-<<PackageHeader(cedri_node_monitoring)>>
<<TOC(4)>>

= node_monitoring =

This ROS package is intended to collect data from topics, transform, store, manage and send them to a MongoDB server. Being designed to maintain the collection even in connection drops with the server.



== Install ==

To install this ROS package:
{{{#!highlight bash
cd ~/catkin_ws/src
git clone https://github.com/alf767443/node_monitoring.git
sudo chmod +x src/bufferManager.py src/listenNode.py src/queueActions.py
cd ..
catkin_make
}}}

Installation of '''ros_monitoring''' is recommended. Check the link:

[[https://github.com/alf767443/ros_monitoring.git|ros_monitoring]]

== Mapped robots ==

There are some robots with some of their nodes already mapped. This way you can substitute the line

{{{#!highlight bash
~/catkin_ws/src$ git clone https://github.com/alf767443/node_monitoring.git
}}}

as described in the subtopics below:

=== Magni Silver robotic platform of CeDRI ===

It is a brach created for the AMR developed by the Research Centre in Digitalization and Intelligent Robotics (''CeDRI''), based on the Magni Silver robotics platform from Ubiquity Robotics.
{{{#!highlight bash
git clone -b MagniSilver_CeDRI  https://github.com/alf767443/node_monitoring.git
}}}

==== Configuration ====
{{{#!highlight python
ROBOT_NAME =  'bigCedDRI'
DATALAKE   =  'CeDRI_Magni'
}}}

==== Topics ====
 * /amcl_pose
 * /battery_state
 * /connectionStatus
 * /motor_state
 * /nodesStatus
 * /odom
 * /scan
 * /sonars


=== TelloEdu of CeDRI ===

This branch was created for the DJI TelloEdu drone, which uses *tello_drive*.

{{{#!highlight bash
git clone -b TelloEdu  https://github.com/alf767443/node_monitoring.git
}}}
	
==== Configuration ====
{{{#!highlight python
ROBOT_NAME =  'Tello_01'
DATALAKE   =  'CeDRI_TelloEdu'
}}}

==== Topics ====
 * /connectionStatus
 * /nodesStatus
 * /tello/imu
 * /tello/image_raw/camera_info
 * /tello/image_raw/h264
 * /tello/odom
 * /tello/status


== Topics (topics.py) ==

This file is a configuration file in which are described the topics that will be subscribed ('''topic'''), the message type ('''msg'''), the waiting time between captures ('''sleep'''), data manipulation function ('''callback'''), storage information ('''dataSource, dataBase, collection''').

=== Structure ===

{{{#!highlight python
{
'topic'   : --The topic name,
'msg'     : --The type of message
'sleep'   : --Sample time [optional, 1]
'callback': --Callback function [optional, None]
'dataPath': {
	'dataSource': --Name of data source in MongoDB [optional, config.DATASOURCE]
	'dataBase'  : --Name of data base in MongoDB [optional, config.DATALAKE]
	'collection': --Name of collection in MongoDB [optional, topic name]
	}
}
}}}

== Configurations (config.py) ==

This file contains the settings of values robot name ('''ROBOT_NAME'''), database ('''DATALAKE'''), MongoDB server address ('''CLIENT''') and buffer path ('''PATH''').

=== Structure ===
{{{#!highlight bash
PATH        = os.path.expanduser('~')+'/tempData/'
ROBOT_NAME  = 'New Robot'
DATALAKE    = "CeDRI_New_Robot"
CLIENT      = pymongo.MongoClient('mongodb://192.168.217.183:27017/')
}}}
== More information ==

This package was developed as part of the thesis for Master in Industrial Engineering with specialization in Electrical Engineering at Polytechnic Institute of Bragança (''IPB''), the work was developed at the Research Centre in Digitalization and Intelligent Robotics (''CeDRI'').
The project consists of three repositories with the links below:
	
[[https://github.com/alf767443/node_monitoring|node_monitoring]]

[[https://github.com/alf767443/ros_monitoring|ros_monitoring]]

[[https://github.com/alf767443/UGV-dashboard|Dashboard front-end]]

[[https://github.com/alf767443/UGV-backend|Dashboard back-end]]