Logger and Playback
Logging module which dumps serverl carmen messages to a log file. This file typically contains the following messages
RAWLASER messages, which correspond to the raw laser information obtained by the laser driver
ODOM messages, which correspond to the odometry information provided by the base
ROBOTLASER messages, which is the merges message of odometry and laser data.
TRUEPOS message, which provides ground truth information (in case the simulator is used).
NMEAGGA message, which provides the position estimate of the gps
NMEARMC message, which provides the ground speed information of the gps
PARAM message, contain the paramters of the ini file as well as updated parameters
SYNC message
Logger is also able to directly write gzipped file. Simply give provide an .gz extention to the logger and it will gzip the log file.
Usage: ./logger <output log file>
Example: ./logger mylog.clf or ./logger mylog.clf.gz
Tool to playback (in realtime, faster, or slower) a recorded log file. All messages are send as IPC messages to the other modules. Therefore, it is totally transparent if a logfile is replayed or a real robot is sending the data.
Usage: ./playback <carmen logfile>
Playback_control is simple user interface used to control playback. It can be used to start, stop, pause, rewind, move forward inte logfile. Furthermore, it allows the user to play a logfile faster or more slowly than in reality.
Usage: ./playback_control
Generated on Wed Apr 5 18:34:20 2006 for CARMEN by
1.4.4