Skip to content

Feature: Bag Recorder #209

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
wants to merge 4 commits into from
Closed

Feature: Bag Recorder #209

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
86365a2
Add bag recorder config and launch file to diagnostics
luis-camero May 15, 2025
e7ec30f
Add bag recorder to platform launch generator
luis-camero May 15, 2025
6a4426b
Lint
luis-camero May 15, 2025
78ea8ed
Move recorder launch and config to common
luis-camero May 27, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 19 additions & 0 deletions clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -359,13 +359,32 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
namespace=self.namespace,
)

# ROS Bag Recorder
self.recorder_params = LaunchFile.LaunchArg(
'recorder_params',
default_value=os.path.join(self.platform_params_path, 'recorder.yaml'),
)

self.recorder_args = [
('parameters', LaunchFile.Variable('recorder_params')),
('namespace', self.namespace),
('enable_recorder', str(self.clearpath_config.platform.enable_recorder).lower())
]

self.recorder_launch = LaunchFile(
'recorder',
package=clearpath_diagnostics_package,
args=self.recorder_args)

# Components required for each platform
common_platform_components = [
self.wireless_watcher_node,
self.diag_updater_params,
self.diag_aggregator_params,
self.diagnostics_launch,
self.battery_state_control,
self.recorder_params,
self.recorder_launch,
]

# Only add estimator when no BMS is present
Expand Down
Loading