On the PR2, we save our diagnostics logs to the '/hwlog' directory. I think some power monitor logs are in a subdirectory of '/hwlog'. I think that's a good place to put large bagfiles. Using rosbag options, you can record in "chunks" of a few gigs, and offload them from the robot using an rsync cronjob.<br>
<br>Kevin<br><br><div class="gmail_quote">On Tue, Mar 2, 2010 at 8:38 PM, Jack O'Quin <span dir="ltr"><<a href="mailto:jack.oquin@gmail.com">jack.oquin@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<div class="im">On Sat, Feb 27, 2010 at 12:47 PM, Rosen Diankov <<a href="mailto:rosen.diankov@gmail.com">rosen.diankov@gmail.com</a>> wrote:<br>
> with regards to reading files on the system (which will always be<br>
> necessary unless morgan/brian/ken/josh plan on developing a FS on top<br>
> of ROS), wasn't there some helper functions makes locating files in<br>
> ros packages easier? For example specifying a filename of<br>
> "ros-pkg://pkgname/myfile" will automatically look for myfile in<br>
> pkgname. In regards to roslaunch, you can specify files using $(find<br>
> pkgname)/myfile, although the node itself will lose the knowledge that<br>
> myfile came from a ROS package.<br>
><br>
> The decision to set the working directory to ros-root for all nodes<br>
> makes file usage more explicit, and hence easier for others to work<br>
> with and understand what's going on. If octave had a better way of<br>
> managing paths, perhaps there wouldn't be a need for 'cwd' at all ;0)<br>
<br>
</div>This seems to suggest that only package files should be read or<br>
written from roslaunch.<br>
<br>
I am concerned with establishing a clean test methodology with the<br>
ability to read and write bag files obtained on the robot. Experience<br>
suggests that using SVN for that purpose works OK only as long as the<br>
bag files are moderately small, but for Velodyne LIDAR or camera data<br>
the files get too large for SVN to handle efficiently (many megabytes<br>
per second).<br>
<br>
How do the ROS developers deal with this problem? Log files are<br>
automatically saved in ~/.ros/log subdirectories. Is there some<br>
equivalent method for saving bags? Should they be saved in the same<br>
subdirectory? How does roslaunch support this methodology?<br>
<br>
Do I need to create test directories with manifest.xml files to fit<br>
the procrustean bed of roslaunch? What is the recommended method of<br>
archiving these data?<br>
--<br>
<div class="im"> joq<br>
<br>
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