melodic noetic   Show EOL distros: 

Usage

[Step 1]

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

   1 <launch>
   2 
   3   <group ns="console">
   4     <include file="console.machine"/>
   5 
   6     ... other console nodes ...
   7     
   8     <node name="console-record" pkg="remote_rosbag_record" type="record" respawn="true">
   9       <rosparam file="console_topics.yml"/>
  10       <param name="prefix" value="console"/>
  11       <param name="apped_date" value="true"/>
  12     </node>
  13   </group>
  14 
  15   <group ns="robot">
  16     <include file="robot.machine"/>
  17 
  18     ... other robot nodes ....
  19 
  20     <node name="robot-record" pkg="remote_rosbag_record" type="record" respawn="true">
  21       <rosparam file="robot_topics.yml"/>
  22       <param name="prefix" value="robot"/>
  23       <param name="apped_date" value="true"/>
  24     </node>
  25   </group>
  26   
  27 </launch>

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

[Step 2]

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"));
}

[Step 3]

Stop rosbag-record (similar to the previous step)

Nodes

record

Services

• start rosbag-record

• stop rosbag-record

Parameters

• equivalent of the --all option of the original rosbag-record. See http://wiki.ros.org/rosbag/Commandline#record

• equivalent of --regex

• equivalent of --quiet

• equivalent of --output-prefix with an empty prefix. To set prefix string, use ~prefix parameter.

• verbose console output

• "bz2" to use BZ2 compression (equivalent of --bz2), "lz4" to use LZ4 compression, or "uncompressed"

• filename prefix

• equivalent of --output-name ignored for now. Use ~prefix with false of ~append_date.

• topics to be recorded

• equivalent of --buffersize

• equivalent of --exclude

• equivalent of --node

trigger

Parameters

• regular expression which matches services you want to call

joy_listener

Subscribed Topics

• joystick input

Parameters

• button id to trigger start services

• regular expression which matches start services

• button id to trigger stop services

• regular expression which matches stop services

• verbose console output when calling a service