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Version: 3.5.0

Record & Replay

Overview​

SENSR-I supports recording feature that saves raw input streams of the sensors into a file. This file can be used to replay the recorded data at a later time.

Purpose​

This is useful for following purpose:

  • To check the data and perform parameter tuning in a separate space without physical sensor connections
  • To store the data for archiving
  • To provide the data as a reference to get technical support from Seoul Robotics

Saved location​

The recorded file will be saved in /opt/seoulrobotics/rosbags folder of each Algo node machine.

For example, if you record the data in the setup of Algo node A and B in Machine 1 and Algo node C in Machine 2, the recorded files will be saved as below:

  • Data of Algo node A and B under /opt/seoulrobotics/rosbags of Machine 1
  • Data of Algo node C under /opt/seoulrobotics/rosbags of Machine 2

How to Record​

SENSR allows to record data in the rosbag format. This feature can be supported only with live sensors. Rosbag Recording is disabled if you use recorded data to run SENSR-I. The feature is accessible in project mode or Runtime mode. If a first recording failed in Runtime mode, it is then recommended recording data in Project mode to reduce the computing power consumed by SENSR.

Steps to use this is as below:

  1. Click Record icon on the header or Recording > Rosbag Recording on the menu bar

  2. Set configuration of recording.

    • File name: The name will be used for distinguishing the recorded file. The folder with input name will be created under /opt/seoulrobotics/rosbags folder of each Algo node machine.
      • filename has the following restrictions:
        • Filename must not contain spaces.
        • Special characters cannot be used in filename. (except "_")
        • Filename must start with an alphabet.
    • Max Recording Time: This is an optional field. So if you want limit the maximum recording time, you can set the value by ticking the checkbox. Once SENSR has been recording for this amount of time, it automatically stops the recording and saves it. The recording can be manually stopped at any point before that, but this parameter is intended to limit the recording time in case there is limited space of storages or if the user wants to record the data of a specific amount of time. recording-setup

  3. Click Start Recording button to start recording. The recording window will show information about the recording and percentage of recorded time in comparison with Max Recording Time, if it's set.

  4. Press the Stop Recording button at any time will stop the recording and save to file. The recording system also keeps track of the available disk space and automatically turns off the recording if there is not enough space remaining.

    stop-recording

Replaying​

Replaying recorded data saved through Rosbag Recording is not supported as a separate function. When setting Algo node in Project Setup, replay is possible by loading .bag file. While replaying rosbags, you can focus on specific part if needed:

  1. In Runtime mode navigate to Settings > Advanced features > Customize Rosbag Playback,

  2. Click and drag the cursors on the left and right to define which portion of the rosbag to play,

  3. Click on Apply.

    replay

Note: If you want to reset the playing range, in Settings > Advanced features > Customize Rosbag Playback, select Reset.

Master Node Replay​

If a rosbag file has been saved using Advanced Recording or Anomaly Recording with the Master Node Record option enabled, you can use Master Node Replay. This feature allows you to recreate the same output that was present in Live Runtime mode.

How to use​
  1. Navigate Tool > Master Node Replay in Project Setup mode.
  2. Select the rosbag file which is saved using Advanced Recording or Anomaly Recording with the Master Node Record option enabled. The file will be located under /opt/seoulrobotics/recording/<recording-name>/master_data folder of the Master node machine.
  3. Click Start to begin the replay. This mode operates similarly to the Runtime mode, where you can retrieve output data.

Transfering the recorded data​

SENSR's recording features save the recorded data in the machine where each Algo node is running. To enable the user to easily transfer the recorded data, SENSR provides Transfer Recordings option.

But if there's any issue in transferring the recorded data, you can continue it in Settings > Advanced Features > Recording Transfer by clicking failed transfer item.

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