rm_auto_record

Overview

rm_auto_record is a ROS2 package that records the custom topics automatically. It will subscribe the control topic record_controller to start or stop the recording automatically.

Quick Start

# Clone the repository
cd <path to your workspace>/src
git clone https://github.com/FaterYU/rm_auto_record.git

# Build the package
cd <path to your workspace>
colcon build --symlink-install --packages-select rm_auto_record

# Source the workspace
source install/setup.bash

# Run the node
ros2 launch rm_auto_record auto_record.launch.py

Modify

1. Make sure your topic name and type, and edit the config file in config/node_params.yaml as follows:

   /rm_auto_record:
   ros__parameters:
       topic_name:
       - "/image_raw/compressed"
       - "/camera_info"
       topic_type:
       - "sensor_msgs/msg/CompressedImage"
       - "sensor_msgs/msg/CameraInfo"

   Remember to keep the same order of topic name and type.

2. Modify the source code in include/rm_auto_record.hpp to include the message header file in the scope begining with the comment // Include the message header file here. The example is as follows:

   ...
   // Include the message header file here
   #include "sensor_msgs/msg/compressed_image.hpp"
   #include "sensor_msgs/msg/camera_info.hpp"
   // end of the inclusion
   ...

3. Modify the source code in include/rm_auto_record.hpp to declare the message subscriber type in the scope begining with the comment // Declare the message subscriber type here. The example is as follows:

   ...
   // Declare the message subscriber type here
   rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr image_sub_;
   rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr camera_info_sub_;
   // end of the declaration
   ...

4. Modify the source code in src/rm_auto_record.cpp to initialize the message subscriber in the scope begining with the comment // Initialize the message subscriber here. The example is as follows:

   ...
   // Initialize the message subscriber here
   image_sub_ = this->create_subscription<sensor_msgs::msg::CompressedImage>(
       topic_name[0], 10, std::bind(&RmAutoRecord::image_callback, this, std::placeholders::_1));
   camera_info_sub_ = this->create_subscription<sensor_msgs::msg::CameraInfo>(
       topic_name[1], 10, std::bind(&RmAutoRecord::camera_info_callback, this, std::placeholders::_1));
   // end of the initialization
   ...

   Remember to keep the same order of parameter in config/node_params.yaml and the order of initialization.

5. Don't forget to add your dependencies in package.xml.

6. (Optional) Modify the launch file in config/node_params.yaml to change the save path variable uri using the absolute path. The default save path is /ros_ws/.