sas_datalogger

Tip

Repository for this module: https://github.com/SmartArmStack/sas_datalogger
More information about SmartArmStack is available at https://smartarmstack.github.io/.

Quick start

mkdir -p ~/sas_datalogger/docker/sas_datalogger_example
cd ~/sas_datalogger/docker/sas_datalogger_example
curl -OL curl -OL https://raw.githubusercontent.com/SmartArmStack/sas_datalogger/refs/heads/jazzy/docker/sas_datalogger_example/compose.yml

docker compose up

Important

To stop, press Ctrl + C. Do not forget to remove the containers:

docker compose down -v

The saved .mat file will be located at ~/sas_datalogger/docker/sas_datalogger_example/logs.

ROS 2 Nodes and Launch Files

This package provides a datalogger server and suitable client APIs in C++ and Python.

sas_datalogger_node

The main datalogger node subscribes to /sas_datalogger/log and stores received values in memory. When the node is shut down it saves the collected data to a MATLAB-compatible .mat file (via scipy.io.savemat).

Recommended use is through the launch file. The server must be launched separately.

ros2 launch sas_datalogger sas_datalogger_launch.py

sas_datalogger_gui_node

A Qt-based GUI that reads the datalogger's internal dictionary and creates execution-time plots for numeric values.

Recommended use is through the launch file. The server must be launched separately.

ros2 launch sas_datalogger sas_datalogger_gui_launch.py

Example client scripts

The package includes simple example clients that publish matrices, vectors, scalars and strings to the datalogger topic.

• scripts/sas_datalogger_client_example_py.py — Python example client.
• src/examples/sas_datalogger_client_example.cpp (binary: sas_datalogger_client_example) — C++ example client.
• scripts/sas_datalogger_client_example_result_check.py — opens and inspects the generated .mat file using scipy.io.loadmat.

Recommended use is through the launch file. The server must be launched separately.

ros2 launch sas_datalogger sas_datalogger_client_python_example_launch.py

Recommended use is through the launch file. The server must be launched separately.

ros2 launch sas_datalogger sas_datalogger_client_cpp_example_launch.py