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## title = Running the warehouse
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## description = How to start up and configure the Mongo DB server
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

The `mongodb` system dependency of warehouse_ros includes the `mongod` executable, which runs a MongoDB server.  For convenience, we provide a wrapper that starts up this server and sets some configuration parameters from the ROS parameter server.  

== Using the Command Line ==
To start the server from the command line:
{{{
$ rosrun warehouse_ros_mongo mongo_wrapper_ros.py
}}}

== Using a Launch File ==
Alternatively, here's an example of starting the server from a launch file and setting some parameters (the full list of parameters is in the [[mongodb|package documentation]]).

{{{
<launch>

  <node name="mongo" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
    <param name="overwrite" value="true"/>
    <param name="database_location" value="/path/to/my/db"/>
  </node>

  <param name="warehouse_port" value="27019"/>
</launch>
}}}


















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