warehouse_ros_sqlite repository

Repository Summary

Checkout URI https://github.com/ros-planning/warehouse_ros_sqlite.git
VCS Type git
VCS Version ros2
Last Updated 2022-05-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
warehouse_ros_sqlite 1.0.3

README

Build status codecov

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.

--- 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",
-    )
-
     return LaunchDescription(
         [
             rviz_node,
@@ -191,7 +186,6 @@
             robot_state_publisher,
             run_move_group_node,
             ros2_control_node,
-            mongodb_server_node,
         ]
         + load_controllers
     )

CONTRIBUTING

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.


Repository Summary

Checkout URI https://github.com/ros-planning/warehouse_ros_sqlite.git
VCS Type git
VCS Version ros2
Last Updated 2022-05-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
warehouse_ros_sqlite 1.0.3

README

Build status codecov

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.

--- 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",
-    )
-
     return LaunchDescription(
         [
             rviz_node,
@@ -191,7 +186,6 @@
             robot_state_publisher,
             run_move_group_node,
             ros2_control_node,
-            mongodb_server_node,
         ]
         + load_controllers
     )

CONTRIBUTING

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.


Repository Summary

Checkout URI https://github.com/ros-planning/warehouse_ros_sqlite.git
VCS Type git
VCS Version ros2
Last Updated 2022-05-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
warehouse_ros_sqlite 1.0.3

README

Build status codecov

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.

--- 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",
-    )
-
     return LaunchDescription(
         [
             rviz_node,
@@ -191,7 +186,6 @@
             robot_state_publisher,
             run_move_group_node,
             ros2_control_node,
-            mongodb_server_node,
         ]
         + load_controllers
     )

CONTRIBUTING

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.


Repository Summary

Checkout URI https://github.com/ros-planning/warehouse_ros_sqlite.git
VCS Type git
VCS Version ros2
Last Updated 2022-05-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
warehouse_ros_sqlite 1.0.3

README

Build status codecov

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.

--- 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",
-    )
-
     return LaunchDescription(
         [
             rviz_node,
@@ -191,7 +186,6 @@
             robot_state_publisher,
             run_move_group_node,
             ros2_control_node,
-            mongodb_server_node,
         ]
         + load_controllers
     )

CONTRIBUTING

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.


Repository Summary

Checkout URI https://github.com/ros-planning/warehouse_ros_sqlite.git
VCS Type git
VCS Version master
Last Updated 2022-05-09
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
warehouse_ros_sqlite 0.9.0

README

Build and Test codecov

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.

Installation

Create a folder which will become your catkin workspace. Create a file named warehouse.rosinstall with the following content:

- git:
    local-name: warehouse_ros
    uri: https://github.com/ros-planning/warehouse_ros.git
    version: kinetic-devel
- git:
    local-name: warehouse_ros_sqlite
    uri: https://github.com/ros-planning/warehouse_ros_sqlite.git
    version: master

Now open a terminal and navigate to this folder. Make sure to have wstool and catkin_tools installed. Initialize your workspace and fetch the source files with wstool:

$ rosdep update
$ wstool init src
$ wstool merge -t src warehouse.rosinstall
$ wstool update -t src

Install the missing dependencies:

$ rosdep install -y --from-paths src --ignore-src

Build your workspace with catkin:

$ catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release
...
$ catkin build

After that, activate your workspace:

$ source install/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. Remember to set db:=True on your roslaunch command. If you're using RViz, you'll have to enter the path to your database file into the Host field and click on connect.

warehouse.launch

  <!-- Run the DB server -->
-  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
-    <param name="overwrite" value="false"/>
-    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
-  </node>

warehouse_settings.launch.xml

   <!-- The default DB host for moveit -->
-  <arg name="moveit_warehouse_host" default="localhost" />
+  <arg name="moveit_warehouse_host" default="/path/to/your/file.sqlite" />

   <!-- Set parameters for the warehouse -->
   <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
   <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
-  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+  <param name="warehouse_plugin" value="warehouse_ros_sqlite::DatabaseConnection" />

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-planning/warehouse_ros_sqlite.git
VCS Type git
VCS Version master
Last Updated 2022-05-09
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
warehouse_ros_sqlite 0.9.0

README

Build and Test codecov

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.

Installation

Create a folder which will become your catkin workspace. Create a file named warehouse.rosinstall with the following content:

- git:
    local-name: warehouse_ros
    uri: https://github.com/ros-planning/warehouse_ros.git
    version: kinetic-devel
- git:
    local-name: warehouse_ros_sqlite
    uri: https://github.com/ros-planning/warehouse_ros_sqlite.git
    version: master

Now open a terminal and navigate to this folder. Make sure to have wstool and catkin_tools installed. Initialize your workspace and fetch the source files with wstool:

$ rosdep update
$ wstool init src
$ wstool merge -t src warehouse.rosinstall
$ wstool update -t src

Install the missing dependencies:

$ rosdep install -y --from-paths src --ignore-src

Build your workspace with catkin:

$ catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release
...
$ catkin build

After that, activate your workspace:

$ source install/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. Remember to set db:=True on your roslaunch command. If you're using RViz, you'll have to enter the path to your database file into the Host field and click on connect.

warehouse.launch

  <!-- Run the DB server -->
-  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
-    <param name="overwrite" value="false"/>
-    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
-  </node>

warehouse_settings.launch.xml

   <!-- The default DB host for moveit -->
-  <arg name="moveit_warehouse_host" default="localhost" />
+  <arg name="moveit_warehouse_host" default="/path/to/your/file.sqlite" />

   <!-- Set parameters for the warehouse -->
   <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
   <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
-  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+  <param name="warehouse_plugin" value="warehouse_ros_sqlite::DatabaseConnection" />

CONTRIBUTING

No CONTRIBUTING.md found.