Description

The bagfile recorder is a simple ROS node which provides an interface for recording rolling-by-size bag files on Kuri and queueing them for upload (actual uploading is handled by the cloud_uploader_node).

This node is a better approach for recording ROS topics on Kuri than invoking rosbag record directly because it:

• contains a hard-coded list of all of the topic names you might want to record
• automatically rolls bag files over after they reach 25mb in size
• automatically stops recording if the disk usage gets too high on the SD card or in the uploads directory

Bagfiles roll over every 25mb, accumulating until you exceed either of these thresholds:

• 80% disk usage on the eMMC
• 50% disk usage on the SD card

Dependencies

• rosbag (run as a sub-process)
• rospy

Services

bagfile_recorder/start

Service to call to start the bagfile recorder (it is off by default).

bagfile_recorder/stop

Service to call to stop the bagfile recorder (it is off by default).

Topics

Does not advertise any topics, but will record all of these:

• /joint_states
• /tf
• /odom
• /scan
• /scan_reduced_mapping
• /scan_reduced_nav
• /mobile_base/stall
• /mobile_base/commands/velocity
• /mobile_base/commands/wheel_traj
• /mobile_base/power
• /mobile_base/telescope
• /mobile_base/sensors
• /mobile_base/imu
• /mobile_base/safety_status
• /depthscan/front_cliff
• /depthscan/cliff_cloud
• /diagnostics
• /diagnostics_agg
• /rosout
• /map
• /map_nav
• /tf_static
• /teleop_velocity_smoother/raw_cmd_vel
• /navigate/cancel
• /navigate/feedback
• /navigate/goal
• /navigate/result
• /navigate/status
• /mobile_base/commands/velocity
• /laser_particlecloud
• /global_plan
• /dynamic_global_map
• /dynamic_local_bumper_map
• /dynamic_local_laser_map
• /dynamic_local_merged_map
• /desired_goal
• /cmd_vel_mux/input/navi
• /cmd_vel_mux/input/romoji
• /cmd_vel_mux/input/safety_controller
• /chosen_goal
• /rosout_agg
• /mobile_base/battery_state
• /scored_trajectories
• /mobile_base/safety_status
• /mobile_base/power
• /mobile_base/arc_move/goal
• /mobile_base/arc_move/cancel
• /mobile_base/arc_move/feedback
• /mobile_base/arc_move/result
• /mobile_base/arc_move/status
• /cloud