[r7890]: papers / player-manual / drivers / writelog.tex Maximize Restore History

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\subsection*{Synopsis}
The {\tt writelog} driver can be used to store data from other devices
within the Player server. The log files generated in this way can be
``replayed'' using the {\tt readlog} driver. See the below for some
usage examples of the {\tt writelog} driver.
\subsection*{Interfaces}
The {\tt writelog} driver currently supports the {\tt null} interface,
meaning that it generates no data, and accepts no commands or
configuration requests.
Currently, the {\tt writelog} driver is capable of storing data from
the following interfaces: {\tt laser}, {\tt position}, {\tt wifi}.
\subsection*{Configuration file options}
\begin{center}
{\small \begin{tabularx}{\columnwidth}{|l|l|c|X|}
\hline
Name & Type & Default & Meaning\\
\hline
{\tt filename} & string & {\tt writelog.log} & Output log file name \\
{\tt devices} & list & none & A list of strings specifiying the
devices whose data should be stored. Each device is specified as {\tt
``device:index''}. \\
\hline
\end{tabularx}}
\end{center}
%\subsection*{Notes}
\subsection*{Example: Storing Odometry and Laser Data}
The following configuration file will odometry from a Pioneer
and laser data from a SickLMS200 to a log file.
\begin{verbatim}
position:0 (driver "p2os_position")
laser:0 (driver "sicklms200")
null:0
(
driver "writelog"
filename "foo.log"
devices ["position:0" "laser:0"]
alwayson 1
)
\end{verbatim}
Note that the {\tt alwayson} flag will cause the driver to start
logging data as soon as Player is started, and will continue logging
data until Player is stopped.
Look in Section \ref{sect:readlog_driver} for an example that shows
how to replay this data using the {\tt readlog} driver.