)
-        </rosparam>
       </node>
     </group>
 
@@ -206,10 +198,8 @@
           if="$(arg save_tf)">
       <rosparam subst_value="true">
         database: $(arg database)
-        update_rate: $(arg log_rate)
-      </rosparam>
-      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
         collection: $(arg collection)
+        update_rate: $(arg log_rate)
       </rosparam>
     </node>
 
@@ -222,10 +212,8 @@
         <remap from="~input" to="/$(arg joint_states_topic)" />
         <rosparam subst_value="true">
           database: $(arg database)
-          periodic_rate: $(arg log_rate)
-        </rosparam>
-        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
           collection: $(arg collection)
+          periodic_rate: $(arg log_rate)
         </rosparam>
       </node>
       <node name="joint_states_logger"
@@ -235,13 +223,11 @@
         <remap from="~input" to="joint_states_throttle/output" />
         <rosparam subst_value="true">
           database: $(arg database)
+          collection: $(arg collection)
           enable_monitor: $(arg enable_monitor)
           monitor_topic: /$(arg joint_states_topic)
           vital_check: $(arg vital_check)
         </rosparam>
-        <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-          collection: $(arg collection)
-        </rosparam>
       </node>
     </group>
 
@@ -252,14 +238,12 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
+        collection: $(arg collection)
         topics:
         - /server_name/smach/container_init
         - /server_name/smach/container_status
         - /server_name/smach/container_structure
       </rosparam>
-      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-        collection: $(arg collection)
-      </rosparam>
     </node>
 
     <node if="$(arg save_speech)"
@@ -269,12 +253,10 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
+        collection: $(arg collection)
         topics:
         - /Tablet/voice
       </rosparam>
-      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-        collection: $(arg collection)
-      </rosparam>
     </node>
 
     <!-- base trajecotry logger -->
@@ -285,13 +267,11 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
+        collection: $(arg collection)
         update_rate: $(arg log_rate)
         map_frame: $(arg map_frame_id)
         robot_frame: $(arg base_frame_id)
       </rosparam>
-      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-        collection: $(arg collection)
-      </rosparam>
     </node>
 
     <!-- object detection logger -->
@@ -302,12 +282,10 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
+        collection: $(arg collection)
         map_frame: $(arg map_frame_id)
         robot_frame: $(arg base_frame_id)
       </rosparam>
-      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-        collection: $(arg collection)
-      </rosparam>
     </node>
 
     <!-- action logger -->
@@ -318,8 +296,6 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
-      </rosparam>
-      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
         collection: $(arg collection)
       </rosparam>
     </node>
@@ -332,13 +308,11 @@
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
         database: $(arg database)
+        collection: $(arg collection)
         subst_param: true
         topics:
         - /${param /robot/name}/app_list
       </rosparam>
-      <rosparam subst_value="true" if="$(eval arg('collection') != '')">
-        collection: $(arg collection)
-      </rosparam>
     </node>
 
   </group> <!-- lifelog ns -->

From 41d248d4097120075c16451ae1e26ea772ff81cc Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Fri, 11 Nov 2022 15:01:28 +0900
Subject: [PATCH 11/13] [jsk_robot_startup] Support replication client in
 addition to robot/type

---
 jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
index 13c62d42f4..88d0c15dd6 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
@@ -10,6 +10,7 @@
   <arg name="replicator_dump_path" default="/tmp/replicator_dumps" />
   <arg name="replicator_param_path"
        default="$(find jsk_robot_startup)/lifelog/mongodb_replication_params.yaml" />
+  <arg name="extra_collections" default="" />
 
   <arg name="test_mode" default="false" />
 
@@ -18,6 +19,9 @@
   <!-- Replication -->
   <group if="$(arg replicate)">
     <rosparam command="load" file="$(arg replicator_param_path)" />
+    <rosparam subst_value="true" if="$(eval arg('extra_collections') != '')">
+      extra_collections: $(arg extra_collections)
+    </rosparam>
     <node name="replication_client"
           pkg="jsk_robot_startup" type="periodic_replicator_client.py"
           output="screen" machine="$(arg machine)"/>

From e7aebb3379f2df9349aae04eddd97560e17e8123 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 30 Nov 2022 16:50:20 +0900
Subject: [PATCH 12/13] [jsk_robot_startup] set rosparam in node section

Co-authored-by: Shingo Kitagawa <knorth55@users.noreply.github.com>
---
 .../jsk_robot_startup/lifelog/mongodb.launch           | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
index 88d0c15dd6..d6cac0b59d 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
@@ -19,12 +19,14 @@
   <!-- Replication -->
   <group if="$(arg replicate)">
     <rosparam command="load" file="$(arg replicator_param_path)" />
-    <rosparam subst_value="true" if="$(eval arg('extra_collections') != '')">
-      extra_collections: $(arg extra_collections)
-    </rosparam>
+
     <node name="replication_client"
           pkg="jsk_robot_startup" type="periodic_replicator_client.py"
-          output="screen" machine="$(arg machine)"/>
+          output="screen" machine="$(arg machine)">
+      <rosparam subst_value="true" if="$(eval arg('extra_collections') != '')">
+        extra_collections: $(arg extra_collections)
+      </rosparam>
+    </node>
   </group>
 
   <!-- MongoDB -->

From 31c4d67242c27b621ff1db4000e6f6e65c47a613 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 5 Jun 2023 15:06:13 +0900
Subject: [PATCH 13/13] [jsk_robot_startup/lifelog] Add replicate_on_write arg
 to mongodb.launch to search at replication server

---
 jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
index d6cac0b59d..bfaa4085ad 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
@@ -11,6 +11,7 @@
   <arg name="replicator_param_path"
        default="$(find jsk_robot_startup)/lifelog/mongodb_replication_params.yaml" />
   <arg name="extra_collections" default="" />
+  <arg name="replicate_on_write" default="false"/>
 
   <arg name="test_mode" default="false" />
 
@@ -25,6 +26,7 @@
           output="screen" machine="$(arg machine)">
       <rosparam subst_value="true" if="$(eval arg('extra_collections') != '')">
         extra_collections: $(arg extra_collections)
+        replicate_on_write: $(arg replicate_on_write)
       </rosparam>
     </node>
   </group>