default_config.yaml

# This file serves as documentation for how to construct topic_store scenario files
#    - A lot of parameters can be deleted but are here to document the possible configurations

context: "default"                      # Context defines the data collection collection identifier
                                        # If storage.method=="filesystem" then files are stored in a folder named this identifier
                                        # If storage.method=="database" then documents are stored in a collection named this identifier

storage:
  method: "filesystem"                  # Where to store the data (database or filesystem)
  location: "default"                   # If filesystem specify a storage location (default="${HOME}/.ros/topic_store/filesystem")
  config: "default"                     # If database specify the config file containing the IP and Port so URI can be inferred (default_db_path="${HOME}/.ros/topic_store/database")


data: {                                 # Key, Value pairs of StorageFieldName: DesiredData
  topics: {                             # Example of how to construct topic information in the documents
    rosout: "/rosout",
    rosout_agg: "/rosout_agg",
  },
  "int": 1,                             # Data doesn't have to be a ROS topic it can also be any YAML types
  "float": 1.0,
  "str": "1",
  "dict": {"0": 0},
  "list": [0, 0, 0, 0],
}

collection:                             # These parameters describe the data capture behaviour (when it occurs)
  method: "action_server"               # collection.method=="action_server" will capture when the action_server receives a request
                                        #   - Requires 'action_server_name' field for launching the action server
                                        # collection.method=="timer" will wait n seconds between captures
                                        #   - Requires 'timer_delay' field (number of seconds between captures)
                                        # collection.method=="event" will until the 'watch_topic' topic publishes a new message (useful for videoing)
                                        #   - Requires 'watch_topic' field (topic name to wait for an update on)

  action_server_name: "collect_data"    # Where to listen for action server requests when collection.method=="action_server"
  timer_delay: 3                        # The delay between data dumps when collection.method=="timer"
  watch_topic: "/rosout"                # Data is dumped when this topic publishes a message when collection.method=="watch_topic"