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.

2.3. 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`
Domain	Set the domain to replay on	`--domain`	Unsigned Integer [0-232]	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"`

2.3.1. MCAP to SQL conversion¶

MCAP-to-SQL conversion is provided by the standalone mcap-convert tool instead of the ddsreplayer command-line interface.

Example:

mcap-convert -i /path/to/recorded_file.mcap --sql-output /path/to/recorded_file.db