CNS Flight Stack: Nodelet Rosbag ROS1 Package (nodelet_rosbag)

Maintainer: Martin Scheiber

This is a modified fork of the osrf/nodelet_rosbag as used within the CNS Flight Stack for recording data in rosbags using nodelets (direct transfer via memeory rather than TCP/IP) wherever possible (depending on the "sender").

Credit

This code was written by the Control of Networked System (CNS), University of Klagenfurt, Klagenfurt, Austria.

License

This software is made available to the public to use, licensed under the terms of the APACHE-2.0-License, the full terms of which are made available in the LICENSE file.

Usage for academic purposes

If you use this software in an academic research setting, please cite the corresponding academic paper and consult the LICENSE file for a detailed explanation.

@article{cns_flightstack22,
    title        = {Flight Stack for Reproducible and Customizable Autonomy Applications in Research and Industry},
    author       = {Scheiber, Martin and Fornasier, Alessandro and Jung, Roland and Böhm, Christoph and Dhakate, Rohit and Stewart, Christian and Steinbrener, Jan and Weiss, Stephan and Brommer, Christian},
    journal      = {IEEE Robotics and Automation Letters},
    volume       = {7},
    number       = {4},
    year         = {2022},
    doi          = {10.1109/LRA.2022.3196117},
    url          = {https://ieeexplore.ieee.org/document/9849131},
    pages        = {11283--11290}
}

Building the package

catkin build nodelet_rosbag

Run the nodelet_rosbag

Using the launch file

roslaunch nodelet_rosbag nodelet_rosbag.launch start_manager:=True # if you want to start the manager
roslaunch nodelet_rosbag nodelet_rosbag.launch nodelet_manager_name:=<manager_name> # if another manager already exists

Default Launchfile Parameters

The default parameters are setup for camera recordings, as nodelets have the most performance impact on images.

ROS parameter	description	default value
rosbag_path	path to record the bagfile(s) to	${HOME}/recordings
rosbag_prefix	prefix of the recorded file	cam
rosbag_topics	array of topics to record	[/mission_cam/image_raw]
start_manager	starts the nodelet manager	false
nodelet_manager_name	name of the ROS nodelet manager	nodelet_manager
respawn	autorespawn the manager and nodelet if they die or are killed	false

Using individual commands

Read the official document on running a nodelet.

TAB1:

roscore

TAB2:

source devel/setup.bash
rosrun nodelet nodelet manager __name:=nodelet_manager

TAB3:

Start the nodelet_rosbag by specifying the rosbag_path and a list of topics to record rosbag_topics.

source devel/setup.bash
roslaunch nodelet_rosbag nodelet_rosbag.launch rosbag_path:=/tmp rosbag_topics:="[/mission_cam/image_raw,/mission_cam/image_rect,/mission_cam/rgb]"

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Copyright (C) on changes 2021-2023 Christian Brommer, Roland Jung, Alessandro Fornasier, and Martin Scheiber, Control of Networked Systems, University of Klagenfurt, Austria. You can contact the authors at christian.brommer@aau.at, roland.jung@aau.at, alessandro.fornasier@aau.at, martin.scheiber@aau.at.