The bagfile_recorder node is a convenience tool for recording reasonably-sized ROS bagfiles on Kuri. It is running by default but not recording anything. To start recording bagfiles, just call the ROS service:

rosservice call /bagfile_recorder/start

This will start recording bagfiles with all of the important topics for debugging in simulation. The bagfiles will appear over time in /home/mayfield/.gizmo/uploader/bagfiles.

When you want to stop recording bags, you can call the stop service:

rosservice call /bagfile_recorder/stop

The bagfile recorder will stop automatically if the SD card disk space usage exceeds 50% or if the the eMMC disk space usage exceeds 80%.