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add more recording topics, make it a flag #4

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add more recording topics, make it a flag #4

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2 changes: 1 addition & 1 deletion autonomy.launch
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<launch>
<node pkg="ut_jackal" type="enml" name="enml" args='-c="../enml/config" -m="../enml/maps" -d1' cwd="node" />
<node pkg="ut_jackal" type="navigation" name="navigation" args='--maps_dir ../navigation/maps' cwd="node" />
<node pkg="ut_jackal" type="navigation" name="navigation" args='--maps_dir ../enml/maps' cwd="node" />
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Just checking: was this change intentional?

</launch>
65 changes: 64 additions & 1 deletion autonomy_arbiter/autonomy_arbiter.cc
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Expand Up @@ -51,6 +51,69 @@ DEFINE_string(joystick_topic,
// The button used to indicate start of autonomous operation.
DEFINE_uint64(start_btn_idx, 0, "Start button index");

DEFINE_string(record_topics, "/autonomy_arbiter/enabled \
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Does anyone have a better idea on how to set a default here? and/or if there's some of thes topics we definitely don't want?

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This is better done as read from a config file. I don't think it is a good idea to require such long CLI arguments.

/bluetooth_teleop/cmd_vel \
/bluetooth_teleop/joy \
/bluetooth_teleop/joy/set_feedback \
/cmd_drive \
/cmd_vel \
/diagnostics \
/diagnostics_agg \
/diagnostics_toplevel_state \
/e_stop \
/feedback \
/gps/fix \
/gps/nmea_sentence \
/gps/nmea_sentence_out \
/gps/time_reference \
/gps/vel \
/imu/data \
/imu/data_raw \
/imu/mag \
/imu/magnetic_field \
/imu_filter/parameter_descriptions \
/imu_filter/parameter_updates \
/jackal_velocity_controller/cmd_vel \
/jackal_velocity_controller/odom \
/jackal_velocity_controller/parameter_descriptions \
/jackal_velocity_controller/parameter_updates \
/joint_states \
/joy_teleop/cmd_vel \
/localization \
/navigation/cmd_vel \
/navsat/fix \
/navsat/nmea_sentence \
/navsat/time_reference \
/navsat/vel \
/odometry/filtered \
/odometry/gps \
/robofleet_status \
/rosout \
/rosout_agg \
/scan \
/set_pose \
/status \
/subscriptions \
/tf \
/tf_static \
/twist_marker_server/cmd_vel \
/twist_marker_server/feedback \
/twist_marker_server/update \
/twist_marker_server/update_full \
/velodyne_2dscan \
/velodyne_2dscan_high_beams \
/velodyne_nodelet_manager/bond \
/velodyne_nodelet_manager_cloud/parameter_descriptions \
/velodyne_nodelet_manager_cloud/parameter_updates \
/velodyne_nodelet_manager_driver/parameter_descriptions \
/velodyne_nodelet_manager_driver/parameter_updates \
/velodyne_nodelet_manager_laserscan/parameter_descriptions \
/velodyne_nodelet_manager_laserscan/parameter_updates \
/velodyne_packets \
/velodyne_points \
/visualization \
/wifi_connected", "Topics to record");

// Drive publisher.
ros::Publisher drive_pub_;

Expand Down Expand Up @@ -118,7 +181,7 @@ void JoystickCallback(const sensor_msgs::Joy& msg) {
} else if (!recording && msg.buttons[3] == 1) {

printf("Starting recording rosbag...\n");
if (system("rosbag record /status /velodyne_points /scan /imu/data /jackal_velocity_controller/odom /gps/fix /gps/vel /imu/data_raw /odometry/filtered /odometry/gps /tf /localization /move_base_simple/goal /navigation/cmd_vel /set_nav_target /set_pose &") != 0) {
if (system(("rosbag record " + FLAGS_record_topics + " &").c_str()) != 0) {
printf("Unable to record\n");
} else {
printf("Started recording rosbag.\n");
Expand Down