Data logging
Tutorials

Logging sensor data to files and playing it back. More...

## Modules

| laser format
| laser log format
| ranger format
| ranger log format
| localize format
| localize log format
| position2d format
| position2d log format
| ptz format
| PTZ log format The format for each wsn message is:
| opaque format
| sonar format
| sonar log format
| WiFi format
| wifi log format
| WSN format
| WSN log format.
| IMU format
| IMU log format.
| pointcloud3d format
| PointCloud3D log format.
| actarray format
| Actarray log format.
| aio format
| AIO log format.
| dio format
| DIO log format.
| rfid format
| RFID log format.
| Blobfinder format
| blobfinder log format
| Camera format
| camera data format
| fiducial format
| fiducial log format
| GPS format
| gps log format
| Joystick format
| joystick log format
| Position3d format
| position3d format
| Power format
| power log format

## 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.

Last updated 12 September 2005 21:38:45