The Common Lisp systems in this repository can be used to build a command line program that provides several tools for recording, replaying and manipulating events interchanged in distributed systems using the Robotics Service Bus middleware.
The full documentation for RSBag can be found at https://docs.cor-lab.de/manual/rsbag-trunk/index.html.
At the moment, the code is not portable and can only be used with the SBCL implementation of Common Lisp.
Dependencies not available via Quicklisp are:
- rsb
- network.spread for using the Spread transport
- cl-protobuf
- rsb-tools
- rsbag
There is a CMake-based legacy build system, but it will be removed.
After building the binary, it can be invoked with a sub-command to select the function to perform:
rsbag 2>&1Invoke this program as
rsbag redump [FILENAME (compress|static)*]
or rsbag record
or rsbag info
or rsbag merge
or rsbag transform
or rsbag cat
or rsbag play
or rsbag introspect
(not rsbag).
For more information, see the full documentation mentioned above.
If you want to contribute to this project, please
- submit your intended changes as coherent pull requests.
- rebase onto the master branch and squash any fixups and corrections.
- make sure the unit tests pass.
The development of this software has been supported as follows:
- The development of this software was supported by CoR-Lab, Research Institute for Cognition and Robotics Bielefeld University.
- This work was supported by the Cluster of Excellence Cognitive Interaction Technology ‘CITEC’ (EXC 277) at Bielefeld University, which is funded by the German Research Foundation (DFG).