Package Summary

Tags No category tags.
Version 0.3.12
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version indigo
Last Updated 2018-03-01
CI status Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Logging package that creates ROS bag files

Additional Links


  • Piyush Khandelwal
  • Jack O'Quin


  • Shiqi Zhang


The bwi_logging ROS package provides nodes and scripts for collecting, analysing and uploading log data when running BWI robots.

ROS interface

record node

This ROS node is a wrapper for the standard rosbag record command, which it invokes after changing to an appropriate logging directory.

The goal of this node is to choose a good place to save the bags. When necessary, intermediate directories will be created, with group write permissions, if possible.

Subscribed topics

All topics passed as command arguments will be subscribed by the rosbag command, which this node launches.


~directory (string, default: ~/.ros/bwi/bwi_logging)

: An explicit directory for saving ROS topic bag files.

If the directory is not accessible, bags are saved in /tmp/bwi/bwi_logging, instead.


rosrun bwi_logging record topic1 [ topic2 ... ]

Where each topic is the name of a ROS topic to record.

record launch script

This ROS launch script runs the record node with appropriate parameters.


directory (string, default: ~/.ros/bwi/bwi_logging)

: An explicit directory for saving ROS topic bag files.

topics (string, default: odom amcl_pose /diagnostics)

: The ROS topics to record.


To record the usual topics in the usual place:

roslaunch bwi_logging record

To record different topic names:

roslaunch bwi_logging record topics:='filtered_odom /diagnostics /tf'

To write the bag file in a different place:

roslaunch bwi_logging record directory:="~bwilab/.ros/bwi/bwi_logging"

Changelog for package bwi_logging

0.3.12 (2016-09-14)

0.3.11 (2016-08-27)

0.3.10 (2016-08-15)

0.3.9 (2016-08-05)

0.3.8 (2016-06-06)

  • add some ROS progress logging (#46)
  • do not wait for bags upload to finish (#46)
  • automatically upload any bag with \"bwi\" prefix (#46)
  • always run rosbag record with -j option (#46)
  • rewrite launch file to conditionally run the node to record extra topics
  • compute time and distance totals (#41)
  • compress bag data on upload (#41)
  • Drop 99 out of 100 odometry message (#41)
  • create target upload directory, if needed (#40)
  • Contributors: Jack O\'Quin, Pato

0.3.7 (2015-09-22)

  • make logging work, even when installed as a binary package (#32)
  • add upload option to not delete files copied (#32)
  • add upload script for bags (#32)
  • add /diagnostics to default topic list (#32)
  • create logging directory, if needed (#32)
  • add wrapper node for rosbag_record (#32)
  • Contributors: Jack O\'Quin

0.3.6 (2015-08-25)

0.3.5 (2015-08-22)

  • bwi_logging: fix catkin lint problems (#31)
  • Contributors: Jack O\'Quin

0.3.4 (2015-08-19)

  • added maintainers, and minor changes in package.xml files
  • merged clingo version 4 updates
  • Contributors: Jack O\'Quin, Shiqi Zhang

0.3.3 (2015-08-05)

  • edited meta info for bwi_logging
  • added bwi_logging package
  • Contributors: Shiqi Zhang

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/record.launch
      • directory [default: ]
      • topics [default: odom_1hz amcl_pose /diagnostics]
      • extra_topics [default: false]
      • extra_prefix [default: extra]


No message files found.


No service files found


No plugins found.

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