This repo contains sample code for the AI-HRI 2022 paper of "Mixed-Reality Robot Behavior Replay: A System Implementation" by Zhao Han, Tom Williams, and Holly A. Yanco.

This ROS package was tested with ROS Melodic on Ubuntu 18.04.

3.6 is the MongoDB version in Ubuntu 18.04's repo: https://packages.ubuntu.com/bionic/mongodb.

In addition to the MongoDB related code based on the mongodb_store project, you can find the code we used for Figure 2-4:

• Code: record_the_replay.cpp
• Behavior trees:
  • behavior trees/replay.xml
  • behavior trees/go pick gearbox bottom.xml
  • behavior trees/go place gearbox part.xml

• Robot with ROS support (e.g., Fetch)
• Ubuntu 18.04 (Official Ubuntu wiki page)
• ROS Melodic (Install instruction)
• A catkin workspace (Official ROS tutorial)

sudo apt-get install python-pymongo mongodb mongodb-dev

(There is also a Mongodb GUI software: Compass. You can download it here: https://www.mongodb.com/try/download/compass)

Here we will use our fork to strand project's mongodb_store, which is https://github.com/uml-robotics/mongodb_store. Note that the changes including a fix that makes the work.

To clone it in your catkin workspace's source directory

First cd into your workspace.

roscd && cd ../src 

Then download the strands project's mongodb_store

git clone https://github.com/strands-project/mongodb_store

Install Python dependencies

pip install --user future

Run catkin build to build the ROS packages in the mongodb_store directory.

catkin build mongodb_log mongodb_store mongodb_store_msgs

Start mongodb_store

roslaunch mongodb_store mongodb_store.launch host:=localhost use_daemon:=true port:=27017

mongodb has started as a systemd service when you install it using apt.

To check the status of the service

sudo service mongodb status

To stop

sudo service mongodb stop

Store topics by running

rosrun mongodb_log mongodb_log.py /topic_name_one /topic_name_two

Or all topics

rosrun mongodb_log mongodb_log.py -a

For topics that do not update at a constant rate add the argument --no-specific

rosrun mongodb_log mongodb_log.py --no-specific /topic_name_one

The --no-specific argument disables a fast C++ logger needed for constantly updated topics. This logger might cause errors when running mongodb_log for topics that do not require a fast C++ logger, and as such it is recommend to disable that option.

Play back the topics by running

rosrun mongodb_store mongodb_play.py /topic_name_one /topic_name_two

Or all topics

rosrun mongodb_store mongodb_play.py

The MongoDBLogger Action acts as a regular action. MongoDBLogger.action is composed of the following:

# Takes in a string of topics to be logged separated by a colon ':', i.e. "/counter:/clock"
std_msgs/String topics
---
# The result will be all the topics logged during the duration of the action.
std_msgs/String topics_logged
---
# feedback will be composed of all the messages received
std_msgs/String msgs_received

To have the action server running run

rosrun mongodb mongodb_logger_action_server.py

#include <mongodb/MongoDBLoggerAction.h>

typedef actionlib::SimpleActionClient<mongodb::MongoDBLoggerAction> Client;

 Client client("mongodb_logger", true);

 mongodb::MongoDBLoggerGoal goal;
 //...put data in goal...
 client.sendGoal(goal);
 //...play what needs to be recorded...
 client.cancelGoal();

You'll need to build mongodb to use the Action Server.

find_package(catkin REQUIRED COMPONENTS
  ...
  mongodb
)

If your ROS package is also a ROS library, you also need to add mongodb to package.xml and the catkin_package block in CMakeLists.txt.

Note: messages play from newest to oldest

Usage: mongodb_play.py [options] [TOPICs...]

Options: -s for starting time, and -e for ending time

Time format: "day/month/year hour:minute"

To have the playback stop at August 7th, 2019 5:25 pm (plays every message recorded after that time)

rosrun mongodb_store mongodb_play.py -e "07/08/19 17:25" /topic_name_one /topic_name_two ...

To have the playback start at August 7th, 2019 5:25 pm (plays every message recorded before that time)

rosrun mongodb_store mongodb_play.py -s "07/08/19 17:25" /topic_name_one /topic_name_two ...

Can also be combined

rosrun mongodb_store mongodb_play.py -s "07/08/19 17:25" -e "01/08/19 09:30" /topic_name_one /topic_name_two ...

Note that example needs a proper setup of this repo: https://github.com/uml-robotics/fetchit2019.

For simulations specific for caddy_manipulation that require playing back topics stored in mongodb, please launch gazebo via this command

roslaunch mongodb caddy_manipulation_gazebo_remap.launch

This launch file remaps the /clock topic to /clock_temp. This allows for no clock synchronizing issues when it comes to replaying previous topics.

For any situation that requires the /clock_temp topic to be remapped back (such as setting up the caddy_detector) please run this on another terminal window:

rosrun mongodb undo_gazebo_clock_remap

Since replaying the nodes does not allow integrated measurements of certain parameters, we will have to set those parameters during each run of mongodb_log.py and mongodb_play.py. Please launch the config manager with this command before running mongodb_log and mongodb_play. The mongodb_store server will have to be running in order for this to work.

rosrun mongodb_store config_manager.py _defaults_path:=pkg://mongodb/defaults

To store the caddy picking motion during simulation

rosrun mongodb_store config_manager.py _defaults_path:=pkg://mongodb/defaults

rosrun mongodb_log mongodb_log.py --no-specific /arm_with_torso_controller/follow_joint_trajectory/goal /gripper_controller/gripper_action/goal

To replay the caddy picking motion

roslaunch mongodb caddy_manipulation_gazebo_remap.launch

rosrun mongodb_store config_manager.py _defaults_path:=pkg://mongodb/defaults

rosrun mongodb_store mongodb_play.py /arm_with_torso_controller/follow_joint_trajectory/goal /gripper_controller/gripper_action/goal