Implement rosbag to record topics

description/caffeine_bag/README.md

@@ -0,0 +1,9 @@
+# Description #
+
+This folder contains bags that record topic messages published during one of Caffeine's runs.
+
+Name is formatted by date and time the bag started recording a run:
+caffeine_bag_year_month_day_hour_minute_second.bag
+
+There is a boolean toggle in spawn.launch (if statement) that determines whether to record data
+when the file is launched.

description/launch/setup_rosbag.launch

@@ -0,0 +1,102 @@
+<launch>
+   <!-- Create node that records all topics in a bag file -->
+   <arg name="output_folder" />
+
+   <node pkg="rosbag" type="record" name="caffeine_bag"
+       args="record -o $(arg output_folder)
+           /ImuFilterNodelet/parameter_descriptions
+           /ImuFilterNodelet/parameter_updates
+           /clicked_point
+           /cmd_vel
+           /cv/lane_detections
+           /cv/model_output
+           /cv/pothole_detections
+           /diagnostics
+           /fix
+           /gps/filtered
+           /gps/fix
+           /imu/data
+           /imu/data_raw
+           /imu/is_calibrated
+           /imu/mag
+           /imu_manager/bond
+           /joint_states
+           /key_vel
+           /laser_status
+           /left_wheel/command
+           /left_wheel/feedback
+           /man_vel
+           /move_base/NavfnROS/plan
+           /move_base/TrajectoryPlannerROS/cost_cloud
+           /move_base/TrajectoryPlannerROS/global_plan
+           /move_base/TrajectoryPlannerROS/local_plan
+           /move_base/TrajectoryPlannerROS/parameter_descriptions
+           /move_base/TrajectoryPlannerROS/parameter_updates
+           /move_base/cancel
+           /move_base/current_goal
+           /move_base/feedback
+           /move_base/global_costmap/costmap
+           /move_base/global_costmap/costmap_updates
+           /move_base/global_costmap/footprint
+           /move_base/global_costmap/inflation_layer/parameter_descriptions
+           /move_base/global_costmap/inflation_layer/parameter_updates
+           /move_base/global_costmap/obstacle_layer/parameter_descriptions
+           /move_base/global_costmap/obstacle_layer/parameter_updates
+           /move_base/global_costmap/parameter_descriptions
+           /move_base/global_costmap/parameter_updates
+           /move_base/global_costmap/virtual_layer/parameter_descriptions
+           /move_base/global_costmap/virtual_layer/parameter_updates
+           /move_base/goal
+           /move_base/local_costmap/costmap
+           /move_base/local_costmap/costmap_updates
+           /move_base/local_costmap/footprint
+           /move_base/local_costmap/inflation_layer/parameter_descriptions
+           /move_base/local_costmap/inflation_layer/parameter_updates
+           /move_base/local_costmap/obstacle_layer/parameter_descriptions
+           /move_base/local_costmap/obstacle_layer/parameter_updates
+           /move_base/local_costmap/parameter_descriptions
+           /move_base/local_costmap/parameter_updates
+           /move_base/parameter_descriptions
+           /move_base/parameter_updates
+           /move_base/result
+           /move_base/status
+           /move_base_simple/goal
+           /nav_vel
+           /odom
+           /odometry/global
+           /odometry/gps
+           /odometry/local
+           /pause_navigation
+           /right_wheel/command
+           /right_wheel/feedback
+           /rosout
+           /rosout_agg
+           /scan
+           /scan_modified
+           /set_pose
+           /stop_closing_loop
+           /tf
+           /tf_static
+           /time_reference
+           /twist_marker
+           /urg_node/parameter_descriptions
+           /urg_node/parameter_updates
+           /vel
+           /zed/joint_states
+           /zed/zed_node/confidence/confidence_map
+           /zed/zed_node/depth/camera_info
+           /zed/zed_node/depth/depth_registered
+           /zed/zed_node/disparity/disparity_image
+           /zed/zed_node/left_raw/camera_info
+           /zed/zed_node/left_raw/image_raw_color
+           /zed/zed_node/odom
+           /zed/zed_node/point_cloud/cloud_registered
+           /zed/zed_node/pose
+           /zed/zed_node/pose_with_covariance
+           /zed/zed_node/rgb/camera_info
+           /zed/zed_node/rgb/image_rect_color
+           /zed/zed_node/rgb_raw/camera_info
+           /zed/zed_node/rgb_raw/image_raw_color
+           /zed/zed_node/stereo/image_rect_color
+           /zed/zed_node/stereo_raw/image_raw_color" />
+</launch>

description/launch/spawn.launch

@@ -57,4 +57,10 @@
     <!-- Compute Odometry from Sensor Fusion -->
     <include file="$(find odom)/launch/odom.launch"/>
 
+    <!-- Record topics using Rosbag -->
+   <include file="$(find description)/launch/setup_rosbag.launch"
+       if="true" >
+       <arg name="output_folder" default="$(find description)/caffeine_bag/caffeine_bag" />
+   </include>
+
 </launch>