This is the simplest method to export information from MORSE. The data gathered by components configured to use this “middleware” will be stored in simple text files. Currently this middleware is only used to output information, so it is only available for sensors.
File names used in MORSE have the following format: [robot_name]_[component_name].txt. Each file will have a header stating the name of the robot and the sensor, as well as the position of the sensor with respect to the center of the robot. The position is given with the format:
(distance, globalVector(3), localVector(3))
Where globalVector is a list of 3 elements with the X, Y and Z coordinates of the sensor with respect to the global origin. localVector gives the coordinates with respect to the position of the robot.
After the header there is a blank line, and then the data captured by the sensor is printed with this format:
==> Data at X,Y,Z: [3.001482 -5.997612 0.036998] yaw,pitch,roll: [0.002257 0.004322 -0.005083] | time 3.08 dx = -0.000040 dy = 0.000089 dz = 0.000492 dyaw = -0.000292 dpitch = -0.000182 droll = 0.002484
When configuring a component to export its data through the “text” middleware, you can pass the option file to define the name of the file written by the component.
foo.add_stream('text', file = '/tmp/my_comp.log')