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timonegktimonegk
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Merge pull request #190 from bit-bots/feature/add_record_rosbag_launch
Add record rosbag launch
2 parents 4bc41ca + e3cca8a commit 359c53a

5 files changed

Lines changed: 98 additions & 8 deletions

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‎bitbots_bringup/launch/teamplayer.launch‎

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@@ -1,14 +1,15 @@
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<?xml version="1.0"?>
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<launch>
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<arg name="audio" default="true" description="Whether the audio system should be started" />
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<arg name="behavior" default="true" description="Whether the behavior control system should be started" />
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<arg name="game_controller" default="true" description="Whether the Gamecontroller module should be started" />
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<arg name="ipm" default="true" description="Whether the inverse perspective mapping should be started"/>
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<arg name="localization" default="true" description="Whether the localization system should be started" />
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<arg name="monitoring" default="false" description="Whether the monitoring tools should be started should be started"/>
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<arg name="motion" default="true" description="Whether the motion control system should be started" />
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<arg name="path_planning" default="true" description="Whether the path planning should be started"/>
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<arg name="sim" default="false" description="Whether the robot is running in simulation or on real hardware" />
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<arg name="teamcom" default="false" description="Whether the team communication system should be started" />
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<arg name="tools" default="false" description="Whether the tools should be started"/>
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<arg name="vision" default="true" description="Whether the vision system should be started" />
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<arg name="world_model" default="true" description="Whether the world model should be started"/>
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@@ -26,6 +27,7 @@
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<!-- load the highlevel stuff -->
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<include file="$(find-pkg-share bitbots_bringup)/launch/highlevel.launch">
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<arg name="audio" value="$(var audio)" />
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<arg name="behavior" value="$(var behavior)" />
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<arg name="game_controller" value="$(var game_controller)" />
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<arg name="ipm" value="$(var ipm)" />
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<arg name="world_model" value="$(var world_model)" />
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</include>
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<!-- load some monitoring tools -->
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<group if="$(var monitoring)">
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<include file="$(find-pkg-share bitbots_utils)/launch/tools.launch" />
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<!-- load tools -->
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<group if="$(var tools)">
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<include file="$(find-pkg-share bitbots_utils)/launch/tools.launch">
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<arg name="sim" value="$(var sim)" />
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</include>
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</group>
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</launch>

‎bitbots_utils/launch/monitoring.launch‎

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<?xml version="1.0"?>
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<launch>
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<include file="$(find-pkg-share udp_bridge)/launch/send.launch" />
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<include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch">
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<arg name="required" value="false" />
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</include>
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</launch>

‎bitbots_utils/launch/record_bag.launch‎

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<?xml version="1.0" encoding="utf-8" ?>
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<launch>
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<arg name="sim" default="false" description="true: Use simulation time" />
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<arg name="max_image_frequency" default="1.0" description="Max frequency [hz] for recording images" />
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<arg name="max_pointcloud_frequency" default="1.0" description="Max frequency [hz] for recording pointclouds" />
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<node name="record_rosbag_drop_images" pkg="topic_tools" exec="throttle"
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args="messages /camera/image_proc $(var max_image_frequency) /camera/image_to_record" />
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<node name="record_rosbag_drop_pointclouds" pkg="topic_tools" exec="throttle"
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args="messages /line_mask_relative_pc $(var max_pointcloud_frequency) /line_mask_relative_pc_to_record" />
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<!-- The command is a bit complicated, because we want to have a unique filename
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and the date command would normally include a newline at the end. -->
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<!-- We also set include-hidden-topics twice, because otherwise, the else case would produce some unprintable character that breaks the command. -->
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<executable cmd="ros2 bag record \
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-o $(env HOME)/rosbags/ID_$(env ROBOCUP_ROBOT_ID $(env ROBOT_NAME unknown_robot))_$(command 'bash -c &quot;date +%s |tr -d \\&quot;\\n\\&quot;&quot;') \
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--node-name ros2_bag_record \
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--include-hidden-topics \
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--include-unpublished-topics \
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--polling-interval 1000 \
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$(eval '\'--use_sim_time\' if \'$(var sim)\'==\'true\' else \'--include-hidden-topics\'') \
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/animation \
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/audio/audio_info \
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/audio/audio \
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/ball_obstacle_active \
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/ball_position_relative_filtered \
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/ball_relative_filtered \
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/ball_relative_movement \
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/balls_relative \
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/camera/camera_info \
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/camera/image_to_record \
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/clock \
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/cmd_vel \
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/cop_l \
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/cop_r \
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/core/power_switch_status \
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/debug_markers \
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/debug/approach_point \
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/debug/ball_twist \
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/debug/dsd/body_behavior \
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/debug/dsd/hcm \
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/debug/dsd/head_behavior \
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/debug/dsd/localization \
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/debug/used_ball \
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/debug/which_ball_is_used \
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/diagnostics \
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/diagnostics_agg \
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/DynamixelController/command \
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/field_boundary_relative \
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/game_controller_connected \
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/gamestate \
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/goal_pose \
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/head_mode \
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/imu_head/data \
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/imu/data_raw \
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/joint_states \
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/line_mask_relative_pc_to_record \
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/motion_odometry \
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/move_base/current_goal \
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/obstacles_relative \
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/pose_with_covariance \
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/robot_state \
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/robots_relative \
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/robots_relative_filtered \
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/rosout \
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/server_time_clock \
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/speak \
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/strategy \
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/system_workload \
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/team_data \
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/tf \
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/tf_static \
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/time_to_ball" output="screen" />
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</launch>

‎bitbots_utils/launch/tools.launch‎

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@@ -1,12 +1,16 @@
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<?xml version="1.0"?>
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<launch>
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<arg name="monitoring" default="true" description="true: start system monitor and udp bridge" />
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<arg name="record" default="true" description="true: start the ros bag recording" />
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<arg name="sim" default="false" description="Whether the robot is running in simulation or on real hardware" />
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<group if="$(var monitoring)">
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<include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch">
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<arg name="required" value="false" />
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</include>
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<include file="$(find-pkg-share bitbots_utils)/launch/monitoring.launch" />
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</group>
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<include file="$(find-pkg-share udp_bridge)/launch/send.launch" />
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<group if="$(var record)">
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<include file="$(find-pkg-share bitbots_utils)/launch/record_bag.launch">
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<arg name="sim" value="$(var sim)" />
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</include>
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</group>
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</launch>

‎bitbots_utils/package.xml‎

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<depend>python3-yaml</depend>
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<depend>python3-transforms3d</depend>
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<depend>python3-numpy</depend>
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<depend>topic_tools</depend>
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<export>
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<bitbots_documentation>

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