rosbag_recorder

ROS service to remotely start/stop recording selected topics to a named bag file. Includes *.srv definitions necessary to issue requests.

Building

• Clone the repo into the src directory of your catkin workspace
• Run catkin_make from the root of your catkin workspace
• Run catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/<distro> install or simply source devel/setup.bash from the root of your catkin workspace and copy devel/include/rosbag_recorder to the include folder of your ROS installation

Running

Start the service

• Start the service using rosrun: rosrun rosbag_recorder rosbag_recorder_server.py
• Start the service using launch file: roslaunch rosbag_recorder rosbag_recorder.launch
  • Pickle each bag after it's saved: roslaunch rosbag_recorder rosbag_recorder.launch pickle:=true (Note, this could take a long time if you're saving super large amounts of data)
• Use the qml-ros-recorder QML plugin in an application to start/stop recording remotely

Start/Stop recording

Use a ROS service call to start and stop recording.

import rosbag_recorder.srv as rbr

def start_saving(out_filename):
    rospy.wait_for_service('rosbag_recorder/record_topics')

    # Generate the topic list (robot and pressure controller topics)
    topic_list = []
    topic_list.extend(['/joint_states','/wrench','/tool_velocity'])
    topic_list.extend(['/pressure_control/echo','/pressure_control/pressure_data'])

    # Start saving data
    try:
        service = rospy.ServiceProxy('rosbag_recorder/record_topics', rbr.RecordTopics)
        response = service(out_filename, topic_list)
        return response.success
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e


def stop_saving(out_filename):
    # Stop saving data
    try:
        service = rospy.ServiceProxy('rosbag_recorder/stop_recording', rbr.StopRecording)
        response = service(out_filename)
        return response.success
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e

Graphing later

If you pickled your data after saving, you can use another set of scripts I made to plot them

rosbag-pickle-graph

python graph_robot.py ft/up200_11162019_210947