2. Usage¶
eProsima DDS Replayer is a user application executed from command line.
2.1. Starting Replay Application¶
2.1.1. Docker Image¶
Warning
Currently, DDS Record & Replay Docker image only contains DDS Recorder tool, DDS Replay tool application will be added soon.
The recommended method to run the DDS Replayer is to instantiate a Docker container of the DDS Record & Replay image. Here are the instructions to download the compressed DDS Record & Replay Docker image and load it locally.
To run the DDS Replayer from a Docker container execute the following command:
docker run -it \
--net=host \
--ipc=host \
-v /<dds_replayer_ws>/DDS_REPLAYER_CONFIGURATION.yaml:/root/DDS_REPLAYER_CONFIGURATION.yaml \
ubuntu-ddsrecorder:v<X.X.X> ddsreplayer
2.1.2. Installation from sources¶
eProsima DDS Record & Replay depends on fastdds
, fastcdr
and ddspipe
libraries.
In order to correctly execute the replayer, make sure that fastdds
, fastcdr
and ddspipe
are properly sourced.
source <path-to-fastdds-installation>/install/setup.bash
source <path-to-ddspipe-installation>/install/setup.bash
source <path-to-ddsrecordreplay-installation>/install/setup.bash
Note
If Fast DDS, DDS Pipe and DDS Record & Replay have been installed in the system, these libraries would be sourced by default.
To start eProsima DDS Replayer with a default configuration, enter:
ddsreplayer -i input_file.mcap
2.2. Closing Replay Application¶
2.2.1. SIGINT¶
To close eProsima DDS Replayer, press Ctrl+C
. DDS Replayer will perform a clean shutdown.
2.2.2. SIGTERM¶
Write command kill <pid>
in a different terminal, where <pid>
is the id of the process running the DDS Replayer.
Use ps
or top
programs to check the process ids.
2.2.3. TIMEOUT¶
Setting a maximum amount of seconds that the application will work using argument --timeout
will close the application once the time has expired.
2.3. Replay Service Command-Line Parameters¶
The DDS Replayer application supports several input arguments:
Command |
Description |
Option |
Possible Values |
Default Value |
---|---|---|---|---|
Help |
It shows the usage information |
|
||
Version |
It shows the current version |
|
||
Input File |
Input MCAP file path. |
|
||
Configuration File |
Configuration file path. |
|
|
|
Reload Timer |
The configuration file will be |
|
Unsigned Integer |
|
Timeout |
Set a maximum time while the |
|
Unsigned Integer |
|
Debug |
Enables the DDS Replayer |
|
||
Log Verbosity |
Set the verbosity level so |
|
|
|
Log Filter |
Set a regex string as filter. |
|
String |
|