From 31c44dad7781af99c24c13d2671e1baaf1656e87 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 5 Jun 2023 15:06:13 +0900
Subject: [PATCH 1/2] [jsk_robot_startup/lifelog] Add replicate_on_write arg to
 mongodb.launch to search at replication server

---
 jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
index 489da6e5ec..7f7af07807 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
@@ -11,6 +11,7 @@
   <arg name="replicator_param_path"
        default="$(find jsk_robot_startup)/lifelog/mongodb_replication_params.yaml" />
   <arg name="extra_collections" default="" />
+  <arg name="replicate_on_write" default="false"/>
 
   <arg name="test_mode" default="false" />
 
@@ -25,6 +26,7 @@
           output="screen" machine="$(arg machine)">
       <rosparam subst_value="true" if="$(eval arg('extra_collections') != '')">
         extra_collections: $(arg extra_collections)
+        replicate_on_write: $(arg replicate_on_write)
       </rosparam>
     </node>
   </group>

From e0bea6cfc7a7934a3959915d3e4470bc14003145 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 5 Jun 2023 15:06:52 +0900
Subject: [PATCH 2/2] [jsk_fetch_startup] Add replicate_on_write arg

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
index 8fc07e70dd..be1a7f7d17 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
@@ -3,6 +3,7 @@
   <arg name="map_frame" default="map" />
   <arg name="vital_check" default="false" />
   <arg name="extra_collections" default="[go_to_kitchen]" />
+  <arg name="replicate_on_write" default="true"/>
 
   <include file="$(find jsk_fetch_startup)/jsk_fetch.machine" />
 
@@ -13,12 +14,14 @@
     <arg name="port" value="27017" />
     <arg name="repl_set_mode" value="false" />
     <arg name="extra_collections" value="$(arg extra_collections)" />
+    <arg name="replicate_on_write" value="$(arg replicate_on_write)"/>
   </include>
   <include file="$(find jsk_robot_startup)/lifelog/mongodb.launch"
            unless="$(arg use_system_mongod)">
     <arg name="use_daemon" value="false"/>
     <arg name="repl_set_mode" value="false" />
     <arg name="extra_collections" value="$(arg extra_collections)" />
+    <arg name="replicate_on_write" value="$(arg replicate_on_write)"/>
   </include>
 
   <include file="$(find jsk_robot_startup)/lifelog/common_logger.launch">