ROS Bag Playback Cookbook (DDS Path)¶

This guide explains how to replay ROS bags into ROBIN using the current DDS telemetry path.

1. Start Required Containers¶

From repository root:

docker compose up -d mongo-db timescaledb orion-ld mintaka alert-processor robin-dashboard vulcanexus

2. Build ROS Workspace (inside Vulcanexus)¶

docker exec -it vulcanexus-bridge bash
source /opt/vulcanexus/jazzy/setup.bash
cd /workspace/ros2_packages
colcon build --symlink-install \
  --packages-select robin_interfaces robin_telemetry robin_description
source ws_setup.sh
export ROS_DOMAIN_ID=0

3. Start Telemetry Aggregator¶

Before replay, create the ros_bridge process entity once so Mintaka can resolve temporal rows by entity id:

curl -X POST http://localhost:8001/create-process \
  -H 'Content-Type: application/json' \
  -d '{"process_id":"ros_bridge","mode":"parameter_driven"}'

In container:

source ws_setup.sh
export ROS_DOMAIN_ID=0
ros2 run robin_telemetry telemetry_aggregator --ros-args \
  -p geometry_topic:=/robin/weld_dimensions \
  -p fronius_topic:=/robin/data/fronius \
  -p output_topic:=/robin/telemetry

This publishes combined data on /robin/telemetry. The defaults expect the current WelderData + BeadGeometry bag formats (e.g. correct_process_params). For the legacy exp001_rosbag_real bag, add -p fronius_type:=FroniusSample -p geometry_type:=Float32MultiArray and mount that local bag into the Vulcanexus container yourself; it is not one of the committed public samples.

4. Replay the Bag¶

source ws_setup.sh
export ROS_DOMAIN_ID=0
ros2 bag play /workspace/ros2_packages/correct_process_params --loop \
  --topics /robin/data/fronius /robin/weld_dimensions

5. Verify End-to-End Flow¶

ROS side¶

ros2 topic echo /robin/telemetry

Orion side¶

curl -H "NGSILD-Tenant: robin" \
  "http://localhost:1026/ngsi-ld/v1/entities/urn:ngsi-ld:Process:ros_bridge"

Alert Engine side¶

curl "http://localhost:8001/process/ros_bridge/measurements?last=5"

React dashboard¶

Open http://localhost:5174 and select process ros_bridge. The React UI polls GET /process/ros_bridge/measurements and will refresh as the bag replays.

6. One-Command Demo¶

Use:

./demo/simulation-demo-rosbag-wfs-alc-ts.sh

This script orchestrates setup and replay using the same DDS-first approach.

Notes¶

The legacy HTTP NGSI bridge flow is deprecated in this repository baseline.
The bag topic names can still reflect domain-specific capture sessions (for example /robin/weld_dimensions), while core storage remains process-agnostic.