{"id":29456,"date":"2023-09-09T21:30:57","date_gmt":"2023-06-14T06:40:57","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/%e5%9c%a8ros%e8%ae%b2%e5%ba%a7108%e4%b8%ad%ef%bc%8c%e4%bd%bf%e7%94%a8ros%e5%92%8c%e6%95%b0%e6%8d%ae%e5%ba%93%ef%bc%88mongo%ef%bc%89%e8%bf%9b%e8%a1%8c%e6%95%b0%e6%8d%ae%e4%ba%a4%e4%ba%92%e3%80%82\/"},"modified":"2025-08-12T14:12:20","modified_gmt":"2025-08-12T06:12:20","slug":"%e5%9c%a8ros%e8%ae%b2%e5%ba%a7108%e4%b8%ad%ef%bc%8c%e4%bd%bf%e7%94%a8ros%e5%92%8c%e6%95%b0%e6%8d%ae%e5%ba%93%ef%bc%88mongo%ef%bc%89%e8%bf%9b%e8%a1%8c%e6%95%b0%e6%8d%ae%e4%ba%a4%e4%ba%92%e3%80%82","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/%e5%9c%a8ros%e8%ae%b2%e5%ba%a7108%e4%b8%ad%ef%bc%8c%e4%bd%bf%e7%94%a8ros%e5%92%8c%e6%95%b0%e6%8d%ae%e5%ba%93%ef%bc%88mongo%ef%bc%89%e8%bf%9b%e8%a1%8c%e6%95%b0%e6%8d%ae%e4%ba%a4%e4%ba%92%e3%80%82\/","title":{"rendered":"\u5728ROS\u8bb2\u5ea7108\u4e2d\uff0c\u4f7f\u7528ROS\u548c\u6570\u636e\u5e93\uff08mongo\uff09\u8fdb\u884c\u6570\u636e\u4ea4\u4e92"},"content":{"rendered":"<h1>\u73af\u5883<\/h1>\n<p>\u672c\u6587\u7ae0\u6b63\u5728\u4ee5\u4e0b\u73af\u5883\u4e2d\u8fd0\u884c\u3002<\/p>\n<div>\n<div class=\"post-table\">\u9805\u76ee\u5024CPUCore i5-8250UUbuntu16.04ROSKineticpython2.7.12mongodb2.6.10<\/div>\n<\/div>\n<p>\u6709\u5173\u5b89\u88c5\uff0c\u8bf7\u53c2\u9605ROS\u8bfe\u7a0b02 \u5b89\u88c5\u3002<br \/>\n\u6b64\u5916\uff0c\u672c\u6587\u7684\u7a0b\u5e8f\u5df2\u4e0a\u4f20\u5230github\u3002\u8bf7\u53c2\u8003ROS\u8bfe\u7a0b11 git\u5b58\u50a8\u5e93\u3002<\/p>\n<h1>\u603b\u7ed3<\/h1>\n<p>\u5728ROS\u4e2d\uff0c\u4fe1\u606f\u57fa\u672c\u4e0a\u4fdd\u5b58\u5728rosbag\u4e2d\u3002rosbag\u662f\u4e00\u79cd\u4f9b\u4eba\u7c7b\u56de\u987e\u8c03\u8bd5\u65e5\u5fd7\u7684\u5de5\u5177\uff0c\u800c\u5728\u8fd0\u884c\u65f6\u5982\u679c\u9700\u8981\u91cd\u7528\u6570\u636e\uff0c\u5219\u9700\u8981\u6bcf\u4e2a\u8282\u70b9\u81ea\u884c\u4fdd\u5b58\u6570\u636e\u6216\u8005\u901a\u8fc7\u6587\u4ef6\u7684\u8bfb\u5199\u6765\u5b9e\u73b0\u3002\u8fd9\u91cc\u51fa\u73b0\u7684\u6570\u636e\u5e93\u5c31\u662f\u6307\u80fd\u591f\u8fde\u63a5ROS\u7684mongodb\u6570\u636e\u5e93\u5305\u3002<\/p>\n<h2>MongoDB\u7684\u67b6\u6784\u914d\u7f6e<\/h2>\n<p>MongoDB\u91c7\u7528\u4e86\u6570\u636e\u5e93 -&gt; \u96c6\u5408 -&gt; \u6587\u6863\u7684\u7ed3\u6784\u3002<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">document\u306f\u5b9f\u969b\u306e\u30c7\u30fc\u30bf\u306e\u5b9f\u614b\u3067\u3001excel\u3067\u306e1\u884c\u306b\u5f53\u305f\u308a\u307e\u3059\u3002<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">collection\u306fdocument\u3092\u8907\u6570\u307e\u3068\u3081\u305f\u3082\u306e<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">batabase\u306fcollection\u3092\u8907\u6570\u307e\u3068\u3081\u305f\u3082\u306e<\/ul>\n<h1>\u5b89\u88c5<\/h1>\n<pre class=\"post-pre\"><code><span class=\"nb\">sudo <\/span>apt <span class=\"nb\">install <\/span>ros-kinetic-mongodb-store\r\n<\/code><\/pre>\n<h1>\u6211\u5011\u53ef\u4ee5\u5617\u8a66\u5728 MongoDB Store \u4e2d\u5beb\u5165\u8cc7\u6599\u3002<\/h1>\n<h2>\u6267\u884c\u6570\u636e\u5e93<\/h2>\n<p>\u5728\u542f\u52a8\u65f6\u51b3\u5b9a\u6570\u636e\u5e93\u6587\u4ef6\u653e\u7f6e\u7684\u76ee\u5f55\u3002\u521b\u5efa\u4e00\u4e2a\u7a7a\u76ee\u5f55\u3002\u5982\u679c\u6307\u5b9a\u4e0d\u5b58\u5728\u7684\u76ee\u5f55\uff0c\u5c06\u4f1a\u51fa\u73b0\u9519\u8bef\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nb\">mkdir<\/span> \/tmp\/test_db\r\nroslaunch mongodb_store mongodb_store.launch db_path:<span class=\"o\">=<\/span>\/tmp\/test_db port:<span class=\"o\">=<\/span>27017\r\n<\/code><\/pre>\n<h2>\u6267\u884c\u5199\u5165\u8282\u70b9<\/h2>\n<pre class=\"post-pre\"><code><span class=\"c1\">#!\/usr\/bin\/env python\r\n# -*- coding: utf-8 -*-\r\n<\/span>\r\n<span class=\"kn\">import<\/span> <span class=\"nn\">rospy<\/span>\r\n<span class=\"kn\">from<\/span> <span class=\"nn\">mongodb_store.message_store<\/span> <span class=\"kn\">import<\/span> <span class=\"n\">MessageStoreProxy<\/span>\r\n<span class=\"kn\">from<\/span> <span class=\"nn\">geometry_msgs.msg<\/span> <span class=\"kn\">import<\/span> <span class=\"n\">Pose<\/span><span class=\"p\">,<\/span> <span class=\"n\">Point<\/span><span class=\"p\">,<\/span> <span class=\"n\">Quaternion<\/span>\r\n\r\n<span class=\"k\">if<\/span> <span class=\"n\">__name__<\/span> <span class=\"o\">==<\/span> <span class=\"s\">'__main__'<\/span><span class=\"p\">:<\/span>\r\n    <span class=\"n\">rospy<\/span><span class=\"p\">.<\/span><span class=\"n\">init_node<\/span><span class=\"p\">(<\/span><span class=\"s\">\"mongo_pose_write\"<\/span><span class=\"p\">)<\/span>\r\n\r\n    <span class=\"n\">msg_store<\/span> <span class=\"o\">=<\/span> <span class=\"n\">MessageStoreProxy<\/span><span class=\"p\">(<\/span><span class=\"n\">database<\/span><span class=\"o\">=<\/span><span class=\"s\">\"srs\"<\/span><span class=\"p\">,<\/span> <span class=\"n\">collection<\/span><span class=\"o\">=<\/span><span class=\"s\">\"pose1\"<\/span><span class=\"p\">)<\/span>\r\n    <span class=\"n\">p<\/span> <span class=\"o\">=<\/span> <span class=\"n\">Pose<\/span><span class=\"p\">(<\/span><span class=\"n\">Point<\/span><span class=\"p\">(<\/span><span class=\"mi\">0<\/span><span class=\"p\">,<\/span> <span class=\"mi\">1<\/span><span class=\"p\">,<\/span> <span class=\"mi\">2<\/span><span class=\"p\">),<\/span> <span class=\"n\">Quaternion<\/span><span class=\"p\">(<\/span><span class=\"mi\">0<\/span><span class=\"p\">,<\/span> <span class=\"mi\">0<\/span><span class=\"p\">,<\/span> <span class=\"mi\">0<\/span><span class=\"p\">,<\/span> <span class=\"mi\">1<\/span><span class=\"p\">))<\/span>\r\n\r\n    <span class=\"k\">try<\/span><span class=\"p\">:<\/span>\r\n        <span class=\"n\">p_id<\/span> <span class=\"o\">=<\/span> <span class=\"n\">msg_store<\/span><span class=\"p\">.<\/span><span class=\"n\">insert_named<\/span><span class=\"p\">(<\/span><span class=\"s\">\"named_pose\"<\/span><span class=\"p\">,<\/span> <span class=\"n\">p<\/span><span class=\"p\">)<\/span>\r\n        <span class=\"n\">p_id<\/span> <span class=\"o\">=<\/span> <span class=\"n\">msg_store<\/span><span class=\"p\">.<\/span><span class=\"n\">insert<\/span><span class=\"p\">(<\/span><span class=\"n\">p<\/span><span class=\"p\">)<\/span>\r\n\r\n    <span class=\"k\">except<\/span> <span class=\"n\">rospy<\/span><span class=\"p\">.<\/span><span class=\"n\">ServiceException<\/span><span class=\"p\">,<\/span> <span class=\"n\">e<\/span><span class=\"p\">:<\/span>\r\n        <span class=\"k\">print<\/span> <span class=\"s\">\"Service call failed: %s\"<\/span><span class=\"o\">%<\/span><span class=\"n\">e<\/span>\r\n<\/code><\/pre>\n<p>MessageStoreProxy(database=&#8221;srs&#8221;, collection=&#8221;pose1&#8243;)\u3067\u66f8\u304d\u8fbc\u307f\u3092\u3059\u308b\u305f\u3081\u306e\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3092\u751f\u6210\u3057\u307e\u3059\u3002\u3053\u3053\u3067databas\u540d\u3068collection\u540d\u3092\u6307\u5b9a\u3057\u307e\u3059\u3002<\/p>\n<p>msg_store.insert_named(&#8220;named_pose&#8221;, p)\u3067\u30c7\u30fc\u30bf\u3092\u66f8\u304d\u8fbc\u307f\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>rosrun web_lecture mongo_pose_write.py\r\n<\/code><\/pre>\n<h2>\u6267\u884c\u8bfb\u53d6\u8282\u70b9<\/h2>\n<pre class=\"post-pre\"><code><span class=\"c1\">#!\/usr\/bin\/env python\r\n# -*- coding: utf-8 -*-\r\n<\/span>\r\n<span class=\"kn\">import<\/span> <span class=\"nn\">rospy<\/span>\r\n<span class=\"kn\">import<\/span> <span class=\"nn\">mongodb_store_msgs.srv<\/span> <span class=\"k\">as<\/span> <span class=\"n\">dc_srv<\/span>\r\n<span class=\"kn\">import<\/span> <span class=\"nn\">mongodb_store.util<\/span> <span class=\"k\">as<\/span> <span class=\"n\">dc_util<\/span>\r\n<span class=\"kn\">from<\/span> <span class=\"nn\">mongodb_store.message_store<\/span> <span class=\"kn\">import<\/span> <span class=\"n\">MessageStoreProxy<\/span>\r\n<span class=\"kn\">from<\/span> <span class=\"nn\">geometry_msgs.msg<\/span> <span class=\"kn\">import<\/span> <span class=\"n\">Pose<\/span><span class=\"p\">,<\/span> <span class=\"n\">Point<\/span><span class=\"p\">,<\/span> <span class=\"n\">Quaternion<\/span>\r\n<span class=\"kn\">import<\/span> <span class=\"nn\">StringIO<\/span>\r\n\r\n<span class=\"k\">if<\/span> <span class=\"n\">__name__<\/span> <span class=\"o\">==<\/span> <span class=\"s\">'__main__'<\/span><span class=\"p\">:<\/span>\r\n    <span class=\"n\">rospy<\/span><span class=\"p\">.<\/span><span class=\"n\">init_node<\/span><span class=\"p\">(<\/span><span class=\"s\">\"mongo_pose_write\"<\/span><span class=\"p\">)<\/span>\r\n\r\n    <span class=\"n\">msg_store<\/span> <span class=\"o\">=<\/span> <span class=\"n\">MessageStoreProxy<\/span><span class=\"p\">(<\/span><span class=\"n\">database<\/span><span class=\"o\">=<\/span><span class=\"s\">\"srs\"<\/span><span class=\"p\">,<\/span> <span class=\"n\">collection<\/span><span class=\"o\">=<\/span><span class=\"s\">\"pose1\"<\/span><span class=\"p\">)<\/span>\r\n\r\n    <span class=\"k\">try<\/span><span class=\"p\">:<\/span>\r\n        <span class=\"k\">for<\/span> <span class=\"n\">item<\/span> <span class=\"ow\">in<\/span> <span class=\"n\">msg_store<\/span><span class=\"p\">.<\/span><span class=\"n\">query<\/span><span class=\"p\">(<\/span><span class=\"n\">Pose<\/span><span class=\"p\">.<\/span><span class=\"n\">_type<\/span><span class=\"p\">):<\/span>\r\n            <span class=\"k\">print<\/span> <span class=\"n\">item<\/span><span class=\"p\">[<\/span><span class=\"mi\">0<\/span><span class=\"p\">].<\/span><span class=\"n\">position<\/span>\r\n\r\n    <span class=\"k\">except<\/span> <span class=\"n\">rospy<\/span><span class=\"p\">.<\/span><span class=\"n\">ServiceException<\/span><span class=\"p\">,<\/span> <span class=\"n\">e<\/span><span class=\"p\">:<\/span>\r\n        <span class=\"k\">print<\/span> <span class=\"s\">\"Service call failed: %s\"<\/span><span class=\"o\">%<\/span><span class=\"n\">e<\/span>\r\n<\/code><\/pre>\n<p>msg_store.query(Pose._type)\u3067\u30c7\u30fc\u30bf\u30d9\u30fc\u30b9\u306e\u4e2d\u304b\u3089pose\u578b\u306e\u30c7\u30fc\u30bf\u3092\u62bd\u51fa\u3057\u3066\u304d\u307e\u3059\u3002\u3082\u3068\u8a73\u3057\u304f\u30af\u30a8\u30ea\u3092\u5165\u308c\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<br \/>\n\u7d50\u679c\u306f\u30ea\u30b9\u30c8\u3067\u5e30\u3063\u3066\u304d\u307e\u3059\u3002\u8981\u7d20\u306e\u4e2d\u306e0\u756a\u76ee\u306fROS\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u578b\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u30021\u756a\u76ee\u306b\u306f\u30e1\u30bf\u60c5\u5831\u304c\u5165\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>rosrun web_lecture mongo_pose_read.py \r\n<\/code><\/pre>\n<pre class=\"post-pre\"><code>x: 0.0\r\ny: 1.0\r\nz: 2.0\r\nx: 0.0\r\ny: 1.0\r\nz: 2.0\r\n<\/code><\/pre>\n<h1>\u4f7f\u7528Mongo\u8bfb\u53d6\u6570\u636e\u3002<\/h1>\n<p>\u53ef\u4ee5\u76f4\u63a5\u8bfb\u53d6\u6570\u636e\u5e93\uff0c\u800c\u4e0d\u662f\u901a\u8fc7ROS\u63a5\u53e3\u3002<\/p>\n<p>\u542f\u52a8mongo\u548c\u547d\u4ee4\uff0c\u60a8\u5c06\u8fde\u63a5\u5230mongo\u7684\u63a7\u5236\u53f0\u3002<\/p>\n<p>show dbs\u3067database\u306e\u4e00\u89a7\u3092\u898b\u308c\u307e\u3059\u3002<\/p>\n<p>use {database\u540d}\u3067\u305d\u306edatabase\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n<p>show collections\u3067collection\u306e\u4e00\u89a7\u3092\u898b\u308c\u307e\u3059\u3002<\/p>\n<p>db.{collection\u540d}.find()\u3067\u305d\u306ecollection\u306e\u4e2d\u306e\u30c7\u30fc\u30bf\u306e\u5168\u4f53\u3092\u898b\u308c\u307e\u3059\u3002<\/p>\n<h1>\u7559\u8a00<\/h1>\n<p>\u7531\u4e8eMongoDB\u5df2\u7ecf\u5728\u540e\u53f0\u8fd0\u884c\u5e76\u5360\u7528\u4e86\u7aef\u53e327017\uff0c\u6240\u4ee5\u5373\u4f7f\u8fdb\u884croslaunch\u4e5f\u4f1a\u51fa\u73b0\u9519\u8bef\u3002<br \/>\n\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528systemctl status mongodb.service\u6765\u68c0\u67e5\u670d\u52a1\u662f\u5426\u5df2\u7ecf\u542f\u52a8\u3002\u5982\u679c\u670d\u52a1\u5df2\u7ecf\u542f\u52a8\uff0c\u53ef\u4ee5\u4f7f\u7528sudo systemctl disable mongodb.service &amp;&amp; sudo systemctl stop mongodb.service\u6765\u505c\u6b62\u670d\u52a1\u3002<\/p>\n<h1>\u8bf7\u63d0\u4f9b\u66f4\u591a\u7684\u4e0a\u4e0b\u6587\u4fe1\u606f\u3002<\/h1>\n<p>MongoDB\u5b58\u50a8<\/p>\n<h1>\u94fe\u63a5\u5230\u76ee\u5f55\u9875<\/h1>\n<p>\u5173\u4e8eROS\u8bb2\u5ea7\u7684\u76ee\u5f55\u94fe\u63a5<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u73af\u5883 \u672c\u6587\u7ae0\u6b63\u5728\u4ee5\u4e0b\u73af\u5883\u4e2d\u8fd0\u884c\u3002 \u9805\u76ee\u5024CPUCore i5-8250UUbuntu16.04ROSKinet [&hellip;]<\/p>\n","protected":false},"author":8,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[227],"class_list":["post-29456","post","type-post","status-publish","format-standard","hentry","category-uncategorized","tag-227"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 (Yoast SEO v21.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ 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