ros2-exporter-agent

The ROS 2 data exporter is recording ROS 2 data and exporting them on a server for later consultation.

Requirement

• snapd >= 2.60.4+git1367.g558a947

Synchronization setup

In order for the synchronization to function, a server must be setup.

Client setup

• Generate an ssh key to access the server
• Place the ssh key as well as the config file in /root/snap/ros2-exporter-agent/common/.ssh (the syncronization daemon will be running as root)

The /root/snap/ros2-exporter-agent/common/.ssh content should look like:

drwx------  2 root root 4.0K sept. 29 16:32 .
drwx------ 14 root root 4.0K sept. 29 16:32 ..
-rw-------  1 root root   85 sept. 29 16:32 config
-rw-r--r--  1 root root  444 sept. 21 14:48 known_hosts
-r--------  1 root root 1.7K sept. 29 16:29 <my_private_key>

The config file should look like:

Host storage-server
    User <server_user>
    HostName <server_hostname>
    IdentityFile /root/snap/ros2-exporter-agent/common/.ssh/<my_private_key>
    UserKnownHostsFile /root/snap/ros2-exporter-agent/common/.ssh/known_hosts

If the known_hosts is not created, we can create it with:

sudo ssh-keyscan -H <server_hostanme> >> /root/snap/ros2-exporter-agent/common/.ssh/known_hosts

• The daemon daily-rotation will move the bags to a new timestamped directory at midnight. Make sure to have properly configured the time on the machine. This can be verified with timedatectl status.

Server setup

• Install Ubuntu
• Install openssh-server
• Copy the public key of the client in the ~/.ssh/authorized_keys

Snap parameters

• topic-regex, topic regex to record for the bag recording, override the default "all" behaviour | unset by default
• topic-exclude, topic regex to exclude for the bag recording, works on top of "all" and topic-regex. | unset by default
• storage-base-path, path on the server to store the synchronized data | default to: "~/$HOSTNAME"
• max-bag-duration, maximum bag duration in seconds before the bag file is split | default to: 300
• max-bag-size, maximum bag size in bytes before the bag file is split | default to: 250000000