[Merge after #1720] [jsk_robot_startup] Support manual setting of the name of database and collection

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="USE_DEFAULT_VALUE" />
+
   <!-- options -->
   <arg name="save_rgb" default="true" />
   <arg name="save_depth" default="true" />
@@ -36,8 +40,9 @@
   <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 -->
@@ -56,7 +61,7 @@
         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="$(arg save_depth)">
@@ -135,6 +140,8 @@
             respawn="$(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: $(arg vital_check)
@@ -147,6 +154,8 @@
             respawn="$(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: $(arg vital_check)
@@ -161,6 +170,8 @@
             respawn="$(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: $(arg vital_check)
@@ -173,6 +184,8 @@
             respawn="$(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: $(arg vital_check)
@@ -187,6 +200,8 @@
           respawn="$(arg respawn)"
           if="$(arg save_tf)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         update_rate: $(arg log_rate)
       </rosparam>
     </node>
@@ -199,6 +214,8 @@
             respawn="$(arg respawn)">
         <remap from="~input" to="/$(arg joint_states_topic)" />
         <rosparam subst_value="true">
+          database: $(arg database)
+          collection: $(arg collection)
           periodic_rate: $(arg log_rate)
         </rosparam>
       </node>
@@ -208,6 +225,8 @@
             respawn="$(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: $(arg vital_check)
@@ -221,6 +240,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         topics:
         - /server_name/smach/container_init
         - /server_name/smach/container_status
@@ -234,6 +255,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         topics:
         - /Tablet/voice
       </rosparam>
@@ -288,6 +311,8 @@
           machine="$(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: $(arg base_frame_id)
@@ -301,6 +326,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         map_frame: $(arg map_frame_id)
         robot_frame: $(arg base_frame_id)
       </rosparam>
@@ -311,7 +338,12 @@
           name="action_logger"
           pkg="jsk_robot_startup" type="action_logger.py"
           machine="$(arg machine)"
-          respawn="$(arg respawn)" />
+          respawn="$(arg respawn)">
+      <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
+      </rosparam>
+    </node>
 
     <!-- app manager -->
     <node if="$(arg save_app)"
@@ -320,6 +352,8 @@
           machine="$(arg machine)"
           respawn="$(arg respawn)">
       <rosparam subst_value="true">
+        database: $(arg database)
+        collection: $(arg collection)
         subst_param: true
         topics:
         - /${param /robot/name}/app_list

jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch

@@ -10,6 +10,8 @@
   <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="replicate_on_write" default="false"/>
 
   <arg name="test_mode" default="false" />
 
@@ -18,9 +20,15 @@
   <!-- Replication -->
   <group if="$(arg replicate)">
     <rosparam command="load" file="$(arg replicator_param_path)" />
+
     <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)
+        replicate_on_write: $(arg replicate_on_write)
+      </rosparam>
+    </node>
   </group>
 
   <!-- MongoDB -->

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)$")

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)

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

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)

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')

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)

jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp

@@ -49,8 +49,21 @@ 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(pnh_->resolveName("database")))
+      {
+        pnh_->param<std::string>("database", db_name_, "jsk_robot_lifelog");
+      }
+      else
+      {
+        pnh_->param<std::string>("/robot/database", db_name_, "jsk_robot_lifelog");
+      }
+
+      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());
+      }
+
       if (col_name_.empty())
       {
         NODELET_FATAL_STREAM("Please specify param 'robot/name' (e.g. pr1012, olive)");
@@ -123,7 +136,7 @@ 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