remote_rosbag_record

ROS nodes that start/stop rosbag-record by a remote trigger

Usage

1. Launch recorder nodes with your favourite nodes. Use respawn options to record multiple times.

<launch>

  <group ns="console">
    <include file="console.machine"/>

    ... other console nodes ...
    
    <node name="console-record" pkg="remote_rosbag_record" type="record" respawn="true">
      <rosparam file="console_topics.yml"/>
      <param name="prefix" value="console"/>
      <param name="apped_date" value="true"/>
    </node>
  </group>

  <group ns="robot">
    <include file="robot.machine"/>

    ... other robot nodes ....

    <node name="robot-record" pkg="remote_rosbag_record" type="record" respawn="true">
      <rosparam file="robot_topics.yml"/>
      <param name="prefix" value="robot"/>
      <param name="apped_date" value="true"/>
    </node>
  </group>
  
</launch>

# xxx_topics.yml may look like this
topics:
- /joint_states
- /imu
- ...

1. Start rosbag-record at your own timing

• method 1: use remote_rosbag_record/trigger node

rosrun remote_rosbag_record trigger _regex:="/.*/start"

• method 2: use remote_rosbag_record/joy_listener node

rosrun remote_rosbag_record joy_listener _start_regex:="/.*/start" _start_button:=10 ...

• method 3: call trigger services from your teleoperation node

#include<remote_rosbag_record/call.hpp>

#include<boost/regex.hpp>

...

if (start_button_pressed) {
  remote_rosbag_record::call(boost::regex("/.*/start"));
}

1. Stop rosbag-record (similar to the previous step)

Nodes

record

starts/stops rosbag-record when a coressponding service is called

Services

• start (std_srvs/Empty)
• stop (std_srvs/Empty)

Parameters

All parameters are optional and function like the original rosbag-record. See http://wiki.ros.org/rosbag/Commandline#record

• ~record_all (bool)
• ~regex (bool)
• ~quiet (bool)
• ~append_date (bool)
• ~verbose (bool)
• ~compression (string)
  • “uncompressed”, “bz2”, or “lz4”
• ~prefix (string)
• ~name (string)
• ~topics (string array)
• ~buffer_size (int)
• ~exclude_regex (string)
• ~node (string)

trigger

calls multiple start/stop services at once

Parameters

• ~regex (string, required)
  • regular expression which matches services you want to call
• ~verbose (bool, default: true)
  • verbose console output when calling services

joy_listener

subscribes joystick messages and calls start/stop services when a specified button is pressed

Subscribed topics

• joy (sensor_msgs/Joy)

Parameters

• ~start_button (int, default: 12)
  • button id to trigger start services
• ~start_regex (string, default: “<node’s namespace>/start”)
  • regular expression which matches start services
• ~stop_button (int, default: 11)
  • button id to trigger stop services
• ~stop_regex (string, default: “<node’s namespace>/stop”)
  • regular expression which matches stop services
• ~verbose (bool, default: true)
  • verbose console output when calling services