Update Use Case: How to use eProsima DDS Record and Replay (#927)

* Update Use Cases eProsima DDS Record and Replay Signed-off-by: Denisa <[email protected]> * Fix documentation to pass doc8-test Signed-off-by: Denisa <[email protected]> * Add review comments to python_requirements.rst Signed-off-by: Denisa <[email protected]> --------- Signed-off-by: Denisa <[email protected]>
eProsima · Oct 8, 2024 · 343836e · 343836e
1 parent 3ee0df8
commit 343836e
Show file tree

Hide file tree

Showing 6 changed files with 113 additions and 263 deletions.
diff --git a/docs/01-figures/fast_dds/recorder_shapesdemo_exec.png b/docs/01-figures/fast_dds/recorder_shapesdemo_exec.png
diff --git a/docs/01-figures/fast_dds/recorder_shapesdemo_publisher.png b/docs/01-figures/fast_dds/recorder_shapesdemo_publisher.png
diff --git a/docs/04-common/python_requirements.rst b/docs/04-common/python_requirements.rst
@@ -5,7 +5,7 @@ SWIG
 
 SWIG_ is a development tool that allows connecting programs written in C/C++ with a variety of
 other programming languages, among them Python.
-SWIG 4.0 is required in order to build Fast DDS Python bindings.
+SWIG version lower than 4.2 is required to build Fast DDS Python bindings.
 
 .. note::
 
@@ -21,6 +21,14 @@ For Ubuntu, please run:
 
     sudo apt install swig
 
+.. warning::
+
+    For Ubuntu 24.04, SWIG_ must be installed using the following command:
+
+    .. code-block:: bash
+
+        sudo apt install swig4.1
+
 .. end-swig
 
 .. begin-libpython-dev

diff --git a/docs/fastdds/use_cases/dds_record_and_replay/dds_record_and_replay.rst b/docs/fastdds/use_cases/dds_record_and_replay/dds_record_and_replay.rst
@@ -0,0 +1,102 @@
+.. include:: ../../../03-exports/aliases.include
+.. include:: ../../../03-exports/aliases-api.include
+.. include:: ../../../03-exports/roles.include
+
+.. _dds_record_and_replay:
+
+How to use eProsima DDS Record and Replay
+=========================================
+
+`eProsima DDS Record and Replay <https://github.com/eProsima/DDS-Record-Replay>`_ is an end-user software application
+that efficiently saves DDS data published into a DDS environment in a MCAP format database.
+Thus, the exact playback of the recorded network events is possible as the data is linked to the
+timestamp at which the original data was published. This facilitates the debugging of DDS networks.
+
+Getting started
+---------------
+
+eProsima DDS Record & Replay includes the following tools:
+
+- **DDS Recorder tool**:  This tool's primary function is to store data in an MCAP database,
+  including the publication timestamp, serialized data, and its format.
+  The output MCAP file can be read by any compatible tool,
+  as it contains all necessary information for data reproduction.
+
+- **DDS Remote Controller tool**: This application enables remote control of the recording tool,
+  allowing a user to start, stop, or pause data recording from another device.
+
+- **DDS Replay tool**: This application allows replay of DDS traffic recorded with a DDS Recorder.
+  Users can select messages to replay by setting a time range or by blocking/whitelisting specific topics.
+  They can also adjust the playback rate and use different topic QoS settings from the original recording.
+
+Prerequisites
+^^^^^^^^^^^^^
+
+`eProsima DDS Record and Replay <https://github.com/eProsima/DDS-Record-Replay>`_ depends on
+eProsima Fast DDS library and certain Debian packages.
+For further information, please refer to the
+`installation guide <https://dds-recorder.readthedocs.io/en/latest/rst/installation/docker.html#docker>`_.
+
+Furthermore, the example provided in this section requires
+`ShapesDemo <https://eprosima-shapes-demo.readthedocs.io/en/latest/index.html>`_
+to publish and subscribe shapes of different colors and sizes.
+
+Example of usage: Recording Application
+---------------------------------------
+
+This example will serve as a hands-on tutorial, aimed at introducing some of the key concepts and
+features that eProsima DDS Record & Replay recording application offers.
+
+Start ShapesDemo
+^^^^^^^^^^^^^^^^
+
+Let us launch a ShapesDemo instance and start publishing in topics ``Square`` with default settings.
+
+.. figure:: /01-figures/fast_dds/recorder_shapesdemo_publisher.png
+    :align: center
+    :scale: 75 %
+
+Recorder configuration
+^^^^^^^^^^^^^^^^^^^^^^
+
+``ddsrecorder`` runs with default configuration settings.
+This default configuration records all messages of all DDS Topics found in
+DDS Domain ``0`` in the ``output_YYYY-MM-DD-DD_hh-mm-ss.mcap`` file.
+
+Additionally, it is possible to change the default configuration parameters by means of a YAML configuration file.
+
+.. note::
+    Please refer to `Configuration <https://dds-recorder.readthedocs.io/en/latest/rst/recording/usage/configuration.html#recorder-usage-configuration>`_
+    for more information on how to configure a ``ddsrecorder``.
+
+Recorder execution
+^^^^^^^^^^^^^^^^^^
+
+To start recording, execute the following command:
+
+.. code-block:: bash
+
+    ddsrecorder
+
+In order to know all the possible arguments supported by this tool, use the command:
+
+.. code-block:: bash
+
+    ddsrecorder --help
+
+
+Let us launch a ShapesDemo instance and start publishing in topics ``Square`` with default settings.
+
+.. figure:: /01-figures/fast_dds/recorder_shapesdemo_exec.png
+
+Stop the recorder with ``Ctrl+C`` and check that the MCAP file exists.
+
+Next Steps
+==========
+
+The usage of the DDS Remote Controller and DDS Replay tools follows
+the same steps as the DDS Recorder tool.
+
+For further information, please refer to the
+`eProsima DDS Record and Replay documentation
+<https://dds-recorder.readthedocs.io/en/latest/index.html>`_.
diff --git a/docs/fastdds/use_cases/rosbag_capture/rosbag_capture.rst b/docs/fastdds/use_cases/rosbag_capture/rosbag_capture.rst