SQLite backend for warehouse_ros

This is a storage backend for warehouse_ros using SQLite. The name of the sqlite file will be taken from the ROS parameter warehouse_host. The warehouse_port will be ignored. Note that the MD5 sums of the messages have changed from ROS1 to ROS2, so your ROS1 sqlite database won’t work with ROS2.

Installation

Make sure that you have installed ROS2 and activated it (e.g. with source /opt/ros/foxy/setup.bash). Create a folder which will become your workspace. Create a file named warehouse.repos with the following content:

repositories:
  warehouse_ros_sqlite:
    type: git
    url: https://github.com/ros-planning/warehouse_ros_sqlite
    version: ros2

Now open a terminal and navigate to this folder. Initialize your workspace and fetch the source files with vcs and rosdep:

$ vcs import src < warehouse.repos
$ rosdep update
$ rosdep install --from-paths src --ignore-src

Build your workspace with colcon:

$ colcon build

After that, activate your workspace:

$ source install/local_setup.bash

The plugin is now installed, please refer to the warehouse_ros documentation for the usage of the interface or have a look into the test files in test/.

Adapt the .launch files

You can use this plugin together with the whole MoveIt stack, but you may need to adapt the .launch files. Make sure that this plugin is loaded instead of warehouse_ros_mongo. If you’re using RViz, you’ll have to enter the path to your database file into the Host field and click on connect.

run_move_group.launch.py

The demo launch file needs a bit attention, too.

```diff — install/run_move_group/share/run_move_group/launch/run_move_group.launch.py 2021-06-20 15:24:38.000000000 +0000 +++ install/run_move_group/share/run_move_group/launch/run_move_group_sqlite.launch.py 2021-06-20 20:46:42.061550552 +0000 @@ -89,6 +89,11 @@ “publish_transforms_updates”: True, }

• warehouse_ros_config = {
• “warehouse_plugin”: “warehouse_ros_sqlite::DatabaseConnection”,
• “warehouse_host”: “/path/to/my/warehouse_db.sqlite”,
• } +

  Start the actual move_group node/action server

  run_move_group_node = Node( package=”moveit_ros_move_group”, @@ -102,6 +107,7 @@ trajectory_execution, moveit_controllers, planning_scene_monitor_parameters,

• warehouse_ros_config, ], )

@@ -120,6 +126,7 @@ robot_description_semantic, ompl_planning_pipeline_config, kinematics_yaml,

• warehouse_ros_config, ], )

@@ -172,18 +179,6 @@ ) ]

• Warehouse mongodb server

• mongodb_server_node = Node(
• package=”warehouse_ros_mongo”,
• executable=”mongo_wrapper_ros.py”,
• parameters=[
• {“warehouse_port”: 33829},
• {“warehouse_host”: “localhost”},
• {“warehouse_plugin”: “warehouse_ros_mongo::MongoDatabaseConnection”},
• ],
• output=”screen”,

• )

File truncated at 100 lines see the full file

Changelog for package warehouse_ros_sqlite

1.0.9 (2026-08-03)

• Use Boost targets in warehouse_ros_sqlite (#62) Link the explicit Boost targets — headers for the library, filesystem and thread for the tests — instead of the aggregate ${Boost_LIBRARIES}.
• ci: unblock and broaden the ros2 matrix for Rolling/Resolute (#63) Set fail-fast: false, move the rolling job to ROS_REPO: testing on Ubuntu Resolute, and add jazzy, kilted and lyrical coverage. Drops the two iron jobs; iron is EOL and this package is not released to it. The previous matrix cancelled every job whenever the rolling one failed, so #62 reached this release having never been validated by CI.
• Contributors: Nathan Brooks, Tobias Fischer

1.0.8 (2026-06-23)

• Remove 'system' component from Boost package (#61) According to https://www.boost.org/releases/1.89.0, the system library is header-only since Boost 1.69 and the corresponding cmake component has been dropped in 1.89.
• CI: Update GHA versions (#60)
• Contributors: Felix Exner (fexner), mosfet80

1.0.7 (2026-04-20)

• Remove sqlite3_vendor from package.xml
• Contributors: Robert Haschke

1.0.6 (2026-02-16)

• Remove deprecated sqlite3_vendor (#57)
• Replace deprecated ament_target_dependencies (#55)
• Contributors: Robert Haschke, mosfet80

1.0.5 (2024-09-02)

• Fix package dependencies (#51)
• Silent gcc warning
• Contributors: Robert Haschke

1.0.4 (2024-08-06)

• Fix column name escaping (#44)
• Update CI (#41)
• Contributors: Bjar Ne, Henning Kayser, Tyler Weaver, Vatan Aksoy Tezer

1.0.3 (2022-05-17)

• Add humble testing CI (#37)
• add missing stdlib include
• disable header include order check
• don't build warehouse_ros from source
• Contributors: Bjar Ne, Vatan Aksoy Tezer

1.0.2 (2021-10-12)

• Update CMakeLists.txt
• Adapt github URLs in README
• Fix whitespaces in codecov script
• Enable pre-commit in CI
• Enable prerelease tests
• Add pre-commit config
• Switch to upstream warehouse_ros
• Contributors: Bjar Ne, Nisala Kalupahana

1.0.1 (2021-06-21)

• ROS 2 Port
• Remove duplicate header guard
• Silence CMake warning
• Delete LICENSE.txt
• Add ROS2 launch config to README
• partially update readme
• Enable codecov
• Switch to github workflow
• Switch to sqlite3_vendor
• Contributors: Bjar Ne

1.0.0 (2020-11-14)

• version bump
• add busy handler for concurrent writes to db
• Test warehouse plugin loading
• fix clang-format
• Export interfaces (dllexport/visibility=hidden)
• fix clang-tidy

File truncated at 100 lines see the full file