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Overview

This repository provides LevelDB storage plugin for rosbag2.

How to Build

Precondition: Please setup ROS2 environment by source command.

$ mkdir -p leveldb_ws/src && cd leveldb
$ git -C src clone https://github.com/Barry-Xu-2018/rosbag2_storage_leveldb_plugin.git
$ colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF

How to use

e.g.

$ source /PATH/TO/leveldb_ws/install/setup.bash
$ ros2 bag record -s leveldb -o /tmp/leveldb_bag /topic1
$ ros2 bag info -s leveldb /tmp/leveldb_bag
$ ros2 bag play -s leveldb /tmp/leveldb_bag

Notice

  1. Not suggest to use '-d' (maximum size in bytes before the bagfile will be split) while execute recording command.

    leveldb automatically split database files. This has avoid the big size for bagfile.

  2. Not support -compression-mode file while executing recording command.

    This parameter is only supported while database is a file such as sqlite3. But for leveldb, database is a directory.

  3. The format of Yaml configuration file for --storage-config-file STORAGE_CONFIG_FILE

    e.g. open_options: write_buffer_size: 4194304 max_open_files: 1000 block_size: 4096 max_file_size: 2097152

    These parameters are used to open options while opening leveldb.

    Parameter name Description
    write_buffer_size Amount of data to build up in memory (backed by an unsorted log on disk) before converting to a sorted on-disk file.
    max_open_files Number of open files that can be used by the DB.
    block_size Approximate size of user data packed per block.
    max_file_size Leveldb will write up to this amount of bytes to a file before switching to a new one.

    According to your requirement, you can set one or more above. 0 means use default value.

    Above parameters are corresponding to open option of leveldb. For the detail, please refer to leveldb/options.h