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
of the application.

-h
--help

Version

It shows the current version
of the DDS Replayer and the
hash of the last commit of
the compiled code.

-v
--version

Input File

Input MCAP file path.

-i
--input-file

Configuration File

Configuration file path.

-c
--config-path

./DDS_REPLAYER_CONFIGURATION.yaml

Reload Timer

The configuration file will be
automatically reloaded
according to the specified
time period.

-r
--reload-time

Unsigned Integer

0

Timeout

Set a maximum time while the
application will be running.
0 means that the application
will run forever (until kill
via signal).

-t
--timeout

Unsigned Integer

0

Debug

Enables the DDS Replayer
logs so the execution can be
followed by internal
debugging information.
Sets Log Verbosity
to info and
Log Filter
to DDSREPLAYER.

-d
--debug

Log Verbosity

Set the verbosity level so
only log messages with equal
or higher importance level
are shown.

--log-verbosity

info
warning
error

warning

Log Filter

Set a regex string as filter.

--log-filter

String

"DDSREPLAYER"