# 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:

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

## 2. Build ROS Workspace (inside Vulcanexus)

```bash
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:

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

In container:

```bash
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

```bash
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

```bash
ros2 topic echo /robin/telemetry
```

### Orion side

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

### Alert Engine side

```bash
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:

```bash
./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.